We consider the problem of calibrating range measurements of a Light Detection and Ranging (lidar) sensor that is dealing with the sensor nonlinearity and heteroskedastic, range-dependent, measurement error. We solved the calibration problem without using additional hardware, but rather exploiting assumptions on the environment surrounding the sensor during the calibration procedure. More specifically we consider the assumption of calibrating the sensor by placing it in an environment so that its measurements lie in a 2D plane that is parallel to the ground. Then, its measurements come from fixed objects that develop orthogonally w.r.t. the ground, so that they may be considered as fixed points in an inertial reference frame. Moreover, we consider the intuition that moving the distance sensor within this environment implies that its measurements should be such that the relative distances and angles among the fixed points above remain the same. We thus exploit this intuition to cast the sensor calibration problem as making its measurements comply with this assumption that “fixed features shall have fixed relative distances and angles”. The resulting calibration procedure does thus not need to use additional (typically expensive) equipment, nor deploy special hardware. As for the proposed estimation strategies, from a mathematical perspective we consider models that lead to analytically solvable equations, so to enable deployment in embedded systems. Besides proposing the estimators we moreover analyze their statistical performance both in simulation and with field tests. We report the dependency of the MSE performance of the calibration procedure as a function of the sensor noise levels, and observe that in field tests the approach can lead to a tenfold improvement in the accuracy of the raw measurements.
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... Show MoreThis research aims to investigate the impacts of Quranic readings on the meanings of antonyms in the Quran, with considering the practical aspects that clarify them. The importance of this topic lies in clarifying the importance of the science of Qiraʼat, its great value and its high status. Moreover, this research sheds light on the relationship between Quranic readings and the antonyms words, following the descriptive approach in the study. The research has found several findings, the most prominent of which was: antonyms are linguistic phenomena that are proven to occur in Quranic readings, so each reading deliver a meaning that is opposite to the meaning learned from the other reading.In addition, Quranic readings are considered as
... Show MoreThis study aims to show the markers of the Arabic noun(genitive, nun nation articles,
vocative, definite article and predication). These markers distinguish the noun from other
parts of sentence. It alsoaims at showing why these markers are peculiar to nouns.
The present paper studies the use of adjectives in Shakespeare's Sonnets (4, 5, 6, & 9), which are chosen randomly, on the three levels: grammar, lexis and conversation. It tackles adjectives as a literary term with presenting their forms and functions. The presentation is done according to the themes, their forms and functions in conversation, the adjectives are shown in this paper as for their forms, frequency and meanings in the sonnets and their effects on studying. The analysis is done according to Quirk et al. (1985) and Quirk and Greenbaum (1973). Then, all adjectives have been calculated in the sonnets. The results of the analysis have shown that compound adjectives which occurred (31) are used more than the Suffixation
... Show MoreThe concept of equality in Islamic thought emanates from the unity of human entity that does not breach the concept of equality in itself and it should take differentiation among people as means for development and growth not as excuse for injustice and discrimination. Islamic thought has left all the prevailing norms of differentiation such as (weakness and strength, economic and social position, gender, color, and social class). Islamic thought has underscored the quality of people of different race, race, color, and language which was not familiar in those civilizations before the emergence of Islam such as (Egyptian, Persian, roman civilization). It was common to divide people into different social classes. The aim of Islam is to kee
... Show MoreAn essential element in English as a foreign language (EFL) learning is vocabulary. There is a big emphasis on learning the new words' meaning from the books or inside classrooms. Also, it is a major part of language teaching as well as being fundamental to the learner but there is a big challenge in vocabulary instruction due to the weak confidence by teachers in selecting the suitable practice in teaching vocabulary or they sometimes unable to specify a suitable time for it during the teaching process. The major aim of this study is to investigate the value of posters in vocabulary learning on the 2nd grade students at Halemat Alsaadia High School in Baghdad – Iraq. It hypothesized that there are no statistically significant differences
... Show MoreTo learn about the importance of ethics in different historical eras have to be identified first on the roots of this concept and return to the origins of language and the statement connotations Home as a morality single won Position good in the literature of the Arabic language , and beliefs of the monotheistic religions that see the majority it had on moral grounds .
The name of the morality of the natural qualities of a human being , or the name of human nature itself , and morality , plural ( created) is the name of the inner configuration of this man , but Valkhalq put against the word of creation - which is the name of this human form evolving .
In the opinion of other references that word ( ethics ) but they are collecting f
A new type of the connected domination parameters called tadpole domination number of a graph is introduced. Tadpole domination number for some standard graphs is determined, and some bounds for this number are obtained. Additionally, a new graph, finite, simple, undirected and connected, is introduced named weaver graph. Tadpole domination is calculated for this graph with other families of graphs.