60documents trouvés
Identification of quadratic in-the-state system using nonlinear programming
W.SULEIMAN, G.ETCHEVERRY, A.MONIN
MRS
Rapport LAAS N°06702, Octobre 2006, 7p.
Diffusable
108196Incremental structure from restrictive motion
J.SOLA, A.MONIN, M.DEVY
MRS, RAP, RIA
Rapport LAAS N°06597, Septembre 2006, 5p.
Diffusable
Plus d'informations
Abstract
This paper demonstrates the ability of the Federated Information Sharing filter (FIS) to causally extract 3D structure and camera motion from monocular image sequences when the camera motion is singular, ie. restricted to straight trajectories heading to the objects to be modelled. A special Multi-Hypothesis, Bearings-Only, Simultaneous Localisation And Mapping scheme based on Extended Kalman Filter is used: its capability of immediate initialisation of multiple simultaneous landmarks, based on FIS, is the key to cope with the weak observability of the system. All the image processing to extract the pertinent visual information in real time is described. Experimental results show the performance of the proposed methods.
Nouvelle approche pour l'identification des systèmes non linéaires
W.SULEIMAN, G.ETCHEVERRY, A.MONIN
MRS
Manifestation avec acte : Conférence Internationale Francophone d'Automatique (CIFA'2006), Bordeaux (France), 30 Mai - 1er Juin 2006, 6p. , N° 06008
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107150Quadratic system identification by hereditary approach
G.ETCHEVERRY, W.SULEIMAN, A.MONIN
MRS
Manifestation avec acte : 2006 IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP'2006), Toulouse (France), 14-19 Mai 2006, pp.III.129-III.132 , N° 06094
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107020An approximate identification of nonlinear system: nilpotent approach
W.SULEIMAN, G.ETCHEVERRY, A.MONIN
MRS
Rapport LAAS N°06009, Janvier 2006, 6p.
Diffusable
105688Identification de systèmes quadratiques par algorithme héréditaire
G.ETCHEVERRY, W.SULEIMAN, A.MONIN
RST
Rapport LAAS N°05603, Novembre 2005, 5p.
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105027Estimation de la masse des éléments du corps humain par capture de mouvement
A.MONIN, W.SULEIMAN
RST
Rapport LAAS N°05469, Octobre 2005, 10p.
Diffusion restreinte
104468Undelayed initialization in bearing only SLAM
J.SOLA, A.MONIN, M.DEVY, T.LEMAIRE
RST, RIA
Manifestation avec acte : IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2005), Edmonton (Canada), 2-6 Août 2005, pp.2751-2756 , N° 05039
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Plus d'informations
Abstract
Most solutions to the SLAM problem in robotics have utilized Range and Bearing sensors as the provided perception data is easy to incorporate, allowing immediate landmark initialization. This is not the case when using Bearing-Only information because the distance to the perceived landmarks is not directly provided. A whole estimate of a landmark position will only be possible via a set ofmeasurements taken from different points of view. The vast majority of contributions to this problem perform a parallel task to get this estimate, and hence the landmark initialization is delayed. We give a new insight to the problem and present a method to avoid this delay by initializing the whole ray that defines the direction of the landmark. We utilize a minimal and computationally efficient form to represent this ray and a new strategy for the subsequent updates. Simulations have been carried out to validate the proposed algorithms.
Identification héréditaire des systèmes bilinéaires
G.ETCHEVERRY, A.MONIN
RST
Manifestations avec acte à diffusion limitée : 5ème Congrès de l'Ecole Doctorale Systèmes (EDSYS), Toulouse (France), 13-14 Mai 2004, 8p. , N° 04779
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104147ARMAX and OE identification via hereditary algorithms
A.MONIN
RST
Revue Scientifique : IEEE Transactions on Automatic Control, Vol.49, N°2, pp.233-238, Février 2004 , N° 02533
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