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An efficient perception of the complex environment is the foremost requirement in mobile robotics. At present, the utilization of glass as a glass wall and automated transparent door in the modern building has become a highlight feature for interior decoration, which has resulted in the wrong perception of the environment by various range sensors. The perception generated by multi-data sensor fusion (MDSF) of sonar and laser is fairly consistent to detect glass but is still affected by the issues such as sensor inaccuracies, sensor reliability, scan mismatching due to glass, sensor model, probabilistic approaches for sensor fusion, sensor registration, etc. The paper aims to discuss these issues.

This paper presents a modified framework – Advanced Laser and Sonar Framework (ALSF) – to fuse the sensory information of a laser scanner and sonar to reduce the uncertainty caused by glass in an environment by selecting the optimal range information corresponding to a selected threshold value. In the proposed approach, the conventional sonar sensor model is also modified to reduce the wrong perception in sonar as an outcome of the diverse range measurement. The laser scan matching algorithm is also modified by taking out the small cluster of laser point (w.r.t. range information) to get efficient perception.

The probability of the occupied cells w.r.t. the modified sonar sensor model becomes consistent corresponding to diverse sonar range measurement. The scan matching technique is also modified to reduce the uncertainty caused by glass and high computational load for the efficient and fast pose estimation of the laser sensor/mobile robot to generate robust mapping. These stated modifications are linked with the proposed ALSF technique to reduce the uncertainty caused by glass, inconsistent probabilities and high load computation during the generation of occupancy grid mapping with MDSF. Various real-world experiments are performed with the implementation of the proposed approach on a mobile robot fitted with laser and sonar, and the obtained results are qualitatively and quantitatively compared with conventional approaches.

The proposed ASIF approach generates efficient perception of the complex environment contains glass and can be implemented for various robotics applications.

The purpose of this paper is to provide a flexible registration method for markerless augmented reality (AR) systems.

The proposed method distinguishes itself as follows: firstly, the method is simple and efficient, as no man‐made markers are needed for both indoor and outdoor AR applications. Secondly, an adaptation method is presented to tune the particle filter dynamically. The result is a system which can achieve tolerance to fast motion and drift during tracking process. Thirdly, the authors use the reduced scale invariant feature transform (SIFT) and scale prediction techniques to match natural features. This method deals easily with the camera pose estimation problem in the case of large illumination and visual angle changes.

Some experiments are provided to validate the performance of the proposed method.

The paper proposes a novel camera pose estimation method based on adaptive particle filter and natural features matching techniques.

The purpose of this study is to establish an effective tracking algorithm for small unmanned aerial vehicles (UAVs) based on interacting multiple model (IMM) to take timely countermeasures against illegal flying UAVs.

In this paper, based on the constant velocity model (CV), the maneuvering adaptive current statistical model (CS) and the angular velocity adaptive three-dimensional (3D) fixed center constant speed rate constant steering rate model, a small UAV tracking algorithm based on adaptive interacting multiple model (AIMM-UKF) is proposed. In addition, an adaptive robust filter is added to each model of the algorithm. The linear Kalman filter algorithm is attached to the CV model and the CS model and the unscented Kalman filter algorithm (UKF) is attached to the CSCDR model to solve the nonlinearity of the 3D turning model.

Monte-Carlo simulation comparison with the other two IMM tracking algorithms shows that in the case of different movement modes and maneuvering strength of the UAV, the AIMM-UKF algorithm makes a good trade-off between the amount of calculation and filtering accuracy, which can maintain more accurate and stable tracking and has strong robustness. At the same time, after testing the actual observation data of the UAV, the results show that the AIMM-UKF algorithm state estimation trajectory can be regarded as an actual trajectory in practical engineering applications, which has good practical value.

This paper presents a new small UAV tracking algorithm based on IMM and the advantages and practicability of this algorithm compared with existing algorithms are proved through experiments.

This paper aims to propose Bayesian filtering based on solving the Fokker–Planck equation, to improve the accuracy of filtering in non-Gauss case. Nonlinear filtering plays an important role in many science and engineering fields for estimating the state of dynamic system, but the existing filtering algorithms are mainly used for solving the problem of Gauss system.

Under the Bayesian framework, the time update of this filtering is based on solving Fokker–Planck equation, while the measurement update uses the Bayes formula directly. Therefore, this novel algorithm can be applied to nonlinear, non-Gaussian estimation. To reduce the computational complexity due to standard meshing, an adaptive meshing algorithm proposed which includes the coarse meshing, significant domain determination that is generated using extended Kalman filtering and Chebyshev’s inequality theorem, and value assignment for significant domain. Simulations are conducted on a reentry body tracking problem to demonstrate the effectiveness of this novel algorithm.

In this way, finer grid points can be placed in the regions with high conditional probability density, while the grid points with low conditional probability density can be neglected. The simulation results indicate that the novel algorithm can reduce the computational burden significantly compared to the standard meshing, while achieving similar accuracy.

A novel Bayesian filtering based on solving the Fokker–Planck equation using adaptive meshing is proposed, and the simulations show that algorithm can reduce the computational burden significantly compared to the standard meshing, while achieving similar accuracy.

A novel nonlinear filtering based on solving the Fokker–Planck equation is proposed. The novel algorithm is suitable for non-Gauss system, and can achieve similar accuracy compared to the standard meshing with the significant reduction of computational burden.

The aim of this research is to enable web‐based tracking and guiding by integrating location‐awareness with the Worldwide Web so that the users can use various location‐based applications without installing extra software.

The concept of web‐based tracking and guiding is introduced and the relevant issues are discussed regarding location‐aware web systems, location determination, location‐dependent content query and personalized presentation. The framework of the web‐based tracking and guiding system – the Web‐Based Guide is proposed, and its prototypical implementation is presented. The main design principles are making use of existing web technologies, making use of available and cheap devices, general‐purpose and lightweight client‐side, and good scalability.

The paper presents the general‐purpose and modular framework of the Web‐Based Guide, which consists of the Location Server, the Content Server, the Guiding Web Server and the clients which are standard web browsers extended with the Location Control. With such a framework, location‐based applications can offer the services on the web.

The performance of the system should be evaluated and improved, such as the number of the concurrent sessions that the system can sustain, and the workload on the system when in the tracking mode.

The paper proposes a framework for personalized tracking and guiding systems on the web, which can be used in campuses, museums, national parks and so on.

This paper combines the objective information of six mixed-frequency partial-activity indicators with assumptions or beliefs (called priors) regarding the distribution of the parameters that approximate the state of the construction activity cycle. Thus, this paper uses Bayesian inference with Gibbs simulations and the Kalman filter to estimate the parameters of the state-space model, used to design the Imacon.

Unlike other economic sectors of similar importance in aggregate gross domestic product, such as mining and industry, the construction sector lacked a short-term measure that helps to identify its most recent performance.

Indeed, because these priors are susceptible to changes, they provide flexibility to the original Imacon model, allowing for the assessment of risk scenarios and adaption to the greater relative volatility that characterizes the sector's activity.

The classic maximum likelihood method of estimating the monthly construction activity index (Imacon) is rigid to the incorporation of new measures of uncertainty, expectations or different volatility (risks) levels in the state of construction activity. In this context, this paper uses Bayesian inference with 10,000 Gibbs simulations and the Kalman filter to estimate the parameters of the state-space model, used to design the Imacon, inspired by the original works of Mariano and Murasawa (2003) and Kim and Nelson (1998). Thus, this paper consists of a natural extension of the classic method used by Tejada (2006) in the estimation of the old Imacon.

The time delay would occurs when the measurements of multiple unmanned aerial vehicles (UAVs) are transmitted to the date processing center during cooperative target localization. This problem is often named as the out-of-sequence measurement (OOSM) problem. This paper aims to present a nonlinear filtering based on solving the Fokker–Planck equation to address the issue of OOSM.

According to the arrival time of measurement, the proposed nonlinear filtering can be divided into two parts. The non-delay measurement would be fused in the first part, in which the Fokker–Planck equation is utilized to propagate the conditional probability density function in the forward form. The time delay measurement is fused in the second part, in which the Fokker–Planck is used in the backward form approximately. The Bayes formula is applied in both parts during the measurement update.

Under the Bayesian filtering framework, this nonlinear filtering is not only suitable for the Gaussian noise assumption but also for the non-Gaussian noise assumption. The nonlinear filtering is applied to the cooperative target localization problem. Simulation results show that the proposed filtering algorithm is superior to the previous Y algorithm.

In this paper, the research shows that a better performance can be obtained by fusing multiple UAV measurements and treating time delay in measurement with the proposed algorithm.

In this paper, the OOSM problem is settled based on solving the Fokker–Planck equation. Generally, the Fokker–Planck equation can be used to predict the probability density forward in time. However, to associate the current state with the state related to OOSM, it would be used to propagate the probability density backward either.

A novel vision-based relative navigation system (VBRNS) plays an important role in aeronautics and astronautics fields, and the filter is the core of VBRNS. However, most of the existing filtering algorithms used in VBRNS are derived based on Gaussian assumption and disregard the non-Gaussianity of VBRNS. Therefore, a novel robust filtering named as cubature Huber-based filtering (CHF) is proposed and applied to VBRNS to improve the navigation accuracy in non-Gaussian noise case.

Under the Bayesian filter framework, the third-degree cubature rule is used to compute the cubature points which are propagated through state equation, and then the predicted mean and the associated covariance are taken. A combined minimum l₁ and l₂-norm estimation method referred as Huber’s criterion is used to design the measurement update. After that, the vision-based relative navigation model is presented and the CHF is used to integrate the line-of-sight measurements from vision camera with inertial measurement of the follower to estimate the precise relative position, velocity and attitude between two unmanned aerial vehicles. During the design of relative navigation filter, the quaternions are used to represent the attitude and the generalized Rodrigues parameters are used to represent the attitude error. The simulation is conducted to demonstrate the effectiveness of the algorithm.

By this means, the VBRNS could perform better than traditional VBRNS whose filter is designed by Gaussian filtering algorithms. And the simulation results demonstrate that the CHF could exhibit robustness when the system is non-Gaussian. Moreover, the CHF has more accurate estimation and faster rate of convergence than extended Kalman Filtering (EKF) in face of inaccurate initial conditions.

A novel robust nonlinear filtering algorithm named as CHF is proposed and applied to VBRNS based on cubature Kalman filtering (CKF) and Huber’s technique. The CHF could adapt to the non-Gaussian system effectively and perform better than traditional Gaussian filtering such as EKF.

The email is an important medium for sharing information rapidly. However, spam, being a nuisance in such communication, motivates the building of a robust filtering system with high classification accuracy and good sensitivity towards false positives. In that context, this paper aims to present a combined classifier technique using a committee selection mechanism where the main objective is to identify a set of classifiers so that their individual decisions can be combined by a committee selection procedure for accurate detection of spam.

For training and testing of the relevant machine learning classifiers, text mining approaches are used in this research. Three data sets (Enron, SpamAssassin and LingSpam) have been used to test the classifiers. Initially, pre-processing is performed to extract the features associated with the email files. In the next step, the extracted features are taken through a dimensionality reduction method where non-informative features are removed. Subsequently, an informative feature subset is selected using genetic feature search. Thereafter, the proposed classifiers are tested on those informative features and the results compared with those of other classifiers.

For building the proposed combined classifier, three different studies have been performed. The first study identifies the effect of boosting algorithms on two probabilistic classifiers: Bayesian and Naïve Bayes. In that study, AdaBoost has been found to be the best algorithm for performance boosting. The second study was on the effect of different Kernel functions on support vector machine (SVM) classifier, where SVM with normalized polynomial (NP) kernel was observed to be the best. The last study was on combining classifiers with committee selection where the committee members were the best classifiers identified by the first study i.e. Bayesian and Naïve bays with AdaBoost, and the committee president was selected from the second study i.e. SVM with NP kernel. Results show that combining of the identified classifiers to form a committee machine gives excellent performance accuracy with a low false positive rate.

This research is focused on the classification of email spams written in English language. Only body (text) parts of the emails have been used. Image spam has not been included in this work. We have restricted our work to only emails messages. None of the other types of messages like short message service or multi-media messaging service were a part of this study.

This research proposes a method of dealing with the issues and challenges faced by internet service providers and organizations that use email. The proposed model provides not only better classification accuracy but also a low false positive rate.

The proposed combined classifier is a novel classifier designed for accurate classification of email spam.

The expertise of a system administrator is believed to be important for effective use of intrusion detection systems (IDS). This paper examines two hypotheses concerning the system administrators' ability to filter alarms produced by an IDS by comparing the performance of an IDS to the performance of a system administrator using the IDS.

An experiment was constructed where five computer networks are attacked during four days. The experiment assessed difference made between the output of a system administrator using an IDS and the output of the IDS alone. The administrator's analysis process was also investigated through interviews.

The experiment shows that the system administrator analysing the output from the IDS significantly improves the portion of alarms corresponding to attacks, without decreasing the probability that an attack is detected significantly. In addition, an analysis is made of the types of expertise that is used when output from the IDS is processed by the administrator.

Previous work, based on interviews with system administrators, has suggested that competent system administrators are important in order to achieve effective IDS solutions. This paper presents a quantitative test of the value system administrators add to the intrusion detection solution.