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As the development of robot autonomous navigation, visual odometry gains more and more attention in the last few years. It can estimate the egomotion of a robot by analyzing the changes of the on-board camera view. This paper gives an overview of visual odometry and the development of its key technologies, such as feature detection, description and matching/tracking, camera pose estimation. The advantages...
The performance of wavelet-based multifocus image fusion depends on the number of decomposition levels in the wavelet transform. Too few decomposition levels result in poor spatial quality in the fused images. On the other hand, too many levels induce distortion between the original and the fused images. In general, fusion of images with larger resolution requires a higher number of decomposition...
This paper proposes a new method with a three-level architecture named tactics template (TT) for tactical aircraft attack path planning and optimization. Distinguished from the traditional path planning algorithms, the TT method extends the ability to deal with tactics and actions rather than trajectories, which maintains the benefits of traditional path planning algorithms while well-satisfying pilot's...
This paper presents a decentralized method to the problem of multiple unmanned aerial vehicles (UAVs) cooperative search of an unknown area. Firstly, based on search map model, the multiple UAVs cooperative search problem is posed as a receding horizon (RH) optimization decision problem, and a RH based UAV search decision process is proposed. Then, this centralized online optimization problem is partitioned...
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