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Most research on the visual servoing of mobile manipulators used the assumption that the depth information is already known. In this paper, a visual servoing scheme without the prior knowledge of depth is proposed to regulate a mobile manipulator to a desired pose at eye-to-hand setup. To deal with the nonholonomic constraint of wheeled mobile platform, the Jacobian matrix was combined with the depth-independent...
Most existing formation control approaches assume that accurate global or local position measurements of the robots are directly available, without giving details about how to obtain these measurements, or only providing Kalman filter-type estimators to get them without considering effects of the estimation on the closed-loop system stability. Hence, developing formation controllers with position...
In urban areas, the reconstruction of gable-roof buildings from high-resolution synthetic aperture radar (SAR) images is more challenging compared to simple parallelepiped buildings. In this paper, an alternate iteration and matching technique is proposed for height and roof inclination angle estimation of gable-roof buildings. First, the different appearances of this building type in SAR images are...
The micromotion of structures in a target may introduce a micro-Doppler (m-D) effect in the inverse synthetic aperture radar (ISAR) imaging, which contaminates the main body image of the classical range Doppler algorithm (RDA). This paper proposes a novel imaging method for micromotion targets, which assigns a hierarchical Bayesian prior to the element in the range profile, for the purpose of promoting...
This paper presents a novel curve image feature description using cubic Bezier curve, which extends the depth-independent image Jacobian matrix to curve features. We derive the image Jacobian matrix that can be linearly parameterized by the unknown curve feature geometrical parameters in the 3-D space. To estimate the unknown parameters online, we propose an adaptive algorithm using the defined curve...
In this paper, we will study the uncalibrated vision-based positioning problem of wheeled mobile robots by using a ceiling-mounted camera. A new image-based visual servoing scheme will be proposed, which can cope with the unknown intrinsic and extrinsic parameters of the camera and the uncertain distance parameter of the feature point from geometric center of the mobile robot. The presented approach...
This paper studies the passive radar imaging system for moving target based on digital video broadcasting (DVB) satellites. Firstly, the 3-dimensional (3-D) imaging model consisting of multiple DVB satellites and multiple receivers is established. After designing the “receiving stop-go” scheme, we derive the echo in a product-form of the wavenumber domain sampling and the velocity mismatch phase....
A novel approach to estimate localizability for mobile robots is presented based on probabilistic grid map (PGM). Firstly, a static localizability matrix is proposed for off-line estimation over the priori PGM. Then a dynamic localizability matrix is proposed to deal with unexpected dynamic changes. These matrices describe both localizability index and localizability direction quantitatively. The...
This paper presents two methods for maneuvering radar target tracking, one is called variable structure multiple model particle filter (VSMMPF), which combines the variable structure multiple model (VSMM) filter with a Sampling-Importance Resampling (SIR) particle filter (PF); The other one is called modified adaptive gird multiple model (AGMM), which is suitable when model parameter scope is unknown...
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