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Detecting and tracking humans are key problems for human-robot interaction. In this paper we present an algorithm for mobile robots to detect and track people reliably, even when humans go through different illumination conditions, often change in a wide variety of poses, and are frequently occluded. We have improved the performance of face and upper body detection to quickly find people in each frame...
Leader-follower based formation control is a promising technique in multi-robot motion planning system. When the pose of leader-robot mutated or disturbed by external disturbance, the follower-robot usually cannot react quickly, resulting in loss tracing. A redundant adaptive robust Kalman filter (RAREKF) is adopted to predict the relative movement parameters between the leader and follower, so that...
This paper proposes a real-time nonlinear filtering approach for the SLAM problem, termed as compressed Unscented Kalman filter (CUKF). A partial sampling strategy was recently proposed to make the computational complexity of the UKF quadratic with the state-vector dimension. However, the quadratic complexity remains intractable for the large-scale SLAM. To address this problem, we firstly prove the...
As part of dead reckoning, inertial navigation has been developed for many years in locating the vehicle without GPS. We employ the technology on a quadrotor platform to track the trajectory of the vehicle. In this paper, a new method was designed to make the tracking result more precisely. To achieve this, we firstly smooth the sensor data by minus offset dynamically and adopt Kalman Filtering algorithm...
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...
In this paper, a nonlinear speed control scheme which combines nonlinear optimal controller, nonlinear disturbance observer and adaptive kalman filter is proposed for Magnetically Suspend Flywheel (MSFW). Firstly, in order to improve the dynamic and steady-stage performances of motor driving system, the state feedback exact linearization model of BUCK converter is derived, and a nonlinear optimal...
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