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The inverse problem of Magnetoacoustic Tomography (MAT) is often ill-posed in the sense that noise in the data may give rise to significant errors in the process of reconstruction. It is critical and significant to develop a feasible and effective method to deal with this ill-posed problem. In this paper, we introduce a regularization method combining Tikhonov filter function, unbiased predictive...
Simultaneous localization and mapping (SLAM) is a key research content of robot autonomous navigation, the visual monocular SLAM based on Extend Kalman Filter(EKF) is one important method to handle this problem. But due to high computational complexity, it has strict limits on the number and stability of the feature points, traditional method selects few corners like or straight lines as feature points,...
This paper presents a MSV-based clustering method for face detection in color images. The method relies on the assumption that faces are well separated from the background by skin color detection. These faces can be located automatically by the minimum scatter volume (MSV) clustering method. The proposed method adopting gradient descent and iteration to search for the optimum solution of cost function...
We present an algorithm which can realize the monocular vision simultaneous localization and mapping(SLAM) for mobile robot in the large scale outdoor environment. Unused traditional mechanic odometer sensor information, we utilize the ideas of Structure From Motion(SFM) for step-to-step motion estimation reliably only with visual information. Scale Invariant Feature Transform(SIFT) image feature...
Tracking contours in an image sequence is a challenging task. Tracking algorithms based on particle filter have been proposed for this nonlinear problem. But, contour trackers often collapse due to the sample impoverishment of the traditional particle filter. In this paper, we integrate evolutionary optimization into particle filter, and it is applied to visual contour tracking. The impoverishment...
Simultaneous localization and mapping is a well studied problem as it is considered by many to be an essential capability for autonomous robots. In this paper, we present an algorithm using a stereo camera based on Rao-Blackwelltion particle filter, It can realize three dimensional stereo vision SLAM for mobile robot in unknown outdoor environments. Firstly, we determine the initial motion estimation...
Traditional Kalman filter or extended Kalman filter has been used broadly for mobile robot localization. However in some circumstances, its prior Gaussian hypothesis becomes unacceptable and limits the localization precision. For this reason, Monte Carlo method is used for the robot localization. In this paper, the algorithm implementation is advanced after introducing the basic theory of Monte Carlo...
A fast 3D scanning laser radar is designed and calibrated. A set of mechanical equipment driven by a step motor is designed to rotate the scanning plane of a 2D laser range finder to realize 3D scanning. A micro-controller system is embedded for the scanning control and synchronization with the host computer. Measurement data are acquired by a self-developed high-speed data transmission board. Besides...
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