---
_id: '11724'
abstract:
- lang: eng
text: In this paper we present a novel vehicle tracking method which is based on
multi-stage Kalman filtering of GPS and IMU sensor data. After individual Kalman
filtering of GPS and IMU measurements the estimates of the orientation of the
vehicle are combined in an optimal manner to improve the robustness towards drift
errors. The tracking algorithm incorporates the estimation of time-variant covariance
parameters by using an iterative block Expectation-Maximization algorithm to account
for time-variant driving conditions and measurement quality. The proposed system
is compared to an interacting multiple model approach (IMM) and achieves improved
localization accuracy at lower computational complexity. Furthermore we show how
the joint parameter estimation and localizaiton can be conducted with streaming
input data to be able to track vehicles in a real driving environment.
author:
- first_name: Maik
full_name: Bevermeier, Maik
last_name: Bevermeier
- first_name: Sven
full_name: Peschke, Sven
last_name: Peschke
- first_name: Reinhold
full_name: Haeb-Umbach, Reinhold
id: '242'
last_name: Haeb-Umbach
citation:
ama: 'Bevermeier M, Peschke S, Haeb-Umbach R. Joint Parameter Estimation and Tracking
in a Multi-Stage Kalman Filter for Vehicle Positioning. In: IEEE 69th Vehicular
Technology Conference (VTC 2009 Spring). ; 2009:1-5. doi:10.1109/VETECS.2009.5073634'
apa: Bevermeier, M., Peschke, S., & Haeb-Umbach, R. (2009). Joint Parameter
Estimation and Tracking in a Multi-Stage Kalman Filter for Vehicle Positioning.
In IEEE 69th Vehicular Technology Conference (VTC 2009 Spring) (pp. 1–5).
https://doi.org/10.1109/VETECS.2009.5073634
bibtex: '@inproceedings{Bevermeier_Peschke_Haeb-Umbach_2009, title={Joint Parameter
Estimation and Tracking in a Multi-Stage Kalman Filter for Vehicle Positioning},
DOI={10.1109/VETECS.2009.5073634},
booktitle={IEEE 69th Vehicular Technology Conference (VTC 2009 Spring)}, author={Bevermeier,
Maik and Peschke, Sven and Haeb-Umbach, Reinhold}, year={2009}, pages={1–5} }'
chicago: Bevermeier, Maik, Sven Peschke, and Reinhold Haeb-Umbach. “Joint Parameter
Estimation and Tracking in a Multi-Stage Kalman Filter for Vehicle Positioning.”
In IEEE 69th Vehicular Technology Conference (VTC 2009 Spring), 1–5, 2009.
https://doi.org/10.1109/VETECS.2009.5073634.
ieee: M. Bevermeier, S. Peschke, and R. Haeb-Umbach, “Joint Parameter Estimation
and Tracking in a Multi-Stage Kalman Filter for Vehicle Positioning,” in IEEE
69th Vehicular Technology Conference (VTC 2009 Spring), 2009, pp. 1–5.
mla: Bevermeier, Maik, et al. “Joint Parameter Estimation and Tracking in a Multi-Stage
Kalman Filter for Vehicle Positioning.” IEEE 69th Vehicular Technology Conference
(VTC 2009 Spring), 2009, pp. 1–5, doi:10.1109/VETECS.2009.5073634.
short: 'M. Bevermeier, S. Peschke, R. Haeb-Umbach, in: IEEE 69th Vehicular Technology
Conference (VTC 2009 Spring), 2009, pp. 1–5.'
date_created: 2019-07-12T05:27:02Z
date_updated: 2022-01-06T06:51:07Z
department:
- _id: '54'
doi: 10.1109/VETECS.2009.5073634
keyword:
- computational complexity
- expectation-maximisation algorithm
- Global Positioning System
- inertial measurement unit
- inertial navigation
- interacting multiple model
- iterative block expectation-maximization algorithm
- Kalman filters
- multi-stage Kalman filter
- parameter estimation
- road vehicles
- vehicle positioning
- vehicle tracking
language:
- iso: eng
main_file_link:
- open_access: '1'
url: https://groups.uni-paderborn.de/nt/pubs/2009/BePeHa09-1.pdf
oa: '1'
page: 1-5
publication: IEEE 69th Vehicular Technology Conference (VTC 2009 Spring)
status: public
title: Joint Parameter Estimation and Tracking in a Multi-Stage Kalman Filter for
Vehicle Positioning
type: conference
user_id: '44006'
year: '2009'
...
---
_id: '34564'
abstract:
- lang: eng
text: To provide user interfaces for a rich set of devices and interaction modalities,
we follow a model-based development methodology. We devised an architecture which
deploys user interfaces specified as dialogue models with abstract interaction
objects and allows context-based adaptations by means of an external transcoding
process. For the validation of the applicability of this methodology for developing
usable multimodal multi-device systems, we present two case studies based on proof-of-concept
implementations and assessed them with a large set of established design principles
and different types of modality cooperation.
author:
- first_name: Robbie
full_name: Schäfer, Robbie
last_name: Schäfer
- first_name: Wolfgang
full_name: Müller, Wolfgang
id: '16243'
last_name: Müller
citation:
ama: Schäfer R, Müller W. Assessment of a Multimodal Interaction and Rendering System
against Established Design Principles. Journal on Multimodal User Interfaces.
2008;2(1):25-41. doi:10.1007/s12193-008-0003-3
apa: Schäfer, R., & Müller, W. (2008). Assessment of a Multimodal Interaction
and Rendering System against Established Design Principles. Journal on Multimodal
User Interfaces, 2(1), 25–41. https://doi.org/10.1007/s12193-008-0003-3
bibtex: '@article{Schäfer_Müller_2008, title={Assessment of a Multimodal Interaction
and Rendering System against Established Design Principles}, volume={2}, DOI={10.1007/s12193-008-0003-3},
number={1}, journal={Journal on Multimodal User Interfaces}, publisher={Springer-Verlag},
author={Schäfer, Robbie and Müller, Wolfgang}, year={2008}, pages={25–41} }'
chicago: 'Schäfer, Robbie, and Wolfgang Müller. “Assessment of a Multimodal Interaction
and Rendering System against Established Design Principles.” Journal on Multimodal
User Interfaces 2, no. 1 (2008): 25–41. https://doi.org/10.1007/s12193-008-0003-3.'
ieee: 'R. Schäfer and W. Müller, “Assessment of a Multimodal Interaction and Rendering
System against Established Design Principles,” Journal on Multimodal User Interfaces,
vol. 2, no. 1, pp. 25–41, 2008, doi: 10.1007/s12193-008-0003-3.'
mla: Schäfer, Robbie, and Wolfgang Müller. “Assessment of a Multimodal Interaction
and Rendering System against Established Design Principles.” Journal on Multimodal
User Interfaces, vol. 2, no. 1, Springer-Verlag, 2008, pp. 25–41, doi:10.1007/s12193-008-0003-3.
short: R. Schäfer, W. Müller, Journal on Multimodal User Interfaces 2 (2008) 25–41.
date_created: 2022-12-19T12:22:50Z
date_updated: 2022-12-19T12:23:05Z
department:
- _id: '672'
doi: 10.1007/s12193-008-0003-3
intvolume: ' 2'
issue: '1'
keyword:
- Interaction architecture Abstract interaction objects Dialogue model Transformations Multimodality Multi-device Design
principles
language:
- iso: eng
page: 25-41
publication: Journal on Multimodal User Interfaces
publisher: Springer-Verlag
status: public
title: Assessment of a Multimodal Interaction and Rendering System against Established
Design Principles
type: journal_article
user_id: '5786'
volume: 2
year: '2008'
...
---
_id: '17289'
abstract:
- lang: eng
text: 'Robots have to deal with an enormous amount of sensory stimuli. One solution
in making sense of them is to enable a robot system to actively search for cues
that help structuring the information. Studies with infants reveal that parents
support the learning-process by modifying their interaction style, dependent on
their child''s developmental age. In our study, in which parents demonstrated
everyday actions to their preverbal children (8-11 months old), our aim was to
identify objective parameters for multimodal action modification. Our results
reveal two action parameters being modified in adult-child interaction: roundness
and pace. Furthermore, we found that language has the power to help children structuring
actions sequences by synchrony and emphasis. These insights are discussed with
respect to the built-in attention architecture of a socially interactive robot,
which enables it to understand demonstrated actions. Our algorithmic approach
towards automatically detecting the task structure in child-designed input demonstrates
the potential impact of insights from developmental learning on robotics. The
presented findings pave the way to automatically detect when to imitate in a demonstration'
author:
- first_name: Katharina
full_name: Rohlfing, Katharina
id: '50352'
last_name: Rohlfing
- first_name: Jannik
full_name: Fritsch, Jannik
last_name: Fritsch
- first_name: Britta
full_name: Wrede, Britta
last_name: Wrede
- first_name: Tanja
full_name: Jungmann, Tanja
last_name: Jungmann
citation:
ama: Rohlfing K, Fritsch J, Wrede B, Jungmann T. How can multimodal cues from child-directed
interaction reduce learning complexity in robots? Advanced Robotics. 2006;20(10):1183-1199.
doi:10.1163/156855306778522532
apa: Rohlfing, K., Fritsch, J., Wrede, B., & Jungmann, T. (2006). How can multimodal
cues from child-directed interaction reduce learning complexity in robots? Advanced
Robotics, 20(10), 1183–1199. https://doi.org/10.1163/156855306778522532
bibtex: '@article{Rohlfing_Fritsch_Wrede_Jungmann_2006, title={How can multimodal
cues from child-directed interaction reduce learning complexity in robots?}, volume={20},
DOI={10.1163/156855306778522532},
number={10}, journal={Advanced Robotics}, publisher={VSP BV}, author={Rohlfing,
Katharina and Fritsch, Jannik and Wrede, Britta and Jungmann, Tanja}, year={2006},
pages={1183–1199} }'
chicago: 'Rohlfing, Katharina, Jannik Fritsch, Britta Wrede, and Tanja Jungmann.
“How Can Multimodal Cues from Child-Directed Interaction Reduce Learning Complexity
in Robots?” Advanced Robotics 20, no. 10 (2006): 1183–99. https://doi.org/10.1163/156855306778522532.'
ieee: 'K. Rohlfing, J. Fritsch, B. Wrede, and T. Jungmann, “How can multimodal cues
from child-directed interaction reduce learning complexity in robots?,” Advanced
Robotics, vol. 20, no. 10, pp. 1183–1199, 2006, doi: 10.1163/156855306778522532.'
mla: Rohlfing, Katharina, et al. “How Can Multimodal Cues from Child-Directed Interaction
Reduce Learning Complexity in Robots?” Advanced Robotics, vol. 20, no.
10, VSP BV, 2006, pp. 1183–99, doi:10.1163/156855306778522532.
short: K. Rohlfing, J. Fritsch, B. Wrede, T. Jungmann, Advanced Robotics 20 (2006)
1183–1199.
date_created: 2020-06-24T13:03:02Z
date_updated: 2023-02-01T13:14:36Z
department:
- _id: '749'
doi: 10.1163/156855306778522532
intvolume: ' 20'
issue: '10'
keyword:
- multi-modal motherese
- child-directed input
- motionese
- learning mechanisms
language:
- iso: eng
page: 1183-1199
publication: Advanced Robotics
publication_identifier:
issn:
- 1568-5535
publisher: VSP BV
status: public
title: How can multimodal cues from child-directed interaction reduce learning complexity
in robots?
type: journal_article
user_id: '14931'
volume: 20
year: '2006'
...
---
_id: '2421'
abstract:
- lang: eng
text: In contrast to processors, current reconfigurable devices totally lack programming
models that would allow for device independent compilation and forward compatibility.
The key to overcome this limitation is hardware virtualization. In this paper,
we resort to a macro-pipelined execution model to achieve hardware virtualization
for data streaming applications. As a hardware implementation we present a hybrid
multi-context architecture that attaches a coarse-grained reconfigurable array
to a host CPU. A co-simulation framework enables cycle-accurate simulation of
the complete architecture. As a case study we map an FIR filter to our virtualized
hardware model and evaluate different designs. We discuss the impact of the number
of contexts and the feature of context state on the speedup and the CPU load.
author:
- first_name: Rolf
full_name: Enzler, Rolf
last_name: Enzler
- first_name: Christian
full_name: Plessl, Christian
id: '16153'
last_name: Plessl
orcid: 0000-0001-5728-9982
- first_name: Marco
full_name: Platzner, Marco
id: '398'
last_name: Platzner
citation:
ama: 'Enzler R, Plessl C, Platzner M. Virtualizing Hardware with Multi-Context Reconfigurable
Arrays. In: Proc. Int. Conf. on Field Programmable Logic and Applications (FPL).
Vol 2778. Lecture Notes in Computer Science (LNCS). Springer; 2003:151-160. doi:10.1007/b12007'
apa: Enzler, R., Plessl, C., & Platzner, M. (2003). Virtualizing Hardware with
Multi-Context Reconfigurable Arrays. In Proc. Int. Conf. on Field Programmable
Logic and Applications (FPL) (Vol. 2778, pp. 151–160). Springer. https://doi.org/10.1007/b12007
bibtex: '@inproceedings{Enzler_Plessl_Platzner_2003, series={Lecture Notes in Computer
Science (LNCS)}, title={Virtualizing Hardware with Multi-Context Reconfigurable
Arrays}, volume={2778}, DOI={10.1007/b12007},
booktitle={Proc. Int. Conf. on Field Programmable Logic and Applications (FPL)},
publisher={Springer}, author={Enzler, Rolf and Plessl, Christian and Platzner,
Marco}, year={2003}, pages={151–160}, collection={Lecture Notes in Computer Science
(LNCS)} }'
chicago: Enzler, Rolf, Christian Plessl, and Marco Platzner. “Virtualizing Hardware
with Multi-Context Reconfigurable Arrays.” In Proc. Int. Conf. on Field Programmable
Logic and Applications (FPL), 2778:151–60. Lecture Notes in Computer Science
(LNCS). Springer, 2003. https://doi.org/10.1007/b12007.
ieee: R. Enzler, C. Plessl, and M. Platzner, “Virtualizing Hardware with Multi-Context
Reconfigurable Arrays,” in Proc. Int. Conf. on Field Programmable Logic and
Applications (FPL), 2003, vol. 2778, pp. 151–160.
mla: Enzler, Rolf, et al. “Virtualizing Hardware with Multi-Context Reconfigurable
Arrays.” Proc. Int. Conf. on Field Programmable Logic and Applications (FPL),
vol. 2778, Springer, 2003, pp. 151–60, doi:10.1007/b12007.
short: 'R. Enzler, C. Plessl, M. Platzner, in: Proc. Int. Conf. on Field Programmable
Logic and Applications (FPL), Springer, 2003, pp. 151–160.'
date_created: 2018-04-17T15:11:25Z
date_updated: 2022-01-06T06:56:13Z
department:
- _id: '518'
- _id: '78'
doi: 10.1007/b12007
intvolume: ' 2778'
keyword:
- Zippy
- multi-context
- FPGA
page: 151-160
publication: Proc. Int. Conf. on Field Programmable Logic and Applications (FPL)
publisher: Springer
series_title: Lecture Notes in Computer Science (LNCS)
status: public
title: Virtualizing Hardware with Multi-Context Reconfigurable Arrays
type: conference
user_id: '24135'
volume: 2778
year: '2003'
...