Mines ParisTech

About: Mines ParisTech is a education organization based out in Paris, France. It is known for research contribution in the topics: Finite element method & Microstructure. The organization has 6564 authors who have published 11676 publications receiving 359898 citations. The organization is also known as: École nationale supérieure des mines de Paris & École des mines de Paris.

Invariant Extended Kalman Filter: theory and application to a velocity-aided attitude estimation problem

Abstract: A new version of the Extended Kalman Filter (EKF) is proposed for nonlinear systems possessing symmetries. Instead of using a linear correction term based on a linear output error, it uses a geometrically adapted correction term based on an invariant output error; in the same way the gain matrix is not updated from of a linear state error, but from an invariant state error. The benefit is that the gain and covariance equations converge to constant values on a much bigger set of trajectories than equilibrium points as is the case for the EKF, which should result in a better convergence of the estimation. This filter is applied to the practically relevant problem of estimating the velocity and attitude of a moving rigid body, e.g. an aircraft, from GPS velocity, inertial and magnetic measurements. In this context it can be seen as an extension of the “Multiplicative EKF” often used for quaternion estimation.

Advanced Statistical Matrices for Texture Characterization: Application to Cell Classification

Abstract: This paper presents new structural statistical matrices which are gray level size zone matrix (SZM) texture descriptor variants. The SZM is based on the cooccurrences of size/intensity of each flat zone (connected pixels with the same gray level). The first improvement increases the information processed by merging multiple gray-level quantizations and reduces the required parameter numbers. New improved descriptors were especially designed for supervised cell texture classification. They are illustrated thanks to two different databases built from quantitative cell biology. The second alternative characterizes the DNA organization during the mitosis, according to zone intensities radial distribution. The third variant is a matrix structure generalization for the fibrous texture analysis, by changing the intensity/size pair into the length/orientation pair of each region.