Extended Kalman Filter for Stereo Vision-Based Localization and Mapping Applications

2017 ◽  
Vol 140 (3) ◽  
Author(s):  
Xue Iuan Wong ◽  
Manoranjan Majji
Keyword(s):  
Coordinate System ◽  
Relative Motion ◽  
Image Features ◽  
Body Motion ◽  
Image Feature ◽  
Recursive Least Squares ◽  
Global Coordinate System ◽  
Error Statistics ◽  
Extended Kalman Filtering ◽  
Localization And Mapping

Image feature-based localization and mapping applications useful in field robotics are considered in this paper. Exploiting the continuity of image features and building upon the tracking algorithms that use point correspondences to provide an instantaneous localization solution, an extended Kalman filtering (EKF) approach is formulated for estimation of the rigid body motion of the camera coordinates with respect to the world coordinate system. Recent results by the authors in quantifying uncertainties associated with the feature tracking methods form the basis for deriving scene-dependent measurement error statistics that drive the optimal estimation approach. It is shown that the use of certain relative motion models between a static scene and the moving target can be recast as a recursive least squares problem and admits an efficient solution to the relative motion estimation problem that is amenable to real-time implementations on board mobile computing platforms with computational constraints. The utility of the estimation approaches developed in the paper is demonstrated using stereoscopic terrain mapping experiments carried out using mobile robots. The map uncertainties estimated by the filter are utilized to establish the registration of the local maps into the global coordinate system.

Rolling Condition and Gyroscopic Moments in Curve Negotiations

2012 ◽  
Author(s):  
Ahmed A. Shabana ◽  
Martin B. Hamper ◽  
James J. O’Shea
Keyword(s):  
Coordinate System ◽  
Degrees Of Freedom ◽  
The Body ◽  
Contact Forces ◽  
Body Motion ◽  
Global Coordinate System ◽  
Gyroscopic Moment ◽  
Absolute Angular Velocity ◽  
Pure Rolling ◽  
The Stability

In vehicle system dynamics, the effect of the gyroscopic moments can be significant during curve negotiations. The absolute angular velocity of the body can be expressed as the sum of two vectors; one vector is due to the curvature of the curve, while the second vector is due to the rate of changes of the angles that define the orientation of the body with respect to a coordinate system that follows the body motion. In this paper, the configuration of the body in the global coordinate system is defined using the trajectory coordinates in order to examine the effect of the gyroscopic moments in the case of curve negotiations. These coordinates consist of arc length, two relative translations and three relative angles. The relative translations and relative angles are defined with respect to a trajectory coordinate system that follows the motion of the body on the curve. It is shown that when the yaw and roll angles relative to the trajectory coordinate system are constrained and the motion is predominantly rolling, the effect of the gyroscopic moment on the motion becomes negligible, and in the case of pure rolling and zero yaw and roll angles, the generalized gyroscopic moment associated with the system degrees of freedom becomes identically zero. The analysis presented in this investigation sheds light on the danger of using derailment criteria that are not obtained using laws of motion, and therefore, such criteria should not be used in judging the stability of railroad vehicle systems. Furthermore, The analysis presented in this paper shows that the roll moment which can have a significant effect on the wheel/rail contact forces depends on the forward velocity in the case of curve negotiations. For this reason, roller rigs that do not allow for the wheelset forward velocity cannot capture these moment components, and therefore, cannot be used in the analysis of curve negotiations. A model of a suspended railroad wheelset is used in this investigation to study the gyroscopic effect during curve negotiations.

A Finite Element Formulation of Flexible Slider Crank Mechanism Using Local Coordinates

1994 ◽  
Author(s):  
Behrooz Fallahi ◽  
S. Lai ◽  
C. Venkat
Keyword(s):  
Rigid Body ◽  
Coordinate System ◽  
High Speed ◽  
Displacement Vector ◽  
Lagrange Equation ◽  
Local Coordinate System ◽  
Body Motion ◽  
Elastic Displacement ◽  
Global Coordinate System ◽  
Element Formulation

Abstract The need for higher productivity has lead to the design of machines operating at higher speeds. At high speed the rigid body assumption is no longer valid and the links should be considered flexible. In this work a method which is based on Modified Lagrange Equation for modeling flexible mechanism is presented. The method posses a more computational efficiency for not requiring the transformation from the local coordinate system to the global coordinate system. Also an approach using the homogeneous coordinate for element matrices generation is presented. The approach leads to a formalism where the displacement vector is expressed as a product of two matrices and a vector. The first matrix is a function of rigid body motion. The second matrix is a function of rigid body configuration. The vector is a function of elastic displacement. This formal separation helps to facilitate the generation of element matrices using symbolic manipulations.

A Finite Element Formulation of a Flexible Slider Crank Mechanism Using Local Coordinates

1995 ◽  
Vol 117 (3) ◽  
pp. 329-335 ◽  
Author(s):  
Behrooz Fallahi ◽  
S. Lai ◽  
C. Venkat
Keyword(s):  
Rigid Body ◽  
Coordinate System ◽  
Displacement Vector ◽  
Lagrange Equation ◽  
Local Coordinate System ◽  
Body Motion ◽  
Elastic Displacement ◽  
Global Coordinate System ◽  
Element Formulation ◽  
Crank Mechanism

The need for higher manufacturing throughput has lead to the design of machines operating at higher speeds. At higher speeds, the rigid body assumption is no longer valid and the links should be considered flexible. In this work, a method based on the Modified Lagrange Equation for modeling a flexible slider-crank mechanism is presented. This method possesses the characteristic of not requiring the transformation from the local coordinate system to the global coordinate system. An approach using the homogeneous coordinate for element matrices generation is also presented. This approach leads to a formalism in which the displacement vector is expressed as a product of two matrices and a vector. The first matrix is a function of rigid body motion. The second matrix is a function of rigid body configuration. The vector is a function of the elastic displacement. This formal separation helps to facilitate the generation of element matrices using symbolic manipulators.

Rolling Condition and Gyroscopic Moments in Curve Negotiations

2012 ◽  
Vol 8 (1) ◽  
Author(s):  
Ahmed A. Shabana ◽  
Martin B. Hamper ◽  
James J. O’Shea
Keyword(s):  
Coordinate System ◽  
Degrees Of Freedom ◽  
Rate Of Change ◽  
The Body ◽  
Contact Forces ◽  
Body Motion ◽  
Global Coordinate System ◽  
Gyroscopic Moment ◽  
Absolute Angular Velocity ◽  
The Stability

In vehicle system dynamics, the effect of the gyroscopic moments can be significant during curve negotiations. The absolute angular velocity of the body can be expressed as the sum of two vectors; one vector is due to the curvature of the curve, while the second vector is due to the rate of change of the angles that define the orientation of the body with respect to a coordinate system that follows the body motion. In this paper, the configuration of the body in the global coordinate system is defined using the trajectory coordinates in order to examine the effect of the gyroscopic moments in the case of curve negotiations. These coordinates consist of arc length, two relative translations, and three relative angles. The relative translations and relative angles are defined with respect to a trajectory coordinate system that follows the motion of the body on the curve. It is shown that when the yaw and roll angles relative to the trajectory coordinate system are constrained and the motion is predominantly rolling, the effect of the gyroscopic moment on the motion becomes negligible and, in the case of pure rolling and zero yaw and roll angles, the generalized gyroscopic moment associated with the system degrees of freedom becomes identically zero. The analysis presented in this investigation sheds light on the danger of using derailment criteria that are not obtained using laws of motion and, therefore, such criteria should not be used in judging the stability of railroad vehicle systems. Furthermore, the analysis presented in this paper shows that the roll moment, which can have a significant effect on the wheel/rail contact forces, depends on the forward velocity in the case of curve negotiations. For this reason, roller rigs that do not allow for the wheelset forward velocity cannot capture these moment components and, therefore, should not be used in the analysis of curve negotiations. A model of a suspended railroad wheelset is used in this investigation to study the gyroscopic effect during curve negotiations.

High-resolution electron microscopy of the atomic structure of some grain boundaries in Au

1986 ◽  
Vol 44 ◽  
pp. 414-415
Author(s):  
W. Krakow ◽  
D. A. Smith
Keyword(s):  
Atomic Structure ◽  
High Resolution Electron Microscopy ◽  
Image Features ◽  
Image Feature ◽  
Resolution Electron ◽  
Tilt Boundaries ◽  
Processing Techniques ◽  
Atom Position ◽  
Structure Configuration

The successful determination of the atomic structure of [110] tilt boundaries in Au stems from the investigation of microscope performance at intermediate accelerating voltages (200 and 400kV) as well as a detailed understanding of how grain boundary image features depend on dynamical diffraction processes variation with specimen and beam orientations. This success is also facilitated by improving image quality by digital image processing techniques to the point where a structure image is obtained and each atom position is represented by a resolved image feature. Figure 1 shows an example of a low angle (∼10°) Σ = 129/[110] tilt boundary in a ∼250Å Au film, taken under tilted beam brightfield imaging conditions, to illustrate the steps necessary to obtain the atomic structure configuration from the image. The original image of Fig. 1a shows the regular arrangement of strain-field images associated with the cores of ½ [10] primary dislocations which are separated by ∼15Å.

Shoulder Joint Motion Analysis of Daily Living Activities Using a Global Coordinate System

2013 ◽  
Vol 50 (10) ◽  
pp. 840-844
Author(s):  
Yukiya INOUE ◽  
Mayumi KIHARA ◽  
Junko YOSHIMURA ◽  
Naoki YOSHIDA ◽  
Kenji MATSUMOTO ◽  
...  
Keyword(s):  
Coordinate System ◽  
Motion Analysis ◽  
Shoulder Joint ◽  
Daily Living ◽  
Global Coordinate System ◽  
Joint Motion ◽  
Daily Living Activities

Technique for relation global reference system and local realization of global reference system by continuously operated reference stations

2020 ◽  
Vol 962 (8) ◽  
pp. 24-37
Author(s):  
V.E. Tereshchenko
Keyword(s):  
Coordinate System ◽  
Russian Federation ◽  
Reference System ◽  
Main Part ◽  
Precise Point Positioning ◽  
Global Coordinate System ◽  
Coordinate Systems ◽  
Novosibirsk Region ◽  
The Russian Federation

The article suggests a technique for relation global kinematic reference system and local static realization of global reference system by regional continuously operated reference stations (CORS) network. On the example of regional CORS network located in the Novosibirsk Region (CORS NSO) the relation parameters of the global reference system WGS-84 and its local static realization by CORS NSO network at the epoch of fixing stations coordinates in catalog are calculated. With the realization of this technique, the main parameters to be determined are the speed of displacement one system center relativly to another and the speeds of rotation the coordinate axes of one system relatively to another, since the time evolution of most stations in the Russian Federation is not currently provided. The article shows the scale factor for relation determination of coordinate systems is not always necessary to consider. The technique described in the article also allows detecting the errors in determining the coordinates of CORS network in global coordinate system and compensate for them. A systematic error of determining and fixing the CORS NSO coordinates in global coordinate system was detected. It is noted that the main part of the error falls on the altitude component and reaches 12 cm. The proposed technique creates conditions for practical use of the advanced method Precise Point Positioning (PPP) in some regions of the Russian Federation. Also the technique will ensure consistent PPP method results with the results of the most commonly used in the Russian Federation other post-processing methods of high-precision positioning.

Structural displacement and strain monitoring based on the edge detection operator

2016 ◽  
Vol 20 (2) ◽  
pp. 191-201 ◽  
Author(s):  
Wei Lu ◽  
Yan Cui ◽  
Jun Teng
Keyword(s):  
Edge Detection ◽  
Image Features ◽  
Image Feature ◽  
Monitoring Method ◽  
Strain Monitoring ◽  
Morphological Operator ◽  
Filtering Effect ◽  
Circular Target ◽  
Plane Displacement ◽  
The Cost

To decrease the cost of instrumentation for the strain and displacement monitoring method that uses sensors as well as considers the structural health monitoring challenges in sensor installation, it is necessary to develop a machine vision-based monitoring method. For this method, the most important step is the accurate extraction of the image feature. In this article, the edge detection operator based on multi-scale structure elements and the compound mathematical morphological operator is proposed to provide improved image feature extraction. The proposed method can not only achieve an improved filtering effect and anti-noise ability but can also detect the edge more accurately. Furthermore, the required image features (vertex of a square calibration board and centroid of a circular target) can be accurately extracted using the extracted image edge information. For validation, the monitoring tests for the structural local mean strain and in-plane displacement were designed accordingly. Through analysis of the error between the measured and calculated values of the structural strain and displacement, the feasibility and effectiveness of the proposed edge detection operator are verified.

Consistent co-rotational framework for Euler-Bernoulli and Timoshenko beam-column elements under distributed member loads

2021 ◽  
pp. 136943322098663
Author(s):  
Yi-Qun Tang ◽  
Wen-Feng Chen ◽  
Yao-Peng Liu ◽  
Siu-Lai Chan
Keyword(s):  
Coordinate System ◽  
Stiffness Matrix ◽  
Traditional Method ◽  
Local Coordinate System ◽  
Frame Structures ◽  
Global Coordinate System ◽  
Single Element ◽  
Geometrically Nonlinear ◽  
Geometrically Nonlinear Analysis ◽  
Geometric Stiffness

Conventional co-rotational formulations for geometrically nonlinear analysis are based on the assumption that the finite element is only subjected to nodal loads and as a result, they are not accurate for the elements under distributed member loads. The magnitude and direction of member loads are treated as constant in the global coordinate system, but they are essentially varying in the local coordinate system for the element undergoing a large rigid body rotation, leading to the change of nodal moments at element ends. Thus, there is a need to improve the co-rotational formulations to allow for the effect. This paper proposes a new consistent co-rotational formulation for both Euler-Bernoulli and Timoshenko two-dimensional beam-column elements subjected to distributed member loads. It is found that the equivalent nodal moments are affected by the element geometric change and consequently contribute to a part of geometric stiffness matrix. From this study, the results of both eigenvalue buckling and second-order direct analyses will be significantly improved. Several examples are used to verify the proposed formulation with comparison of the traditional method, which demonstrate the accuracy and reliability of the proposed method in buckling analysis of frame structures under distributed member loads using a single element per member.

scholarly journals A Lightweight Fusion Distillation Network for Image Deblurring and Deraining

Sensors ◽  
2021 ◽  
Vol 21 (16) ◽  
pp. 5312
Author(s):  
Yanni Zhang ◽  
Yiming Liu ◽  
Qiang Li ◽  
Jianzhong Wang ◽  
Miao Qi ◽  
...  
Keyword(s):  
Deep Learning ◽  
Image Deblurring ◽  
Image Features ◽  
Image Feature ◽  
Model Complexity ◽  
Small Scale ◽  
Feature Maps ◽  
Learning Framework ◽  
Channel Information ◽  
Scale Spaces

Recently, deep learning-based image deblurring and deraining have been well developed. However, most of these methods fail to distill the useful features. What is more, exploiting the detailed image features in a deep learning framework always requires a mass of parameters, which inevitably makes the network suffer from a high computational burden. We propose a lightweight fusion distillation network (LFDN) for image deblurring and deraining to solve the above problems. The proposed LFDN is designed as an encoder–decoder architecture. In the encoding stage, the image feature is reduced to various small-scale spaces for multi-scale information extraction and fusion without much information loss. Then, a feature distillation normalization block is designed at the beginning of the decoding stage, which enables the network to distill and screen valuable channel information of feature maps continuously. Besides, an information fusion strategy between distillation modules and feature channels is also carried out by the attention mechanism. By fusing different information in the proposed approach, our network can achieve state-of-the-art image deblurring and deraining results with a smaller number of parameters and outperform the existing methods in model complexity.

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