The paper presents an algorithm for estimating a pedestrian location in an urban environment. The algorithm is based on the particle filter and uses different data sources: a GPS receiver, inertial sensors, probability maps and a stereo camera. Inertial sensors are used to estimate a relative displacement of a pedestrian. A gyroscope estimates a change in the heading direction. An accelerometer is used to count a pedestrian’s steps and their lengths. The so-called probability maps help to limit GPS inaccuracy by imposing constraints on pedestrian kinematics, e.g., it is assumed that a pedestrian cannot cross buildings, fences etc. This limits position inaccuracy to ca. 10 m. Incorporation of depth estimates derived from a stereo camera that are compared to the 3D model of an environment has enabled further reduction of positioning errors. As a result, for 90% of the time, the algorithm is able to estimate a pedestrian location with an error smaller than 2 m, compared to an error of 6.5 m for a navigation based solely on GPS.
The reliable predictions of liquid holdup and pressure drop are essential for pipeline design in oil and gas industry. In this study, the drift-flux approach is utilized to calculate liquid holdups. This approach has been widely used in formulation of the basic equations for multiphase flow ... more
Error bounds for nonlinear filtering are very important for performance evaluation and sensor management. This paper presents a comparative study of three error bounds for tracking filtering, when the detection probability is less than unity. One of these bounds is the random finite set (RF ... more
Current formulas for calculating scour depth below of a free over fall are mostly deterministic in nature and do not adequately consider the uncertainties of various scouring parameters. A reliability-based assessment of scour, taking into account uncertainties of parameters and coefficient ... more