Global ETD Search

1	Real Time Implementation of Map Aided Positioning Using a Bayesian Approach / Realtidsimplementation av kartstödd positionering med hjälp av Bayesianska estimeringsmetoder Svenzén, Niklas January 2002 (has links) With the simple means of a digitized map and the wheel speed signals, it is possible to position a vehicle with an accuracy comparable to GPS. The positioning problem is a non-linear filtering problem and a particle filter has been applied to solve it. Two new approaches studied are the Auxiliary Particle Filter (APF), that aims at lowerering the variance of the error, and Rao-Blackwellization that exploits the linearities in the model. The results show that these methods require problems of higher complexity to fully utilize their advantages. Another aspect in this thesis has been to handle off-road driving scenarios, using dead reckoning. An off road detection mechanism has been developed and the results show that off-road driving can be detected accurately. The algorithm has been successfully implemented on a hand-held computer by quantizing the particle filter while keeping good filter performance. Reglerteknik Rao-Blackwellization Bayesian Estimation Map Matching Particle Filter Monte Carlo Simulation Positioning Off-road Driving Quantization Fixed Point Arithmetics Modeling. Reglerteknik Automatic control Reglerteknik
2	Real Time Implementation of Map Aided Positioning Using a Bayesian Approach / Realtidsimplementation av kartstödd positionering med hjälp av Bayesianska estimeringsmetoder Svenzén, Niklas January 2002 (has links) <p>With the simple means of a digitized map and the wheel speed signals, it is possible to position a vehicle with an accuracy comparable to GPS. The positioning problem is a non-linear filtering problem and a particle filter has been applied to solve it. Two new approaches studied are the Auxiliary Particle Filter (APF), that aims at lowerering the variance of the error, and Rao-Blackwellization that exploits the linearities in the model. The results show that these methods require problems of higher complexity to fully utilize their advantages.</p><p>Another aspect in this thesis has been to handle off-road driving scenarios, using dead reckoning. An off road detection mechanism has been developed and the results show that off-road driving can be detected accurately. The algorithm has been successfully implemented on a hand-held computer by quantizing the particle filter while keeping good filter performance.</p> Reglerteknik Rao-Blackwellization Bayesian Estimation Map Matching Particle Filter Monte Carlo Simulation Positioning Off-road Driving Quantization Fixed Point Arithmetics Modeling. Reglerteknik Automatic control Reglerteknik
3	Aproximativní implementace aritmetických operací v obrazových filtrech / Approximate Implementation of Arithmetic Operations in Image Filters Válek, Matěj January 2021 (has links) Tato diplomová práce se zabývá aproximativní implementace aritmetických operací v obrazových filtrech. Zejména tedy využitím aproximativních technik pro úpravu způsobu násobení v netriviálním obrazovém filtru. K tomu je využito několik technik, jako použití převodu násobení s pohyblivou řadovou čárkou na násobení s pevnou řadovou čárkou, či využití evolučních algoritmů zejména kartézkého genetického programování pro vytvoření nových aproximovaných násobiček, které vykazují přijatelnou chybu, ale současně redukují výpočetní náročnost filtrace. Výsledkem jsou evolučně navržené aproximativní násobičky zohledňující distribuci dat v obrazovém filtru a jejich nasazení v obrazovém filtru a porovnání původního filtru s aproximovaným fitrem na sadě barevných obrázků.
4	Online detekce jednoduchých příkazů v audiosignálu / Online detection of simple voice commands in audiosignal Zezula, Miroslav January 2011 (has links) This thesis describes the development of voice module, that can recognize simple speech commands by comparation of input sound with recorded templates. The first part of thesis contains a description of used algorithm and a verification of its functionality. The algorithm is based on Mel-frequency cepstral coefficients and dynamic time warping. Thereafter the hardware of voice module is designed, containing signal controller 56F805 from Freescale. The signal from microphone is conditioned by operational amplifiers and digital filter. The third part deals with the development of software for the controller and describes the fixed point implementation of the algorithm, respecting limited capabilities of the controller. Final test proves the usability of voice module in low-noise environment.

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