We presented a quad-rotor controlling algorithm design by using sensor fusion in this paper. The controller design technique was performed by a PD controller with a Kalman filter and compensation algorithm for increasing the stability and reliability of the quad-rotor attitude. In this paper, we propose an attitude estimation algorithm for quad-rotor based sensor fusion by using the Kalman filter. For this reason, firstly, we studied the platform configuration and principle of the quad-rotor. Secondly, the bias errors of a gyro sensor, acceleration and geomagnetic sensor are compensated. The measured values of each sensor are then fused via a Kalman filter. Finally, the performance of the proposed algorithm is evaluated through experimental data of attitude estimation. As a result, the proposed sensor fusion algorithm showed superior attitude estimation performance, and also proved that robust attitude estimation is possible even in disturbance.
Hidden Markov random field(HMRF) is one of the most common model for image segmentation which is an important preprocessing in many imaging devices. The HMRF has unknown hyper-parameters on Markov random field to be estimated in segmenting testing images. However, in practice, due to computational complexity, it is often assumed to be a fixed constant. In this paper, we numerically show that the segmentation results very depending on the fixed hyper-parameter, and, if the parameter is misspecified, they further depend on the choice of the class-labelling algorithm. In contrast, the HMRF with estimated hyper-parameter provides consistent segmentation results regardless of the choice of class labelling and the estimation method.Thus, we recommend practitioners estimate the hyper-parameter even though it is computationally complex.
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