Pose And Motion Estimation Using Dual Quaternion Based Extended Kalman Filtering
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| Author | : Hassen Fourati |
| Publisher | : CRC Press |
| Total Pages | : 757 |
| Release | : 2016-11-03 |
| Genre | : Technology & Engineering |
| ISBN | : 1315351757 |
There has been an increasing interest in multi-disciplinary research on multisensor attitude estimation technology driven by its versatility and diverse areas of application, such as sensor networks, robotics, navigation, video, biomedicine, etc. Attitude estimation consists of the determination of rigid bodies’ orientation in 3D space. This research area is a multilevel, multifaceted process handling the automatic association, correlation, estimation, and combination of data and information from several sources. Data fusion for attitude estimation is motivated by several issues and problems, such as data imperfection, data multi-modality, data dimensionality, processing framework, etc. While many of these problems have been identified and heavily investigated, no single data fusion algorithm is capable of addressing all the aforementioned challenges. The variety of methods in the literature focus on a subset of these issues to solve, which would be determined based on the application in hand. Historically, the problem of attitude estimation has been introduced by Grace Wahba in 1965 within the estimate of satellite attitude and aerospace applications. This book intends to provide the reader with both a generic and comprehensive view of contemporary data fusion methodologies for attitude estimation, as well as the most recent researches and novel advances on multisensor attitude estimation task. It explores the design of algorithms and architectures, benefits, and challenging aspects, as well as a broad array of disciplines, including: navigation, robotics, biomedicine, motion analysis, etc. A number of issues that make data fusion for attitude estimation a challenging task, and which will be discussed through the different chapters of the book, are related to: 1) The nature of sensors and information sources (accelerometer, gyroscope, magnetometer, GPS, inclinometer, etc.); 2) The computational ability at the sensors; 3) The theoretical developments and convergence proofs; 4) The system architecture, computational resources, fusion level.
| Author | : Hans-Peter Röser |
| Publisher | : Walter de Gruyter |
| Total Pages | : 465 |
| Release | : 2011-12-22 |
| Genre | : Science |
| ISBN | : 311091980X |
The biennial IAA Symposium on Small Satellites for Earth Observation provides a forum for scientists, engineers and managers to exchange information about planned and on-going programs and missions, and present new ideas, covering small satellite mission objectives as well as technology and management aspects for dedicated earth observation satellites. This volume presents selected contributions of the 5th IAA Symposium on Small Satellites for Earth Observation, April 4 - 8, 2005, organized by the International Academy of Astronautics (IAA), Paris, France, and hosted by the German Aerospace Center (DLR), Berlin, Germany.
| Author | : Aleš Leonardis |
| Publisher | : Springer |
| Total Pages | : 676 |
| Release | : 2006-07-25 |
| Genre | : Computers |
| ISBN | : 3540338357 |
The four-volume set comprising LNCS volumes 3951/3952/3953/3954 constitutes the refereed proceedings of the 9th European Conference on Computer Vision, ECCV 2006, held in Graz, Austria, in May 2006. The 192 revised papers presented were carefully reviewed and selected from a total of 811 papers submitted. The four books cover the entire range of current issues in computer vision. The papers are organized in topical sections on recognition, statistical models and visual learning, 3D reconstruction and multi-view geometry, energy minimization, tracking and motion, segmentation, shape from X, visual tracking, face detection and recognition, illumination and reflectance modeling, and low-level vision, segmentation and grouping.
| Author | : Gilitschenski, Igor |
| Publisher | : KIT Scientific Publishing |
| Total Pages | : 198 |
| Release | : 2016-04-19 |
| Genre | : Electronic computers. Computer science |
| ISBN | : 3731504731 |
The goal of this work is improving existing and suggesting novel filtering algorithms for nonlinear dynamic state estimation. Nonlinearity is considered in two ways: First, propagation is improved by proposing novel methods for approximating continuous probability distributions by discrete distributions defined on the same continuous domain. Second, nonlinear underlying domains are considered by proposing novel filters that inherently take the underlying geometry of these domains into account.
| Author | : Torsten Kröger |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 369 |
| Release | : 2009-05-15 |
| Genre | : Technology & Engineering |
| ISBN | : 3642012132 |
The German Workshop on Robotics is a convention of roboticists from academia and industry working on mathematical and algorithmic foundations of robotics, on the design and analysis of robotic systems as well as on robotic applications. Selected contributions from researchers in German-speaking countries as well as from the international robotics community compose this volume. The papers are organized in ten scientific tracks: Kinematic and Dynamic Modeling, Motion Generation, Sensor Integration, Robot Vision, Robot Programming, Humanoid Robots, Grasping, Medical Robotics, Autonomous Helicopters, and Robot Applications. Due to an extensive review and discussion process, this collection of scientific contributions is of very high caliber and promises to strongly influence future robotic research activities.
| Author | : Katrin Franke |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 790 |
| Release | : 2006-09-11 |
| Genre | : Computers |
| ISBN | : 3540444122 |
This book constitutes the refereed proceedings of the 28th Symposium of the German Association for Pattern Recognition, DAGM 2006. The book presents 32 revised full papers and 44 revised poster papers together with 5 invited papers. Topical sections include image filtering, restoration and segmentation, shape analysis and representation, recognition, categorization and detection, computer vision and image retrieval, machine learning and statistical data analysis, biomedical data analysis, and more.
| Author | : Honghai Liu |
| Publisher | : Springer Science & Business Media |
| Total Pages | : 785 |
| Release | : 2010-10-21 |
| Genre | : Computers |
| ISBN | : 3642165869 |
The market demand for skills, knowledge and adaptability have positioned robotics to be an important field in both engineering and science. One of the most highly visible applications of robotics has been the robotic automation of many industrial tasks in factories. In the future, a new era will come in which we will see a greater success for robotics in non-industrial environments. In order to anticipate a wider deployment of intelligent and autonomous robots for tasks such as manufacturing, healthcare, ent- tainment, search and rescue, surveillance, exploration, and security missions, it is essential to push the frontier of robotics into a new dimension, one in which motion and intelligence play equally important roles. The 2010 International Conference on Intelligent Robotics and Applications (ICIRA 2010) was held in Shanghai, China, November 10–12, 2010. The theme of the c- ference was “Robotics Harmonizing Life,” a theme that reflects the ever-growing interest in research, development and applications in the dynamic and exciting areas of intelligent robotics. These volumes of Springer’s Lecture Notes in Artificial Intel- gence and Lecture Notes in Computer Science contain 140 high-quality papers, which were selected at least for the papers in general sessions, with a 62% acceptance rate Traditionally, ICIRA 2010 holds a series of plenary talks, and we were fortunate to have two such keynote speakers who shared their expertise with us in diverse topic areas spanning the rang of intelligent robotics and application activities.
| Author | : Erwin Prassler |
| Publisher | : Springer |
| Total Pages | : 521 |
| Release | : 2012-03-12 |
| Genre | : Technology & Engineering |
| ISBN | : 3642251161 |
People have dreamed of machines, which would free them from unpleasant, dull, dirty and dangerous tasks and work for them as servants, for centuries if not millennia. Service robots seem to finally let these dreams come true. But where are all these robots that eventually serve us all day long, day for day? A few service robots have entered the market: domestic and professional cleaning robots, lawnmowers, milking robots, or entertainment robots. Some of these robots look more like toys or gadgets rather than real robots. But where is the rest? This is a question, which is asked not only by customers, but also by service providers, care organizations, politicians, and funding agencies. The answer is not very satisfying. Today’s service robots have their problems operating in everyday environments. This is by far more challenging than operating an industrial robot behind a fence. There is a comprehensive list of technical and scientific problems, which still need to be solved. To advance the state of the art in service robotics towards robots, which are capable of operating in an everyday environment, was the major objective of the DESIRE project (Deutsche Service Robotik Initiative – Germany Service Robotics Initiative) funded by the German Ministry of Education and Research (BMBF) under grant no. 01IME01A. This book offers a sample of the results achieved in DESIRE.
| Author | : Jason Hall |
| Publisher | : BoD – Books on Demand |
| Total Pages | : 612 |
| Release | : 2011-02-14 |
| Genre | : Technology & Engineering |
| ISBN | : 9533075511 |
The development and launch of the first artificial satellite Sputnik more than five decades ago propelled both the scientific and engineering communities to new heights as they worked together to develop novel solutions to the challenges of spacecraft system design. This symbiotic relationship has brought significant technological advances that have enabled the design of systems that can withstand the rigors of space while providing valuable space-based services. With its 26 chapters divided into three sections, this book brings together critical contributions from renowned international researchers to provide an outstanding survey of recent advances in spacecraft technologies. The first section includes nine chapters that focus on innovative hardware technologies while the next section is comprised of seven chapters that center on cutting-edge state estimation techniques. The final section contains eleven chapters that present a series of novel control methods for spacecraft orbit and attitude control.
| Author | : Kurz, Gerhard |
| Publisher | : KIT Scientific Publishing |
| Total Pages | : 272 |
| Release | : 2015-05-26 |
| Genre | : Electronic computers. Computer science |
| ISBN | : 3731503824 |
In robotic beating heart surgery, a remote-controlled robot can be used to carry out the operation while automatically canceling out the heart motion. The surgeon controlling the robot is shown a stabilized view of the heart. First, we consider the use of directional statistics for estimation of the phase of the heartbeat. Second, we deal with reconstruction of a moving and deformable surface. Third, we address the question of obtaining a stabilized image of the heart.
