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RGB-D cameras can provide rich 2D visual and 3D point cloud information simultaneously, which are well suited to estimate ego-motion. This paper proposes a robust and accurate visual odometry method by fusing inertial measurement unit(IMU) sensor data: we use GPU-based SIFT features for online odometry estimation and improve its stability by fusing IMU data. The pose of each RGB-D frame is applied...
Object registration between virtual model and real object in image sequences is a challenging task. With partial reconstruction of the real object from binocular images, we approach the problem in a 3D-3D way. The system we developed includes three major components: reconstruction, 3D-3D object registration and visual augmentation from object models. For reconstruction, a perspective stereo-motion...
In this paper, we propose a 3D model retrieval system using sketch queries. The 3D model is described by a single characteristic view with the biggest exposure opportunity. The sketch query and the characteristic view are divided into several parts. Each part is quantized into a Fourier descriptor, and the spatial arrangements of these parts are measured by the graph spectra. Our contributions are...
The maneuverability performance prediction is important in design and control of a lake surface cleaning robot (LSCR). An important issue in modeling the robot is to estimate its hydrodynamic parameters. Conventional methods for estimating the parameters include model testing, data regression method, real scale testing, and analytical means. The scale model testing and real scale testing are costly...
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