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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...
This correspondence paper proposes a fast orientation estimation approach of natural images without the help of semantic information. Different from traditional low-level features, our low-level features are extracted inspired by the biological simple cells of the visual cortex. Two approximated receptive fields to mimic the biological cells are presented, and a local rotation operator is introduced...
In this paper, a novel vision-based method for roll angle estimation of the robot is proposed. Inspired by biological visual cortex, scales and shapes of local patterns whose directions may contribute to the judgment of the scenes' gravity and horizon are determined. On this basis, a local direction detector is designed and all the detected local directions in an image are summed up into the direction...
A pose estimation approach for the navigation of mobile robot in unknown environments is proposed. Compared with the existing mainstream SLAM, the proposed approach has a better generality without the help of odometers or motion models and it is completely based on external environment perceived by a laser sensor. In each of the laser frames, landmark points are first determined and they are then...
This paper proposes a simple but effective bio-inspired approach for skew detection of different kinds of images including nature images, documents, paintings etc., which requires no parameter tuning. Without relying on local visual cues, the proposed approach exploits the global statistics of an image. Orientation perceptron is designed in the inspiration of biological simple cells for local orientation...
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