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In this paper, we present an approach to simultaneous localization and mapping (SLAM) for RGB-D cameras like the Microsoft Kinectv2 that is capable of reconstructing volumetric 3D map without the aid of a graphics processing unit (GPU). For many robots, including flying robots and ground mobile robots, most of them build 3D maps, such as sparse or dense point cloud. However, these maps can not give...
In some GPS-denied indoor environment, micro Unmanned Aerial Vehicle (UAV) is a good choice to execute special tasks. However, self-positioning of UAV becomes difficult without the help of GPS. In this paper, we develop the self-positioning method for UAV indoor navigation, which integrates the information of 3D laser scanner, ultra-wideband (UWB) and Inertial navigation system (INS). The positioning...
As an important branch of computational photography, light field photography combines the hardware design of optical system with key algorithm of signal processing quite well. Unlike traditional photography which can only record light ray's two-dimensional position, light field photography system can record four-dimensional position and direction. Therefore, much more image information can be obtained...
This paper provides a closed form analytical solution for TDOA three dimensional (3D) acoustic source localization with four synchronized ultrasonic generators or receivers. Then a pure analytical solution for Geometric Dilution of Precision (GDOP) with four signal generators or receivers is derived instead of a least square solution. The proposed GDOP model removes the effect of time clock drift,...
There are many shape-similar gestures which cause errors in the process of hand gesture recognition. In this paper, a new method which can distinguish the similar gestures was proposed. The information of motion trajectory is captured by a leap motion in three-dimension space, and the orientation characteristics are quantified and coded as the feature. Then the Hidden Markov Model (HMM) algorithm...
In this paper we present a method to detect and localize abnormal events in crowded scene. Most existing methods use the patch of optical flow or human tracking based trajectory as representation for crowd motion, which inevitably suffer from noises. Instead, we propose the employment of a new and efficient feature, short-term trajectory, which represent the motion of the visible and constant part...
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