Moving Object Detection Based on a Combination of Kalman Filter and Median Filtering

The task of determining the distance from one object to another is one of the important tasks solved in robotics systems. Conventional algorithms rely on an iterative process of predicting distance estimates, which results in an increased computational burden. Algorithms used in robotic systems shou...

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Главные авторы:	Kalita, D. I., Калита, Д. И., Lyakhov, P. A., Ляхов, П. А.
פורמט:	Статья
שפה:	English
יצא לאור:	2023
נושאים:	Kalman filter Median filter Impulse noise Estimate prediction Object distance determination Value calibration Lidar Point cloud
גישה מקוונת:	https://dspace.ncfu.ru/handle/20.500.12258/22648
תגים:	הוספת תג אין תגיות, היה/י הראשונ/ה לתייג את הרשומה!

id	ir-20.500.12258-22648
record_format	dspace
spelling	ir-20.500.12258-226482023-02-16T12:52:43Z Moving Object Detection Based on a Combination of Kalman Filter and Median Filtering Kalita, D. I. Калита, Д. И. Lyakhov, P. A. Ляхов, П. А. Kalman filter Median filter Impulse noise Estimate prediction Object distance determination Value calibration Lidar Point cloud The task of determining the distance from one object to another is one of the important tasks solved in robotics systems. Conventional algorithms rely on an iterative process of predicting distance estimates, which results in an increased computational burden. Algorithms used in robotic systems should require minimal time costs, as well as be resistant to the presence of noise. To solve these problems, the paper proposes an algorithm for Kalman combination filtering with a Goldschmidt divisor and a median filter. Software simulation showed an increase in the accuracy of predicting the estimate of the developed algorithm in comparison with the traditional filtering algorithm, as well as an increase in the speed of the algorithm. The results obtained can be effectively applied in various computer vision systems. 2023-02-16T12:51:42Z 2023-02-16T12:51:42Z 2022 Статья Kalita, D., Lyakhov, P. Moving Object Detection Based on a Combination of Kalman Filter and Median Filtering // Big Data and Cognitive Computing. - 2022. - 6 (4), статья № 142. - DOI: 10.3390/bdcc6040142 http://hdl.handle.net/20.500.12258/22648 en Big Data and Cognitive Computing application/pdf application/pdf
institution	СКФУ
collection	Репозиторий
language	English
topic	Kalman filter Median filter Impulse noise Estimate prediction Object distance determination Value calibration Lidar Point cloud
spellingShingle	Kalman filter Median filter Impulse noise Estimate prediction Object distance determination Value calibration Lidar Point cloud Kalita, D. I. Калита, Д. И. Lyakhov, P. A. Ляхов, П. А. Moving Object Detection Based on a Combination of Kalman Filter and Median Filtering
description	The task of determining the distance from one object to another is one of the important tasks solved in robotics systems. Conventional algorithms rely on an iterative process of predicting distance estimates, which results in an increased computational burden. Algorithms used in robotic systems should require minimal time costs, as well as be resistant to the presence of noise. To solve these problems, the paper proposes an algorithm for Kalman combination filtering with a Goldschmidt divisor and a median filter. Software simulation showed an increase in the accuracy of predicting the estimate of the developed algorithm in comparison with the traditional filtering algorithm, as well as an increase in the speed of the algorithm. The results obtained can be effectively applied in various computer vision systems.
format	Статья
author	Kalita, D. I. Калита, Д. И. Lyakhov, P. A. Ляхов, П. А.
author_facet	Kalita, D. I. Калита, Д. И. Lyakhov, P. A. Ляхов, П. А.
author_sort	Kalita, D. I.
title	Moving Object Detection Based on a Combination of Kalman Filter and Median Filtering
title_short	Moving Object Detection Based on a Combination of Kalman Filter and Median Filtering
title_full	Moving Object Detection Based on a Combination of Kalman Filter and Median Filtering
title_fullStr	Moving Object Detection Based on a Combination of Kalman Filter and Median Filtering
title_full_unstemmed	Moving Object Detection Based on a Combination of Kalman Filter and Median Filtering
title_sort	moving object detection based on a combination of kalman filter and median filtering
publishDate	2023
url	https://dspace.ncfu.ru/handle/20.500.12258/22648
work_keys_str_mv	AT kalitadi movingobjectdetectionbasedonacombinationofkalmanfilterandmedianfiltering AT kalitadi movingobjectdetectionbasedonacombinationofkalmanfilterandmedianfiltering AT lyakhovpa movingobjectdetectionbasedonacombinationofkalmanfilterandmedianfiltering AT lâhovpa movingobjectdetectionbasedonacombinationofkalmanfilterandmedianfiltering
_version_	1760600295873708032

Moving Object Detection Based on a Combination of Kalman Filter and Median Filtering

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