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Geovany A. Borges

Bio: Geovany A. Borges is an academic researcher from University of Brasília. The author has contributed to research in topics: Kalman filter & Extended Kalman filter. The author has an hindex of 16, co-authored 102 publications receiving 1511 citations. Previous affiliations of Geovany A. Borges include Centre national de la recherche scientifique.


Papers
More filters
Journal ArticleDOI
TL;DR: Qualitative and quantitative comparisons using simulated and real images illustrate the main characteristics of the framework when using different methods for breakpoint and line detection and illustrate the characteristics of each estimator, which can be exploited according to the platform computing power and the application accuracy requirements.
Abstract: This paper presents a geometrical feature detection framework for use with conventional 2D laser rangefinders. This framework is composed of three main procedures: data pre-processing, breakpoint detection and line extraction. In data pre-processing, low-level data organization and processing are discussed, with emphasis to sensor bias compensation. Breakpoint detection allows to determine sequences of measurements which are not interrupted by scanning surface changing. Two breakpoint detectors are investigated, one based on adaptive thresholding, and the other on Kalman filtering. Implementation and tuning of both detectors are also investigated. Line extraction is performed to each continuous scan sequence in a range image by applying line kernels. We have investigated two classic kernels, commonly used in mobile robots, and our Split-and-Merge Fuzzy (SMF) line extractor. SMF employs fuzzy clustering in a split-and-merge framework without the need to guess the number of clusters. Qualitative and quantitative comparisons using simulated and real images illustrate the main characteristics of the framework when using different methods for breakpoint and line detection. These comparisons illustrate the characteristics of each estimator, which can be exploited according to the platform computing power and the application accuracy requirements.

320 citations

Journal ArticleDOI
TL;DR: With the proposed systematization of the Unscented Kalman Filter theory, the symmetric sets of sigma points in the literature are formally justified, and the proposed SRUKF has improved computational properties when compared to state-of-the-art methods.
Abstract: In this paper, we propose a systematization of the (discrete-time) Unscented Kalman Filter (UKF) theory. We gather all available UKF variants in the literature, present corrections to theoretical inconsistencies, and provide a tool for the construction of new UKF's in a consistent way. This systematization is done, mainly, by revisiting the concepts of Sigma-Representation, Unscented Transformation (UT), Scaled Unscented Transformation (SUT), UKF, and Square-Root Unscented Kalman Filter (SRUKF). Inconsistencies are related to 1) matching the order of the transformed covariance and cross-covariance matrices of both the UT and the SUT; 2) multiple UKF definitions; 3) issue with some reduced sets of sigma points described in the literature; 4) the conservativeness of the SUT; 5) the scaling effect of the SUT on both its transformed covariance and cross-covariance matrices; and 6) possibly ill-conditioned results in SRUKF's. With the proposed systematization, the symmetric sets of sigma points in the literature are formally justified, and we are able to provide new consistent variations for UKF's, such as the Scaled SRUKF's and the UKF's composed by the minimum number of sigma points. Furthermore, our proposed SRUKF has improved computational properties when compared to state-of-the-art methods.

210 citations

Proceedings ArticleDOI
03 Sep 2000
TL;DR: A segmentation method for line extraction in 2D range images using a prototype-based fuzzy clustering algorithm in a split-and-merge framework that aims to be used in mobile robots navigation systems for dynamic map building.
Abstract: This paper presents a segmentation method for line extraction in 2D range images. It uses a prototype-based fuzzy clustering algorithm in a split-and-merge framework. The split-and-merge structure allows one to use the fuzzy clustering algorithm without any previous knowledge on the number of prototypes. This algorithm aims to be used in mobile robots navigation systems for dynamic map building. Simulation results show its good performance compared to some classical approaches.

124 citations

Journal ArticleDOI
TL;DR: In this article, an unscented transform (UT) method is used to model the uncertainty in time and frequency-domain simulations of the transmission line matrix-based solvers, and the results show good agreement compared with Monte Carlo outcomes with much reduced simulator use.
Abstract: The objective of this work is to present a new approach to the modelling of uncertainty in electromagnetic simulations. This contribution enhances the practical utilisation of regular time- and frequency-domain models. The approach is based on the unscented transform (UT) method. The procedure shows results with accuracy similar to the Monte Carlo approach, but uses a smaller number of simulations. This work uses standard transmission line matrix-based solvers. Furthermore, the combination of the UT approach with other time- or frequency-domain electromagnetic simulators is straightforward. The validation of the technique used both time- and frequency-domain tests. The results show good agreement compared with Monte Carlo outcomes with much reduced simulator use.

94 citations

Journal ArticleDOI
TL;DR: A robot-assisted approach for automatic steering of flexible beveled needles in percutaneous procedures uses duty-cycled rotation of the needle to perform insertion with arcs of adjustable curvature, and combines closed-loop imaging feedback with an intraoperative motion replanning strategy to compensate for system uncertainties and disturbances.

73 citations


Cited by
More filters
01 Jan 2004
TL;DR: Comprehensive and up-to-date, this book includes essential topics that either reflect practical significance or are of theoretical importance and describes numerous important application areas such as image based rendering and digital libraries.
Abstract: From the Publisher: The accessible presentation of this book gives both a general view of the entire computer vision enterprise and also offers sufficient detail to be able to build useful applications. Users learn techniques that have proven to be useful by first-hand experience and a wide range of mathematical methods. A CD-ROM with every copy of the text contains source code for programming practice, color images, and illustrative movies. Comprehensive and up-to-date, this book includes essential topics that either reflect practical significance or are of theoretical importance. Topics are discussed in substantial and increasing depth. Application surveys describe numerous important application areas such as image based rendering and digital libraries. Many important algorithms broken down and illustrated in pseudo code. Appropriate for use by engineers as a comprehensive reference to the computer vision enterprise.

3,627 citations

Journal Article
TL;DR: In this paper, two major figures in adaptive control provide a wealth of material for researchers, practitioners, and students to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs.
Abstract: This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.

1,814 citations

01 Jan 2016
TL;DR: Biomechanics and motor control of human movement is downloaded so that people can enjoy a good book with a cup of tea in the afternoon instead of juggling with some malicious virus inside their laptop.
Abstract: Thank you very much for downloading biomechanics and motor control of human movement. Maybe you have knowledge that, people have search hundreds times for their favorite books like this biomechanics and motor control of human movement, but end up in infectious downloads. Rather than enjoying a good book with a cup of tea in the afternoon, instead they juggled with some malicious virus inside their laptop.

1,689 citations

01 Jan 2015
TL;DR: This compact, informal introduction for graduate students and advanced undergraduates presents the current state-of-the-art filtering and smoothing methods in a unified Bayesian framework and learns what non-linear Kalman filters and particle filters are, how they are related, and their relative advantages and disadvantages.
Abstract: Filtering and smoothing methods are used to produce an accurate estimate of the state of a time-varying system based on multiple observational inputs (data). Interest in these methods has exploded in recent years, with numerous applications emerging in fields such as navigation, aerospace engineering, telecommunications, and medicine. This compact, informal introduction for graduate students and advanced undergraduates presents the current state-of-the-art filtering and smoothing methods in a unified Bayesian framework. Readers learn what non-linear Kalman filters and particle filters are, how they are related, and their relative advantages and disadvantages. They also discover how state-of-the-art Bayesian parameter estimation methods can be combined with state-of-the-art filtering and smoothing algorithms. The book’s practical and algorithmic approach assumes only modest mathematical prerequisites. Examples include MATLAB computations, and the numerous end-of-chapter exercises include computational assignments. MATLAB/GNU Octave source code is available for download at www.cambridge.org/sarkka, promoting hands-on work with the methods.

1,102 citations

Journal ArticleDOI
TL;DR: Digital Control Of Dynamic Systems This well-respected, market-leading text discusses the use of digital computers in the real-time control of dynamic systems with an emphasis on the design of digital controls that achieve good dynamic response and small errors while using signals that are sampled in time and quantized in amplitude.
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902 citations