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Your search keyword '"2207 Control and Systems Engineering"' showing total 4 results
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4 results on '"2207 Control and Systems Engineering"'

1. Simultaneous State Initialization and Gyroscope Bias Calibration in Visual Inertial aided Navigation

Author

Davide Scaramuzza, Agostino Martinelli, Jacques Kaiser, Flavio Fontana, Robots coopératifs et adaptés à la présence humaine en environnements dynamiques (CHROMA), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-CITI Centre of Innovation in Telecommunications and Integration of services (CITI), Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA)-Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National des Sciences Appliquées de Lyon (INSA Lyon), Université de Lyon-Institut National des Sciences Appliquées (INSA)-Université de Lyon-Institut National des Sciences Appliquées (INSA), Robotics and perception group [Zurich], Universität Zürich [Zürich] = University of Zurich (UZH), ANR-14-CE27-0009,VIMAD,navigation autonome des drones aériens avec la fusion des données visuels et inertielles(2014), University of Zurich, Martinelli, Agostino, and Appel à projets générique - navigation autonome des drones aériens avec la fusion des données visuels et inertielles - - VIMAD2014 - ANR-14-CE27-0009 - Appel à projets générique - VALID

Subjects
autonomous mobile robots, 0209 industrial biotechnology, Engineering, 1707 Computer Vision and Pattern Recognition, optimisation, 2210 Mechanical Engineering, quadrotor MAV, Gyroscopes, Initialization, 1702 Artificial Intelligence, Linear systems, 02 engineering and technology, Interval (mathematics), localization, based navigation, law.invention, 020901 industrial engineering & automation, law, mobile robots, 0202 electrical engineering, electronic engineering, information engineering, closed, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Computer vision, inertial measurements, Inertial navigation system, ComputingMilieux_MISCELLANEOUS, Visual-based navigation, Visualization, filter, Linear system, Gyroscope, Cameras, Computer Science Applications, image features, Closed-form solutions, Calibration, filtering theory, 020201 artificial intelligence & image processing, visual, Computer Vision and Pattern Recognition, noisy sensors, form solution, optimization, 2606 Control and Optimization, visual inertial aided navigation, Control and Optimization, 10009 Department of Informatics, Biomedical Engineering, 2207 Control and Systems Engineering, 2204 Biomedical Engineering, 000 Computer science, knowledge & systems, 1709 Human-Computer Interaction, Artificial Intelligence, Robot sensing systems, 1706 Computer Science Applications, inertial navigation, gyroscope bias calibration, metric units, sensor fusion, form solutions, micro aerial vehicles, business.industry, Mechanical Engineering, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Filter (signal processing), Sensor fusion, Human-Computer Interaction, Control and Systems Engineering, simultaneous state initialization, space vehicles, Artificial intelligence, business, monocular camera, based algorithms
Abstract

International audience; State of the art approaches for visual-inertial sensor fusion use filter-based or optimization-based algorithms. Due to the nonlinearity of the system, a poor initialization can have a dramatic impact on the performance of these estimation methods. Recently, a closed-form solution providing such an initialization was derived in [1]. That solution determines the velocity (angular and linear) of a monocular camera in metric units by only using inertial measurements and image features acquired in a short time interval. In this letter, we study the impact of noisy sensors on the performance of this closed-form solution. We show that the gyroscope bias, not accounted for in [1], significantly affects the performance of the method. Therefore, we introduce a new method to automatically estimate this bias. Compared to the original method, the new approach now models the gyroscope bias and is robust to it. The performance of the proposed approach is successfully demonstrated on real data from a quadrotor MAV.

Published
2016
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2. 2-Point-based Outlier Rejection for Camera-Imu Systems with applications to Micro Aerial Vehicles

Author

Agostino Martinelli, Davide Scaramuzza, Chiara Troiani, Christian Laugier, Geometry and Probability for Motion and Action (E-MOTION), Inria Grenoble - Rhône-Alpes, Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)-Laboratoire d'Informatique de Grenoble (LIG), Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS), Robotics and perception group [Zurich], Universität Zürich [Zürich] = University of Zurich (UZH), University of Zurich, and Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut National Polytechnique de Grenoble (INPG)-Centre National de la Recherche Scientifique (CNRS)-Université Pierre Mendès France - Grenoble 2 (UPMF)-Université Joseph Fourier - Grenoble 1 (UJF)

Subjects
Engineering, 10009 Department of Informatics, business.industry, 2208 Electrical and Electronic Engineering, ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION, Process (computing), 2207 Control and Systems Engineering, 1702 Artificial Intelligence, Gyroscope, 000 Computer science, knowledge & systems, Motion (physics), law.invention, 1712 Software, law, Inertial measurement unit, Feature (computer vision), Prior probability, Outlier, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO], Computer vision, Point (geometry), Artificial intelligence, business
Abstract

International audience; This paper presents a novel method to perform the outlier rejection task between two different views of a camera rigidly attached to an Inertial Measurement Unit (IMU). Only two feature correspondences and gyroscopic data from IMU measurerments are used to compute the motion hypothesis. By exploiting this 2-point motion parametrization, we propose two algorithms to remove wrong data associations in the featurematching process for case of a 6DoF motion. We show that in the case of a monocular camera mounted on a quadrotor vehicle, motion priors from IMU can be used to discard wrong estimations in the framework of a 2-point-RANSAC based approach. The proposed methods are evaluated on both synthetic and real data.

Published
2014

3. Local minimizers of functionals with multiple volume constraints

Author

Marc Oliver Rieger, Edouard Oudet, Laboratoire de Mathématiques (LAMA), Centre National de la Recherche Scientifique (CNRS)-Université Savoie Mont Blanc (USMB [Université de Savoie] [Université de Chambéry]), Département de mathématiques, Université Louis Pasteur - Strasbourg I, Ecole Polytechnique Fédérale de Lausanne (EPFL), University of Zurich, Oudet, Édouard, and Université Savoie Mont Blanc (USMB [Université de Savoie] [Université de Chambéry])-Centre National de la Recherche Scientifique (CNRS)

Subjects
0209 industrial biotechnology, Work (thermodynamics), 2606 Control and Optimization, Control and Optimization, Level set method, Computation, 2207 Control and Systems Engineering, 02 engineering and technology, 01 natural sciences, Measure (mathematics), local minima, numerical simulations, 020901 industrial engineering & automation, [MATH.MATH-AP]Mathematics [math]/Analysis of PDEs [math.AP], 0101 mathematics, Mathematics, Numerical analysis, 010102 general mathematics, Mathematical analysis, Volume (computing), 10003 Department of Banking and Finance, 330 Economics, Maxima and minima, Computational Mathematics, Control and Systems Engineering, Volume constrained problems, level set method, 2605 Computational Mathematics
Abstract

International audience; We study variational problems with volume constraints, i.e., with level sets of prescribed measure. We introduce a numerical method to approximate local minimizers and illustrate it with some two-dimensional examples. We demonstrate numerically nonexistence results which had been obtained analytically in previous work. Moreover, we show the existence of discontinuous dependence of global minimizers from the data by using a Gamma-limit argument and illustrate this with numerical computations. Finally we construct explicitly local and global minimizers for problems with two volume constraints.

Published
2008

4. Homogenization of periodic nonconvex integral functionnals in terms of young measures

Author

Jean-Philippe Mandallena, Gérard Michaille, Omar Anza Hafsa, Laboratoire de Mécanique et Génie Civil (LMGC), Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS), Mathématiques, Informatique, Physique, et Applications / Université de Nîmes (MIPA), Université de Nîmes (UNIMES), University of Zurich, and Anza Hafsa, O

Subjects
2606 Control and Optimization, Control and Optimization, 010102 general mathematics, Mathematical analysis, homogenization, 2207 Control and Systems Engineering, [MATH.MATH-CA]Mathematics [math]/Classical Analysis and ODEs [math.CA], 16. Peace & justice, 01 natural sciences, Homogenization (chemistry), 010101 applied mathematics, 10123 Institute of Mathematics, Computational Mathematics, 510 Mathematics, Control and Systems Engineering, Young measures, 0101 mathematics, 2605 Computational Mathematics, Mathematics
Abstract

Homogenization of periodic functionals, whose integrands possess possibly multi-well structure, is treated in terms of Young measures. More precisely, we characterize the Γ -limit of sequences of such functionals in the set of Young measures, extending the relaxation theorem of Kinderlherer and Pedregal. We also make precise the relationship between our homogenized density and the classical one.

Published
2006
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