Detection of Landmarks by Mobile Autonomous Robots Based on Estimating the Color Parameters of the Surrounding Area

2021 ◽  
pp. 224-257
Author(s):  
Oleksandr Poliarus ◽  
Yevhen Poliakov
Keyword(s):  
High Efficiency ◽  
Autonomous Robots ◽  
A Priori ◽  
Optimal Estimation ◽  
Night Vision ◽  
Landmark Detection ◽  
Generalized Variance ◽  
Video Cameras ◽  
Color Parameters ◽  
Priori Information

Remote detection of landmarks for navigation of mobile autonomous robots in the absence of GPS is carried out by low-power radars, ultrasonic and laser rangefinders, night vision devices, and also by video cameras. The aim of the chapter is to develop the method for landmarks detection using the color parameters of images. For this purpose, the optimal system of stochastic differential equations was synthesized according to the criterion of the generalized variance minimum, which allows to estimate the color intensity (red, green, blue) using a priori information and current measurements. The analysis of classical and nonparametric methods of landmark detection, as well as the method of optimal estimation of color parameters jumps is carried out. It is shown that high efficiency of landmark detection is achieved by nonparametric estimating the first Hilbert-Huang modes of decomposition of the color parameters distribution.

scholarly journals Images denoising in case impulse noise using spline approximation

2018 ◽  
Vol 226 ◽  
pp. 04045 ◽  
Author(s):  
Dmitriy A. Bezuglov ◽  
Viacheslav V. Voronin ◽  
Vladimir A. Krutov
Keyword(s):  
Impulse Noise ◽  
High Efficiency ◽  
Autonomous Robots ◽  
A Priori ◽  
Spline Approximation ◽  
Experimental Studies ◽  
Image Filtering ◽  
Spline Functions ◽  
Priori Information

Analytical equations of a new spline approximation method for filtering impulse noise in images are obtained. The proposed method differs from the known ones: when filtering images, one-dimensional sequential spline functions are used for direct and inverse transformations, and the processing is performed in rows and columns. In this work, experimental studies based on computer simulation using special test images on the background of impulse noise were conducted. Experimental studies have shown the operability and high efficiency of the developed method, which allow to improve the quality of image filtering by up to 10 dB. In this case, the properties of spline functions make it possible to abandon the use of various masks, that is, to abandon inefficient linear methods of image filtering. The method can be used to create digital image processing systems in the industry, to create autonomous robots, under observation conditions that complicate the registration process, and in the absence of a priori information about the form of background noise.

scholarly journals Ozone profile smoothness as a priori information in the inversion of limb measurements

2004 ◽  
Vol 22 (10) ◽  
pp. 3411-3420 ◽  
Author(s):  
V. F. Sofieva ◽  
J. Tamminen ◽  
H. Haario ◽  
E. Kyrölä ◽  
M. Lehtinen
Keyword(s):  
A Priori ◽  
Optimal Estimation ◽  
Maximum A Posteriori ◽  
A Posteriori ◽  
A Priori Information ◽  
Ozone Profile ◽  
Stellar Occultation ◽  
Atmospheric Profiles ◽  
Priori Information ◽  
Typical Measurement

Abstract. In this work we discuss inclusion of a priori information about the smoothness of atmospheric profiles in inversion algorithms. The smoothness requirement can be formulated in the form of Tikhonov-type regularization, where the smoothness of atmospheric profiles is considered as a constraint or in the form of Bayesian optimal estimation (maximum a posteriori method, MAP), where the smoothness of profiles can be included as a priori information. We develop further two recently proposed retrieval methods. One of them - Tikhonov-type regularization according to the target resolution - develops the classical Tikhonov regularization. The second method - maximum a posteriori method with smoothness a priori - effectively combines the ideas of the classical MAP method and Tikhonov-type regularization. We discuss a grid-independent formulation for the proposed inversion methods, thus isolating the choice of calculation grid from the question of how strong the smoothing should be. The discussed approaches are applied to the problem of ozone profile retrieval from stellar occultation measurements by the GOMOS instrument on board the Envisat satellite. Realistic simulations for the typical measurement conditions with smoothness a priori information created from 10-years analysis of ozone sounding at Sodankylä and analysis of the total retrieval error illustrate the advantages of the proposed methods. The proposed methods are equally applicable to other profile retrieval problems from remote sensing measurements.

scholarly journals Technology of Quick-Frozen Flour Fish Culinary Products

2022 ◽  
Author(s):  
Valentina Pavlova ◽  
Irina Saenkova ◽  
Yulia Shokina ◽  
Grigoriy Shokin
Keyword(s):  
Mass Fraction ◽  
High Efficiency ◽  
A Priori ◽  
Cholesterol Content ◽  
Organoleptic Evaluation ◽  
Amine Nitrogen ◽  
Long Term Storage ◽  
Functional Product ◽  
Simulation Results ◽  
Priori Information

In this article, the results of the development of the functional fish culinary product “Thorny Skate and Cod Pie” are presented. A traditional recipe was used for making the yeast dough for the pie. The pie filling recipe was designed using Fuzzy Logic in the Matlab software package.Optimized parametersfor the selected sensory evaluation of the pie were calculated. On the basis of a priori information, key components of the filling (including the fraction of the fish components and skate meat) were chosen as the factors of interest. According to the simulation results, the optimal values werea 50/50 percentage for the first and the second factor respectively, and this providedthe maximum organoleptic assessment (five points on a five-point scale). The simulation results were compared with the results of the organoleptic evaluation of the pie made according to the optimized recipe, and their sufficient convergence was shown. The indicators of mass fraction of amine nitrogen and nitrogen of volatile bases was studied, as well as the microbiological safety indicators of flour fish culinary products, in accordance with the requirements of the Technical Regulations of the Eurasian Economic Union 040/2016 ”On the safety of fish products”. The results showed a high efficiency of the shock freezing of the semi-finished product, brought to semi-readiness, for long-term storage (120 days at a temperature no higher than minus 18 ∘C), without reducing the quality or safety of the pie. The product had a cholesterol content from 220 to 260 mg%, which allowed it to be classified as functional. The nutritional values of the product (mass fraction of protein, fat, carbohydrates, and amino acid composition) are presented. Keywords: thornyskate, functional product, pie with thornyskate and cod, shock freezing

scholarly journals A practical information-centered technique to remove a priori information from lidar optimal-estimation-method retrievals

2019 ◽  
Vol 12 (7) ◽  
pp. 3943-3961 ◽  
Author(s):  
Ali Jalali ◽  
Shannon Hicks-Jalali ◽  
Robert J. Sica ◽  
Alexander Haefele ◽  
Thomas von Clarmann
Keyword(s):  
Water Vapor ◽  
A Priori ◽  
Estimation Method ◽  
Optimal Estimation ◽  
Mixing Ratio ◽  
A Priori Information ◽  
Fine Grid ◽  
Large Power ◽  
Priori Information ◽  
Water Vapor Mixing Ratio

Abstract. Lidar retrievals of atmospheric temperature and water vapor mixing ratio profiles using the optimal estimation method (OEM) typically use a retrieval grid with a number of points larger than the number of pieces of independent information obtainable from the measurements. Consequently, retrieved geophysical quantities contain some information from their respective a priori values or profiles, which can affect the results in the higher altitudes of the temperature and water vapor profiles due to decreasing signal-to-noise ratios. The extent of this influence can be estimated using the retrieval's averaging kernels. The removal of formal a priori information from the retrieved profiles in the regions of prevailing a priori effects is desirable, particularly when these greatest heights are of interest for scientific studies. We demonstrate here that removal of a priori information from OEM retrievals is possible by repeating the retrieval on a coarser grid where the retrieval is stable even without the use of formal prior information. The averaging kernels of the fine-grid OEM retrieval are used to optimize the coarse retrieval grid. We demonstrate the adequacy of this method for the case of a large power-aperture Rayleigh scatter lidar nighttime temperature retrieval and for a Raman scatter lidar water vapor mixing ratio retrieval during both day and night.

scholarly journals Synergy of stereo cloud top height and ORAC optimal estimation cloud retrieval: evaluation and application to AATSR

2016 ◽  
Vol 9 (3) ◽  
pp. 909-928 ◽  
Author(s):  
Daniel Fisher ◽  
Caroline A. Poulsen ◽  
Gareth E. Thomas ◽  
Jan-Peter Muller
Keyword(s):  
A Priori ◽  
Single Layer ◽  
Optimal Estimation ◽  
Open Water ◽  
A Priori Information ◽  
Cloud Parameters ◽  
Cloud Properties ◽  
Priori Information ◽  
Cloud Parameter ◽  
The Impact

Abstract. In this paper we evaluate the impact on the cloud parameter retrievals of the ORAC (Optimal Retrieval of Aerosol and Cloud) algorithm following the inclusion of stereo-derived cloud top heights as a priori information. This is performed in a mathematically rigorous way using the ORAC optimal estimation retrieval framework, which includes the facility to use such independent a priori information. Key to the use of a priori information is a characterisation of their associated uncertainty. This paper demonstrates the improvements that are possible using this approach and also considers their impact on the microphysical cloud parameters retrieved. The Along-Track Scanning Radiometer (AATSR) instrument has two views and three thermal channels, so it is well placed to demonstrate the synergy of the two techniques. The stereo retrieval is able to improve the accuracy of the retrieved cloud top height when compared to collocated Cloud-Aerosol Lidar and Infrared Pathfinder Satellite Observations (CALIPSO), particularly in the presence of boundary layer inversions and high clouds. The impact of the stereo a priori information on the microphysical cloud properties of cloud optical thickness (COT) and effective radius (RE) was evaluated and generally found to be very small for single-layer clouds conditions over open water (mean RE differences of 2.2 (±5.9) microns and mean COD differences of 0.5 (±1.8) for single-layer ice clouds over open water at elevations of above 9 km, which are most strongly affected by the inclusion of the a priori).

scholarly journals A method for improved SCIAMACHY CO2 retrieval in the presence of optically thin clouds

2010 ◽  
Vol 3 (1) ◽  
pp. 209-232 ◽  
Author(s):  
M. Reuter ◽  
M. Buchwitz ◽  
O. Schneising ◽  
J. Heymann ◽  
H. Bovensmann ◽  
...  
Keyword(s):  
Absorption Band ◽  
Near Infrared ◽  
A Priori ◽  
Optimal Estimation ◽  
Surface Flux ◽  
Co2 Absorption ◽  
Retrieval Scheme ◽  
Priori Information ◽  
Transfer Of Information

Abstract. An optimal estimation based retrieval scheme for satellite based retrievals of XCO2 (the dry air column averaged mixing ratio of atmospheric CO2) is presented enabling accurate retrievals also in the presence of thin clouds. The proposed method is designed to analyze near-infrared nadir measurements of the SCIAMACHY instrument in the CO2 absorption band at 1580 nm and in the O2-A absorption band at around 760 nm. The algorithm accounts for scattering in an optically thin cirrus cloud layer and at aerosols of a default profile. The scattering information is mainly obtained from the O2-A band and a merged fit windows approach enables the transfer of information between the O2-A and the CO2 band. Via the optimal estimation technique, the algorithm is able to account for a priori information to further constrain the inversion. Test scenarios of simulated SCIAMACHY sun-normalized radiance measurements are analyzed in order to specify the quality of the proposed method. In contrast to existing algorithms for SCIAMACHY retrievals, the systematic errors due to cirrus clouds with optical thicknesses up to 1.0 are reduced to values below 4 ppm for most of the analyzed scenarios. This shows that the proposed method has the potential to reduce uncertainties of SCIAMACHY retrieved XCO2 making this data product potentially useful for surface flux inverse modeling.

scholarly journals Synergy of stereo cloud top height and ORAC optimal estimation cloud retrieval: evaluation and application to AATSR

2015 ◽  
Vol 8 (5) ◽  
pp. 5283-5327
Author(s):  
D. Fisher ◽  
C. A. Poulsen ◽  
G. E. Thomas ◽  
J.-P. Muller
Keyword(s):  
Cloud Model ◽  
A Priori ◽  
Single Layer ◽  
Optimal Estimation ◽  
A Priori Information ◽  
Cloud Parameters ◽  
Microphysical Properties ◽  
Priori Information ◽  
The Impact ◽  
High Clouds

Abstract. In this paper we evaluate the retrievals of cloud top height when stereo derived heights are combined with the radiometric cloud top heights retrieved from the ORAC (Optimal Retrieval of Aerosol and Cloud) algorithm. This is performed in a mathematically rigorous way using the ORAC optimal estimation retrieval framework, which includes the facility to use independent a priori information. Key to the use of a priori information is a characterisation of their associated uncertainty. This paper demonstrates the improvements that are possible using this approach and also considers their impact on the microphysical cloud parameters retrieved. The AATSR instrument has two views and three thermal channels so is well placed to demonstrate the synergy of the two techniques. The stereo retrieval is able to improve the accuracy of the retrieved cloud top height when compared to collocated Cloud-Aerosol Lidar and Infrared Pathfinder Satellite Observations (CALIPSO), particularly in the presence of boundary layer inversions and high clouds. The impact on the microphysical properties of the cloud such as optical depth and effective radius was evaluated and found to be very small with the biggest differences occurring over bright land surfaces and for high clouds. Overall the cost of the retrievals increased indicating a poorer radiative fit of radiances to the cloud model, which currently uses a single layer cloud model. Best results and improved fit to the radiances may be obtained in the future if a multi-layer model is used.

scholarly journals Envisat MIPAS measurements of CFC-11: retrieval, validation, and climatology

2008 ◽  
Vol 8 (2) ◽  
pp. 4561-4602 ◽  
Author(s):  
L. Hoffmann ◽  
M. Kaufmann ◽  
R. Spang ◽  
R. Müller ◽  
J. J. Remedios ◽  
...  
Keyword(s):  
Large Scale ◽  
Lower Stratosphere ◽  
A Priori ◽  
Michelson Interferometer ◽  
Optimal Estimation ◽  
Atmospheric Conditions ◽  
Data Set ◽  
Mixing Ratios ◽  
Priori Information ◽  
The Individual

Abstract. From July 2002 to March 2004 the Michelson Interferometer for Passive Atmospheric Sounding (MIPAS) aboard the European Space Agency's Environmental Satellite (Envisat) measured nearly continuously mid infrared limb radiance spectra. These measurements are utilised to retrieve the global distribution of the chlorofluorocarbon CFC-11 by applying a new fast forward model for Envisat MIPAS and an accompanying optimal estimation retrieval processor. A detailed analysis shows that the total retrieval errors of the individual CFC-11 volume mixing ratios are typically below 10% and that the systematic components are dominating. Contribution of a priori information to the retrieval results are less than 5 to 10%. The vertical resolution of the observations is about 3 to 4 km. The data are successfully validated by comparison with several other space experiments, an air-borne in-situ instrument, measurements from ground-based networks, and independent Envisat MIPAS analyses. The retrieval results from 425 000 Envisat MIPAS limb scans are compiled to provide a new climatological data set of CFC-11. The climatology shows significantly lower CFC-11 abundances in the lower stratosphere compared with the Reference Atmospheres for MIPAS (RAMstan V3.1) climatology. Depending on the atmospheric conditions the differences between the climatologies are up to 30 to 110 ppt (45 to 150%) at 19 to 27 km altitude. Additionally, time series of CFC-11 mean abundance and variability for five latitudinal bands are presented. The observed CFC-11 distributions can be explained by the residual mean circulation and large-scale eddy-transports in the upper troposphere and lower stratosphere. The new CFC-11 data set is well suited for further scientific studies.

scholarly journals A method for improved SCIAMACHY CO<sub>2</sub> retrieval in the presence of optically thin clouds

2009 ◽  
Vol 2 (5) ◽  
pp. 2483-2538 ◽  
Author(s):  
M. Reuter ◽  
M. Buchwitz ◽  
O. Schneising ◽  
J. Heymann ◽  
H. Bovensmann ◽  
...  
Keyword(s):  
Absorption Band ◽  
Near Infrared ◽  
A Priori ◽  
Optimal Estimation ◽  
Surface Flux ◽  
Co2 Absorption ◽  
Retrieval Scheme ◽  
Priori Information ◽  
Transfer Of Information

Abstract. An optimal estimation based retrieval scheme for satellite based measurements of XCO2 (the column averaged mixing ratio of atmospheric CO2) is presented enabling accurate retrievals also in the presence of thin clouds. The proposed method is designed to analyze near-infrared nadir measurements of the SCIAMACHY instrument in the CO2 absorption band at 1580 nm and in the O2-A absorption band at around 760 nm. The algorithm accounts for scattering in an optically thin cirrus cloud layer and at aerosols of a default profile. The scattering information is mainly obtained from the O2-A band and a merged fit windows approach enables the transfer of information between the O2-A and the CO2 band. Via the optimal estimation technique, the algorithm is able to account for a priori information to further constrain the inversion. Test scenarios of simulated SCIAMACHY sun-normalized radiance measurements are analyzed in order to specify the quality of the proposed method. In contrast to existing algorithms, the systematic errors due to cirrus clouds with optical thicknesses up to 1.0 are reduced to values typically below 4 ppm. This shows that the proposed method has the potential to reduce uncertainties of SCIAMACHY retrieved XCO2 making this data product useful for surface flux inverse modeling.

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