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Traversable detection is an important research topic in unmanned ground mobile robot. In this paper, a new practical traversable detection method using 2D sequential laser data and vehicle state data is presented. A EKF-based sequential laser data alignment algorithm is executed at first, then the algorithm extract curb points in multi laser frame. The local digital elevation map is built and we detect...
This paper presents a novel framework for object category pose estimation. The novelty of our approach consists in combining the low rank and sparse representation with the PCA-HOG feature[1] so as to estimate the object pose quickly and accurately. Moreover, the refinement mechanism formed by discriminant method is integrated to improve the performance of the classification between the opposite pose...
In order to minimize the computational bottlenecks associated with centralized architectures for multi-robot localization, an algorithm based on distributed UKF for the localization of a team of robots is described. The scheme is that each of robots maintains a pose estimate using UKF that is local to every robot. When some of robots in the team can not receive the signal of GPS or does not set the...
This paper proposed a new volumn segmenting algorithm. Traditional segmentation methods like minimum-variance-based region growing define homogeneity criteria to be value related. This method using 3D seismic data's ridge and valley like structure extracts local orientation coherece first, then divides the homogeneity criteria into two parts. The first part uses a high threshold and the second one...
In this paper, we develop nonsubsampled contourlet and wavelet hybrid transform (NSCWHT) and study its applications. The filtering banks construction proposed in this paper is based on the nonsubsampled contourlet transform (NSCT) and wavelet transform (WT). The result is point singularity and line singularity in image can be represented simultaneously. We combine NSCT with WT to design filters that...
In this paper, a new particle swarm based stereo algorithm is presented. Our motivation is to improve the accuracy of the disparity map by removing the mismatches caused by both occlusions and false targets. In our approach, the stereo matching problem is divided into two steps, including partial matching of segmented image and particle swarm optimization of the rest. The algorithm first takes advantage...
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