Major Development Under Gaussian Filtering Since Unscented Kalman Filter

Filtering is a recursive estimation of hidden states of a dynamic system from noisy measurements.Such problems appear in several branches of science and technology,ranging from target tracking to biomedical monitoring.A commonly practiced approach of filtering with nonlinear systems is Gaussian filtering.The early Gaussian filters used a derivative-based implementation,and suffered from several drawbacks,such as the smoothness requirements of system models and poor stability.A derivative-free numerical approximation-based Gaussian filter,named the unscented Kalman filter(UKF),was introduced in the nineties,which offered several advantages over the derivativebased Gaussian filters.Since the proposition of UKF,derivativefree Gaussian filtering has been a highly active research area.This paper reviews significant developments made under Gaussian filtering since the proposition of UKF.The review is particularly focused on three categories of developments:i)advancing the numerical approximation methods;ii)modifying the conventional Gaussian approach to further improve the filtering performance;and iii)constrained filtering to address the problem of discrete-time formulation of process dynamics.This review highlights the computational aspect of recent developments in all three categories.The performance of various filters are analyzed by simulating them with real-life target tracking problems.

Real Time Speed Bump Detection Using Gaussian Filtering and Connected Component Approach

An Intelligent Transportation System (ITS) is a new system developed for the betterment of user in traffic and transport management domain area for smart and safe driving. ITS subsystems are Emergency vehicle notification systems, Automatic road enforcement, Collision avoidance systems, Automatic parking, Map database management, etc. Advance Driver Assists System (ADAS) belongs to ITS which provides alert or warning or information to the user during driving. The proposed method uses Gaussian filtering and Median filtering to remove noise in the image. Subsequently image subtraction is achieved by subtracting Median filtered image from Gaussian filtered image. The resultant image is converted to binary image and the regions are analyzed using connected component approach. The prior work on speed bump detection is achieved using sensors which are failed to detect speed bumps that are constructed with small height and the detection rate is affected due to erroneous identification. And the smartphone and accelerometer methodologies are not perfectly suitable for real time scenario due to GPS error, network overload, real-time delay, accuracy and battery running out. The proposed system goes very well for the roads which are constructed with proper painting irrespective of their dimension.

Adaptive Gaussian Noise Image Removal Algorithm Using Filtering-Based Noise Estimation

This paper proposes a spatially denoising algorithm using filtering-based noise estimation for an image corrupted by Gaussian noise.The proposed algorithm consists of two stages:estimation and elimination of noise density.To adaptively deal with variety of the noise amount,a noisy input image is firstly filtered by a lowpass filter.Standard deviation of the noise is computed from different images between the noisy input and its filtered image.In addition,a modified Gaussian noise removal filter based on the local statistics such as local weighted mean,local weighted activity and local maximum is used to control the degree of noise suppression.Experiments show the effectiveness of the proposed algorithm.

3D Profile Filter Algorithm Based on Parallel Generalized B-spline Approximating Gaussian

Currently, the approximation methods of the Gaussian filter by some other spline filters have been developed. However, thesc methods are only suitable for the study of one-dimensional filtering, when these methods are used for three-dimensional filtering, it is found that a rounding error and quantization error would be passed to the next in every part. In this paper, a new and high-precision implementation approach for Gaussian filter is described, which is suitable for three-dimensional reference filtering. Based on the theory of generalized B-spline function and the variational principle, the transmission characteristics of a digital filter can be changed through the sensitivity of the parameters （t1, t2）, and which can also reduce the rounding error and quantization error by the filter in a parallel form instead of the cascade form, Finally, the approximation filter of Gaussian filter is obtained. In order to verify the feasibility of the new algorithm, the reference extraction of the conventional methods are also used and compared. The experiments are conducted on the measured optical surface, and the results show that the total calculation by the new algorithm only requires 0.07 s for 480×480 data points; the amplitude deviation between the reference of the parallel form filter and the Gaussian filter is smaller; the new method is closer to the characteristic of the Gaussian filter through the analysis of three-dimensional roughness parameters, comparing with the cascade generalized B-spline approximating Gaussian. So the new algorithm is also efficient and accurate for the implementation of Gaussian filter in the application of surface roughness measurement.

An Improved Gaussian Particle Filter Algorithm Using KLD-Sampling

To adjust the samples of filtering adaptively,an improved Gaussian particle filter algorithm based on Kullback-Leibler divergence(KLD)-sampling(KLGPF)is proposed in this paper.During the process of sampling,the algorithm calculates the KLD to adjust the size of the particle set between the discrete probability density function of particles and the true posterior probability density function.KLGPF has significant effect when the noise obeys Gaussian distribution and the statistical characteristics of noise change abruptly.Simulation results show that KLGPF could maintain a good estimation effect when the noise statistics changes abruptly.Compared with the particle filter algorithm using KLD-sampling(KLPF),the speed of KLGPF increases by 28%under the same conditions.

Gaussian particle filter based pose and motion estimation

Determination of relative three-dimensional （3D） position, orientation, and relative motion between two reference frames is an important problem in robotic guidance, manipulation, and assembly as well as in other fields such as photogrammetry. A solution to pose and motion estimation problem that uses two-dimensional （2D） intensity images from a single camera is desirable for real-time applications. The difficulty in performing this measurement is that the process of projecting 3D object features to 2D images is a nonlinear transformation. In this paper, the 3D transformation is modeled as a nonlinear stochastic system with the state estimation providing six degrees-of-freedom motion and position values, using line features in image plane as measuring inputs and dual quaternion to represent both rotation and translation in a unified notation. A filtering method called the Gaussian particle filter （GPF） based on the panicle filtering concept is presented for 3D pose and motion estimation of a moving target from monocular image sequences. The method has been implemented with simulated data, and simulation results are provided along with comparisons to the extended Kalman filter （EKF） and the unscented Kalman filter （UKF） to show the relative advantages of the GPF. Simulation results showed that GPF is a superior alternative to EKF and UKF.

Improved pruning algorithm for Gaussian mixture probability hypothesis density filter

With the increment of the number of Gaussian components, the computation cost increases in the Gaussian mixture probability hypothesis density(GM-PHD) filter. Based on the theory of Chen et al, we propose an improved pruning algorithm for the GM-PHD filter, which utilizes not only the Gaussian components’ means and covariance, but their weights as a new criterion to improve the estimate accuracy of the conventional pruning algorithm for tracking very closely proximity targets. Moreover, it solves the end-less while-loop problem without the need of a second merging step. Simulation results show that this improved algorithm is easier to implement and more robust than the formal ones.

An evaluation analysis method for corrosion morphology characterization based on Gaussian filter

The corrosion process of copper in thermal flow system was investigated through the experimental bench.According to surface variation of samples during corrosion process,the surface model of specimen was build up based on Gaussian filter.The results show that the corrosion characterization of copper in thermal flow system is pitting corrosion.The morphology characterizations of metal corrosion process can be described using the proposed surface model.The generation and development of copper pitting process can be observed clearly.

GAUSSIAN PRINCIPLE COMPONENTS FOR NONLOCAL MEANS IMAGE DENOISING

NonLocal Means(NLM),taking fully advantage of image redundancy,has been proved to be very effective in noise removal.However,high computational load limits its wide application.Based on Principle Component Analysis(PCA),Principle Neighborhood Dictionary(PND) was proposed to reduce the computational load of NLM.Nevertheless,as the principle components in PND method are computed directly from noisy image neighborhoods,they are prone to be inaccurate due to the presence of noise.In this paper,an improved scheme for image denoising is proposed.This scheme is based on PND and uses preprocessing via Gaussian filter to eliminate the influence of noise.PCA is then used to project those filtered image neighborhood vectors onto a lower-dimensional space.With the preproc-essing process,the principle components computed are more accurate resulting in an improved de-noising performance.A comparison with some NLM based and state-of-art denoising methods shows that the proposed method performs well in terms of Peak Signal to Noise Ratio(PSNR) as well as image visual fidelity.The experimental results demonstrate that our method outperforms existing methods both subjectively and objectively.

Theoretical convergence analysis of complex Gaussian kernel LMS algorithm

With the vigorous expansion of nonlinear adaptive filtering with real-valued kernel functions,its counterpart complex kernel adaptive filtering algorithms were also sequentially proposed to solve the complex-valued nonlinear problems arising in almost all real-world applications.This paper firstly presents two schemes of the complex Gaussian kernel-based adaptive filtering algorithms to illustrate their respective characteristics.Then the theoretical convergence behavior of the complex Gaussian kernel least mean square（LMS） algorithm is studied by using the fixed dictionary strategy.The simulation results demonstrate that the theoretical curves predicted by the derived analytical models consistently coincide with the Monte Carlo simulation results in both transient and steady-state stages for two introduced complex Gaussian kernel LMS algonthms using non-circular complex data.The analytical models are able to be regard as a theoretical tool evaluating ability and allow to compare with mean square error（MSE） performance among of complex kernel LMS（KLMS） methods according to the specified kernel bandwidth and the length of dictionary.

Resolution-enhanced single-pixel imaging using the Hadamard transform matrix

We propose a single-pixel imaging(SPI)method to achieve a higher-resolution image via the Hadamard transform matrix.Unlike traditional SPI schemes,this new method recovers images by correlating single-pixel signals with synchronized transformed patterns of Hadamard bases that are actually projected onto the digital micromirror device.Each transform pattern is obtained through the inverse Fourier transform of the pattern acquired by Gaussian filtering of each Hadamard basis in the frequency domain.The proposed scheme is based on a typical SPI experimental setup and does not add any hardware complexity,enabling the transformation of Hadamard matrices and image reconstruction through data processing alone.Therefore,this approach could be considered as an alternative option for achieving fast SPI in a diffraction-limited imaging system,without the need for additional hardware.

Cancer Regions in Mammogram Images Using ANFIS Classifier Based Probability Histogram Segmentation Algorithm

Every year,the number of women affected by breast tumors is increasing worldwide.Hence,detecting and segmenting the cancer regions in mammogram images is important to prevent death in women patients due to breast cancer.The conventional methods obtained low sensitivity and specificity with cancer region segmentation accuracy.The high-resolution standard mammogram images were supported by conventional methods as one of the main drawbacks.The conventional methods mostly segmented the cancer regions in mammogram images concerning their exterior pixel boundaries.These drawbacks are resolved by the proposed cancer region detection methods stated in this paper.The mammogram images are clas-sified into normal,benign,and malignant types using the Adaptive Neuro-Fuzzy Inference System(ANFIS)approach in this paper.This mammogram classification process consists of a noise filtering module,spatial-frequency transformation module,feature computation module,and classification mod-ule.The Gaussian Filtering Algorithm(GFA)is used as the pixel smooth filtering method and the Ridgelet transform is used as the spatial-frequency transformation module.The statistical Ridgelet feature metrics are computed from the transformed coefficients and these values are classified by the ANFIS technique in this paper.Finally,Probability Histogram Segmentation Algo-rithm(PHSA)is proposed in this work to compute and segment the tumor pixels in the abnormal mammogram images.This proposed breast cancer detection approach is evaluated on the mammogram images in MIAS and DDSM datasets.From the extensive analysis of the proposed tumor detection methods stated in this work with other works,the proposed work significantly achieves a higher performance.The methodologies proposed in this paper can be used in breast cancer detection hospitals to assist the breast surgeon to detect and segment the cancer regions.

Micro Calcification Detection in Mammogram Images Using Contiguous Convolutional Neural Network Algorithm

The mortality rate decreases as the early detection of Breast Cancer(BC)methods are emerging very fast,and when the starting stage of BC is detected,it is curable.The early detection of the disease depends on the image processing techniques,and it is used to identify the disease easily and accurately,especially the micro calcifications are visible on mammography when they are 0.1 mm or bigger,and cancer cells are about 0.03 mm,which is crucial for identifying in the BC area.To achieve this micro calcification in the BC images,it is necessary to focus on the four main steps presented in this work.There are three significant stages of the process assigned to find the BC using a thermal image;the image processing procedures are described below.In the first stage of the process,the Gaussian filter technique is implemented to magnify the screening image.During the second stage,BC detection is separated from the pre-processed image.The Proposed Versatile K-means clustering(VKC)algorithm with segmentation is used to identify the BC detection form of the screening image.The centroids are then recalculated using proposed VKC,which takes the mean of all data points allocated to that centroid’s cluster,lowering the overall intracluster variance in comparison to the prior phase.The“means”in K-means refers to the process of averaging the data and determining a new centroid.This process eliminates unnecessary areas of interest.First,the mammogram screening image information is taken from the patient and begins with the Contiguous Convolutional Neural Network(CCNN)method.The proposed CCNN is used to classify the Micro calcification in the BC spot using the feature values is the fourth stage of the process.The assess the presence of high-definition digital infrared thermography technology and knowledge base and suggests that future diagnostic and treatment services in breast cancer imaging will be developed.The use of sophisticated CCNN techniques in thermography is being developed to attain a greater level of consistency.The implemented(CCNN)technique’s performance is examined with different classification parameters like Recall,Precision,F-measure and accuracy.Finally,the Breast Cancer stages will be classified based on the true positive and true negative values.

Deep image retrieval using artificial neural network interpolation and indexing based on similarity measurement

In content-based image retrieval(CBIR),primitive image signatures are critical because they represent the visual characteristics.Image signatures,which are algorithmically descriptive and accurately recognized visual components,are used to appropriately index and retrieve comparable results.To differentiate an image in the category of qualifying contender,feature vectors must have image information's like colour,objects,shape,spatial viewpoints.Previous methods such as sketch-based image retrieval by salient contour(SBIR)and greedy learning of deep Boltzmann machine(GDBM)used spatial information to distinguish between image categories.This requires interest points and also feature analysis emerged image detection problems.Thus,a proposed model to overcome this issue and predict the repeating pattern as well as series of pixels that conclude similarity has been necessary.In this study,a technique called CBIR-similarity measure via artificial neural network interpolation(CBIR-SMANN)has been presented.By collecting datasets,the images are resized then subject to Gaussian filtering in the pre-processing stage,then by permitting them to the Hessian detector,the interesting points are gathered.Based on Skewness,mean,kurtosis and standard deviation features were extracted then given to ANN for interpolation.Interpolated results are stored in a database for retrieval.In the testing stage,the query image was inputted that is subjected to pre-processing,and feature extraction was then fed to the similarity measurement function.Thus,ANN helps to get similar images from the database.CBIR-SMANN have been implemented in the python tool and then evaluated for its performance.Results show that CBIR-SMANN exhibited a high recall value of 78%with a minimum retrieval time of 980 ms.This showed the supremacy of the proposed model was comparatively greater than the previous ones.

Real-time Virtual Environment Signal Extraction and Denoising Using Programmable Graphics Hardware

The sense of being within a three-dimensional （3D） space and interacting with virtual 3D objects in a computer-generated virtual environment （VE） often requires essential image, vision and sensor signal processing techniques such as differentiating and denoising. This paper describes novel implementations of the Gaussian filtering for characteristic signal extraction and waveletbased image denoising algorithms that run on the graphics processing unit （GPU）. While significant acceleration over standard CPU implementations is obtained through exploiting data parallelism provided by the modern programmable graphics hardware, the CPU can be freed up to run other computations more efficiently such as artificial intelligence （AI） and physics. The proposed GPU-based Gaussian filtering can extract surface information from a real object and provide its material features for rendering and illumination. The wavelet-based signal denoising for large size digital images realized in this project provided better realism for VE visualization without sacrificing real-time and interactive performances of an application.

High performance hardware architecture for depth measurement by using binocular-camera

High performance hardware architecture for depth measurement by using binocular-camera is proposed.In the system,at first,video streams of the target are captured by left and right charge-coupled device(CCD)cameras to obtain an image including the target.Then,two different images with two different view points are obtained,and they are used in calculating the position deviation of the image's pixels based on triangular measurement.Finally,the three-dimensional coordinate of the object is reconstructed.All the video data is processed by using field-programmable gate array(FPGA)in real-time.Hardware implementation speeds up the performance and reduces the power,thus,this hardware architecture can be applied in the portable environment.

Approximate Gaussian conjugacy： parametric recursive filtering under nonlinearity, multimodality, uncertainty, and constraint, and beyond

Since the landmark work of R. E. Kalman in the 1960s, considerable efforts have been devoted to time series state space models for a large variety of dynamic estimation problems. In particular, parametric filters that seek analytical estimates based on a closed-form Markov-Bayes recursion, e.g., recursion from a Gaussian or Gaussian mixture （GM） prior to a Gaussian/GM posterior （termed ＇Gaussian conjugacy＇ in this paper）, form the backbone for a general time series filter design. Due to challenges arising from nonlinearity, multimodality （including target maneuver）, intractable uncertainties （such as unknown inputs and/or non-Gaussian noises） and constraints （including circular quantities）, etc., new theories, algorithms, and technologies have been developed continuously to maintain such a conjugacy, or to approximate it as close as possible. They had contributed in large part to the prospective developments of time series parametric filters in the last six decades. In this paper, we review the state of the art in distinctive categories and highlight some insights that may otherwise be easily overlooked. In particular, specific attention is paid to nonlinear systems with an informative observation, multimodal systems including Gaussian mixture posterior and maneuvers, and intractable unknown inputs and constraints, to fill some gaps in existing reviews and surveys. In addition, we provide some new thoughts on alternatives to the first-order Markov transition model and on filter evaluation with regard to computing complexity.

Improved adaptive genetic algorithm based RFID positioning

The existing active tag-based radio frequency identi-fication(RFID)localization techniques show low accuracy in practical applications.To address such problems,we propose a chaotic adaptive genetic algorithm to align the passive tag ar-rays.We use chaotic sequences to generate the intersection points,the weakest single point intersection is used to ensure the convergence accuracy of the algorithm while avoiding the optimization jitter problem.Meanwhile,to avoid the problem of slow convergence and immature convergence of the algorithm caused by the weakening of individual competition at a later stage,we use adaptive rate of change to improve the optimiza-tion efficiency.In addition,to remove signal noise and outliers,we preprocess the data using Gaussian filtering.Experimental results demonstrate that the proposed algorithm achieves high-er localization accuracy and improves the convergence speed.

Object Detection and Tracking Method of AUV Based on Acoustic Vision

This paper describes a new framework for object detection and tracking of AUV including underwater acoustic data interpolation, underwater acoustic images segmentation and underwater objects tracking. This framework is applied to the design of vision-based method for AUV based on the forward looking sonar sensor. First, the real-time data flow （underwater acoustic images） is pre-processed to form the whole underwater acoustic image, and the relevant position information of objects is extracted and determined. An improved method of double threshold segmentation is proposed to resolve the problem that the threshold cannot be adjusted adaptively in the traditional method. Second, a representation of region information is created in light of the Gaussian particle filter. The weighted integration strategy combining the area and invariant moment is proposed to perfect the weight of particles and to enhance the tracking robustness. Results obtained on the real acoustic vision platform of AUV during sea trials are displayed and discussed. They show that the proposed method can detect and track the moving objects underwater online, and it is effective and robust.

Noise level estimation method with application to EMD-based signal denoising

This paper proposes a new signal noise level estimation approach by local regions. The estimated noise variance is applied as the threshold for an improved empirical mode decomposition（EMD） based signal denoising method. The proposed estimation method can effectively extract the candidate regions for the noise level estimation by measuring the correlation coefficient between noisy signal and a Gaussian filtered signal. For the improved EMD based method, the situation of decomposed intrinsic mode function（IMFs） which contains noise and signal simultaneously are taken into account. Experimental results from two simulated signals and an X-ray pulsar signal demonstrate that the proposed method can achieve better performance than the conventional EMD and wavelet transform（WT） based denoising methods.