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An Interactive Likelihood For The Multi-Bernoulli Filter, Anthony B. Hoak
An Interactive Likelihood For The Multi-Bernoulli Filter, Anthony B. Hoak
Master's Theses (2009 -)
In this thesis, a simple yet effective technique is presented for increasing the accuracy of multi-target tracking algorithms with a focus on sequential Monte-Carlo implementations of random finite set-based approaches. This technique, referred to throughout this work as an interactive likelihood, exploits the spatial information that exists in any given measurement, reducing the need for data association and allowing for more target interaction thereby increasing overall tracking accuracy. The interactive likelihood is constructed entirely within the random finite set framework and is integrated with a multi-Bernoulli filter. In addition, a state-of-the-art deep neural network for pedestrian detection is combined in …
Flight Control And Hardware Design Of Multi-Rotor Systems, Nathan M. Zimmerman
Flight Control And Hardware Design Of Multi-Rotor Systems, Nathan M. Zimmerman
Master's Theses (2009 -)
This thesis overviews crucial concepts involved in achieving quadcopter flight such as orientation estimation and control system implementation. This thesis also presents researchers with comprehensive hardware and software specifications for a quadcopter system. The primary application for this system would be for research with regards to the implementation of advance control techniques as well as data acquisition. Key constructs of this system include hardware software specifications for a flight controller, the radio system, and the sensorless brushless motor controllers. Firstly, the thesis starts by developing a reference frame and a mathematical model for the quadcotper system. Next, flight orientation estimation …
Novel Convergence Results In Nonlinear Filtering, Jennifer Lynn Bonniwell
Novel Convergence Results In Nonlinear Filtering, Jennifer Lynn Bonniwell
Dissertations (1934 -)
In this dissertation, the discrete-time extended Kalman filter is analyzed for its ability to attenuate finite-energy disturbances, known as the H-infinity property. Though the extended Kalman filter is designed to be a locally optimal minimum variance estimator, this dissertation proves that it has additional properties, such as H-infinity. This analysis is performed with the extended Kalman filter in direct form. Since this form reduces assumptions placed on the system in previous works on convergence and H-2 properties of the extended Kalman filter, the extended Kalman filter used as a nonlinear observer for noise-free models is revisited using the direct form …