Introduction. 1. Two Dimensional Systems and Mathematical Preliminaries. 2. Image Perception. 3. Image Sampling and Quantization. 4. Image Transforms. 5. Image Representation by Stochastic Models. 6. Image Enhancement. 7. Image Filtering and Restoration. 8. Image Analysis and Computer Vision. 9. Image Reconstruction From Projections. 10. Image Data Compression.

Fundamentals of digital image processing

A key aspect of robotics today is estimating the state, such as position and orientation, of a robot as it moves through the world. Most robots and autonomous vehicles depend on noisy data from sensors such as cameras or laser rangefinders to navigate in a three-dimensional world. This book presents common sensor models and practical advice on how to carry out state estimation for rotations and other state variables. It covers both classical state estimation methods such as the Kalman filter, as well as important modern topics such as batch estimation, the Bayes filter, sigmapoint and particle filters, robust estimation for outlier rejection, and continuous-time trajectory estimation and its connection to Gaussian-process regression. The methods are demonstrated in the context of important applications such as point-cloud alignment, pose-graph relaxation, bundle adjustment, and simultaneous localization and mapping. Students and practitioners of robotics alike will find this a valuable resource.

State Estimation for Robotics

In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain position and orientation information. These estimates are accurate on a short time scale, but suffer from integration drift over longer time scales. To overcome this issue, inertial sensors are typically combined with additional sensors and models. In this tutorial we focus on the signal processing aspects of position and orientation estimation using inertial sensors. We discuss different modeling choices and a selected number of important algorithms. The algorithms include optimization-based smoothing and filtering as well as computationally cheaper extended Kalman filter and complementary filter implementations. The quality of their estimates is illustrated using both experimental and simulated data.

Using Inertial Sensors for Position and Orientation Estimation

Kalman Filters are one of the most influential models of time-varying phenomena. They admit an intuitive probabilistic interpretation, have a simple functional form, and enjoy widespread adoption in a variety of disciplines. Motivated by recent variational methods for learning deep generative models, we introduce a unified algorithm to efficiently learn a broad spectrum of Kalman filters. Of particular interest is the use of temporal generative models for counterfactual inference. We investigate the efficacy of such models for counterfactual inference, and to that end we introduce the "Healing MNIST" dataset where long-term structure, noise and actions are applied to sequences of digits. We show the efficacy of our method for modeling this dataset. We further show how our model can be used for counterfactual inference for patients, based on electronic health record data of 8,000 patients over 4.5 years.

Deep Kalman Filters.

Representation, representativity, representativeness error, forward interpolation error, forward model error, observation operator error, aggregation error and sampling error are all terms used to refer to components of observation error in the context of data assimilation. This paper is an attempt to consolidate the terminology that has been used in the earth sciences literature and was suggested at a European Space Agency workshop held in Reading in April 2014. We review the state-of-the-art, and through examples, motivate the terminology. In addition to a theoretical framework, examples from application areas of satellite data assimilation, ocean reanalysis and atmospheric chemistry data assimilation are provided. Diagnosing representation error statistics as well as their use in state-of-the-art data assimilation systems is discussed within a consistent framework.

https://ntrs.nasa.gov/api/citations/20170009220/downloads/20170009220.pdf

On the representation error in data assimilation

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Florian Nadel

Papers

Stochastic Processes And Filtering Theory