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In this paper, a model independent PD with sliding mode control (PD-SMC) method for the bionic eye system is proposed. The designed controller is model independent, and has the advantages of both simple structure, easy design of PD controller and strong robustness of SMC method with respect to system parameter uncertainty. Lyapunov techniques and LaSalle's invariance theorem are used to support the...
A robust appearance model is usually required in visual tracking, which can handle pose variation, illumination variation, occlusion and many other interferences occurring in video. So far, a number of tracking algorithms make use of image samples in previous frames to update appearance models. There are many limitations of that approach: 1) At the beginning of tracking, there exists no sufficient...
Color-based recognition method is very simple for programming and has been deeply studied, but most of the previous works are based on computers. This paper studies the issue of target recognition based on monocular vision using the TI's (Texas Instruments) ICETEK-DM642-BR (an evaluation board). The algorithms for target recognition are based on three different color spaces. Images and videos to be...
Aiming at the uncertainty of sonar data in the problem of sonar-based target differentiation for mobile robot, the paper firstly presents a hierarchical reduction approach to reduce a sonar data set based on rough set theory. Then on the basis of the reduction, a multi-neural network based target differentiation algorithm is designed on the fact that the effective combination of multiple neural networks...
This paper presents a LVQ (learning vector quantization) neural network based target differentiation method for mobile robots. The typical targets can be differentiated efficiently in indoor environments with LVQ neural network by fusing the time-of-flight data and amplitude data of sonar system. The algorithm is simple and real-time and has high accuracy and robustness. The uncertainty of sonar data...
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