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Convolutional neural networks showed the ability in stereo matching cost learning. Recent approaches learned parameters from public datasets that have ground truth disparity maps. Due to the difficulty of labeling ground truth depth, usable data for system training is rather limited, making it difficult to apply the system to real applications. In this paper, we present a framework for learning stereo...
Estimating correspondence between two images and extracting the foreground object are two challenges in computer vision. With dual-lens smart phones, such as iPhone 7+ and Huawei P9, coming into the market, two images of slightly different views provide us new information to unify the two topics. We propose a joint method to tackle them simultaneously via a joint fully connected conditional random...
In this paper, we study an unconventional but practically meaningful reversibility problem of commonly used image filters. We broadly define filters as operations to smooth images or to produce layers via global or local algorithms. And we raise the intriguingly problem if they are reservable to the status before filtering. To answer it, we present a novel strategy to understand general filter via...
In this paper, we design and build a power line inspection robot capable of hybrid operation modes. Specifically, the developed robot is able to land on the overhead ground wire (OGW) and to move as the climbing robot. When to negotiate obstacles, it can vertically take off the wire and fly over the obstacles as the unmanned aerial vehicle (UAV). A customized trumpet-shaped undercarriage is used to...
Manipulation in nano-scale is important to the development of Nano-technology, while position sensing is the base of nano-manipulation. Self-sensing is a method providing true sensor-actuator collocation and especially suitable for room-limited workspace. This paper introduced a self-sensing method for displacement measurement, based on charge amplifier. The principle of self-sensing was derived from...
This paper presents a tracker using binocular camera capable of tracking a specific human in both indoor and outdoor environments. Based on the kernelized correlation filter (KCF), the proposed tracker detects the target in multiple scales with the integration of HoG, color naming (CN), and local depth patterns (LDP) features, which improve the tracking performance. Specifically, a precise positioning...
Nowadays, there are two major challenges to detect traffic anomalies in a large scale network. One is how to handle huge amounts of traffic data when we detect traffic anomalies in a network, and the other is how to carry out fast and detailed detection and classification. To address these two challenges, we propose a Change based Effective Frequent flow Features approach (CEFF), which can quickly...
The Dynamic Adaptive Streaming over HTTP (DASH) is specified to cope with the changing network conditions and provide an adaptive bit-rate HTTP-based streaming solution. While there have been many researches of rate adaptation algorithms on adaptive HTTP streaming, much of the work is focused on Video on Demand (VoD) service — which is not same as live streaming. It is generally preferred to minimize...
The micro-operation technology is developing rapidly since the miniaturization of the research object and the precision of the operation. As the actuator of micro-operation, the piezoelectric material with the inverse piezoelectric effect has been widely used in this field. A new type of actuator based on piezoelectric single crystals is characterized in this paper, and a set of test system is designed...
This paper provides a detailed hydrodynamic analysis of the gliding motion for a gliding robotic dolphin. In order to realize both high maneuverability and long endurance, a novel gliding robotic dolphin is developed through introducing a buoyancy-driven system for the gliding motion. Concerning the particular controllable pectoral fins and horizontal fluke of the robotic dolphin which are significantly...
The one of the most important foundations of micro-manipulation is the micro- and nano- displacement's accurate measurement. This paper focused on the end effectors measurement for a nano-manipulation robot, which is working in the scanning electron microscope's vacuum chamber. A standard capacitor are charged and discharged through the strain gauge, and the time are measured by time-digital convertor,...
3D LiDAR is widely used for mobile robots environment perception nowadays, which has high precision of distance measurement. In this paper, a calibration method which is suitable for Velodyne VLP-16 is firstly introduced. And then we utilize statistical filtering for isolated points removal. After statistical filtering, a slope location and orientation estimation method is presented based on PROSAC...
The consistency between the axis of manipulators and image is very significant since the visual servo is the most important tool in the nano manipulation. This paper proposed an automated axis alignment method for a nano manipulator inside the SEM by recognizing the position of a closed-loop controlled the end-effector, which can characterize the relationship of these two axes and the rotation matrix...
The paper addresses kinematics analysis of a 4-DOF underwater manipulator, which can be installed on an Underwater Vehicle-Manipulator System (UVMS). First, the kinematic model of the manipulator is built. Next, the computation for the centers of weight and buoyancy is provided for the analysis of the coupling between the vehicle and the manipulator. Then the calibration including camera calibration...
Unmanned aerial vehicle (UAV) is a typical low altitude, slow and small (LSS) target. To detect and track this kind of target, a high resolution radar is usually used. In high resolution radar tracking algorithm, scatterers clustering is a key process which has a significant impact on the final performance. However, the lack of theoretical principle for clustering threshold has long been a problem...
Chopping and Interleaving (C&I) jamming is a new technology to counter pulse compression radar. It can obtain partial processing gain and produce multiple false peaks, hence achieve both deception and suppression jamming effects. In this paper, the parameter estimation and suppression methods for C&I jamming are studied. With the derivation of the pulse compression result of the jamming, time-frequency...
In order to meet the demands of communication among controllers in hostile environment, CANopen has designed a redundant CAN network. This paper has designed a redundant communication protocol based on CANopen. The protocol abandoned the Master and Slave mechanism in the CANopen, and improved the redundant mechanism, e.g. the sending way of SYNC, and used the rolling counter in the redundant network...
As a signal processing method, the least-squares method plays a crucial role in parameter estimation, and great progress has been made in recent decades. However, errors may occur when the parameters to be estimated have some actual physical meaning, e.g., if the human-body temperature is estimated to be 70 °C by a general least-squares method. In this study, we consider solving a particular problem,...
This paper proposes a method for analyzing the colonic motility of subjects with constipation based on chaos and wavelet. Using a capsule system with an application-specific integrated circuit (ASIC), the pressure data of human colon can be monitored accurately. Preprocessing of colonic pressure signal was performed primarily by applying threshold processing and wavelet de-noising. Then, wavelet with...
With the development and progress of intelligent control technology, communication technology and unmanned aerial vehicle (UAV) technology, performing the tasks depending on UAV which is loaded with various sensors has come true. The tradition centralized information interactive strategy has many disadvantages such as large amount of computation, long time of computation, poor anti-inference ability,...
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