Kalman Filter – A painless approach

Needless to say but Kalman Filtering is one of the most powerful estimation processes in almost any Engineering field. From robotic vacuums to Satellite Guidance, it is everywhere. Here I will explain the how’s and why’s of the Kalman Filter (KF) in our lives.


Any decent technological project will use this robust method for the final estimation of the position of any intelligent system. The format of the given information can be, fortunately, represented as a Gaussian state.

Thanks to this property, it is possible to use Gaussian filters (KF is one of them), in order to improve the final estimation.

Gaussian modelling estimations are going to be carried in this explanation, so it is preferable to have this mathematical background (a simple understanding is enough) in order to follow the presented technique. Continue reading


The Fundamental Matrix song

Annoying, exciting, boring, awesome… Computer Vision and its applications might be sometimes a roller-coaster of emotions, but it is always a pleasure to work with. Some of those familiar with Vision systems, might be aware of some nice properties and most of all, some fancy tools that help us to play around with images and computers; but one important thing that no one should forget in this field is the so-called Fundamental Matrix. If you have still some doubts about its development, then here you have a bit of its application:

Looking for the lyrics. Well, I totally recommend you to go to the website of Daniel Wedge, the creator of this totally entertaining song.

Build your own 3D Scanner!

Yes, it is possible and you can do it. Actually you don’t have to be a total expert in programming or Maths. Yes yes, you have to know some good stuff, but being a nerd or a genius is not the point.

Gabriel Taubin, an Argentinian Mathematician researching in Brown University is in charge of this project and made it available for everyone, so if you have 3D Computer Vision as your hobby, then this is the perfect start. As I said, you don’t have to be an expert but you need to go deep into it and it will be totally amazing, I promise. Just have a look to the website:


The final results would be amazing and they provide every kind of tool that you may need. It seems that the used methods vary, but that’s just extra fun. I really encourage you to try it, because it’s cheap, fun and totally useful.

The following video is NOT of the project, but it shows you how accessible is to build your own 3D scanner.

But don’t forget the Kinect, boy!