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This paper presents a method for 3-D based obstacle detection on autonomous vehicles navigating in vegetated environments. At its core three different methods processing the surrounding occupancy, taken at separate stages and volumetric resolutions, are combined to a reliable and broad solution. Geometric relationships are evaluated at a coarse, yet robust, volumetric representation to form an initial...
Computer assisted surgery requires a registration process that identifies the position of the patient within the operating room. A common approach is to attach reflective markers to the patient which are illuminated and detected by a stereo camera. In order to reduce the logistic effort of operation planning, it is desirable to perform an automatically marker-less registration. In order to implement...
Current robotic manipulation techniques for optical tweezers assume that the trapping stiffness of optical trap is constant and exactly known. In addition, the dynamic interaction between the cell and the manipulator of laser source is usually ignored in the analysis of the optical manipulation problem. In this paper, a control scheme is proposed for optical manipulation of biological cell with unknown...
Existing methods on automated multiple cells manipulation are limited to manipulation of cells within the Field of View (FoV). However, in many clinical studies of biological processes it is required to manipulate a group of cells in which the area of interest is larger than the FoV. In this paper, a concurrent control framework is proposed to control the multiple optical traps and motorized stage...
Measurement accuracy of Position Sensitive Detector (PSD) can be greatly affected by inaccuracies in interface circuits, system connections, outside environmental changes and the semi-conductive properties of the sensor. The presence of these factors causes noises and distortions that heavily degrade the performance of the PSD and any system built on it. This work addresses improving measurement accuracy...
The purpose of the present study is to develop a person counting system using a 3D laser scanner. The system consists of a person-detection component, a tracking component, and a counting component. The person-detection component detects human bodies as a point cloud, even if a number of people are close to each other. To achieve this, we use a method of grouping the point cloud towards the bottom...
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