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This paper focuses on the inspection for sloping dam wall by a remotely operated vehicle (ROV). First, a dedicated ROV for dam inspection is described. Second, a fixed-distance tracking control strategy is proposed to guarantee the fixed camera-to-subject distance in sloping dam inspection, which is instrumental in sonar image fusion for the large-scale dam wall with a certain inclination. In addition,...
3D point cloud classification is an important task in applications for many areas such as robotics, urban planning and augmented reality. 3D sensors measure a high amount of points in the 3D scene objects' surface at a high collect rate, so robust techniques are needed to process all input data and also deal with some imprecision. A common solution for these tasks is the use of robust features extraction...
This paper proposes a novel estimation method using finite impulse response (FIR) filter for the vehicle roll and bank angles. A vehicle model was constructed using the bicycle model and roll motion model and has parameter uncertainties. The proposed method ensures robust to vehicle parameter uncertainties and has no risk of divergence. Furthermore, the proposed method does not need to use expensive...
In this paper we present a novel approach for depth map enhancement from an RGB-D video sequence. The basic idea is to exploit the photometric information in the color sequence. Instead of making any assumption about surface albedo or controlled object motion and lighting, we use the lighting variations introduced by casual object movement. We are effectively calculating photometric stereo from a...
A method is proposed for estimation of occluded space and generation of auxiliary points for 3D position estimation of strongly occluded objects. First, occlusion space detection calculates 3D keypoints at the rear side of a target object, thus obtaining a silhouette around the object on the near side, as found from a camera image by an object detector. The method calculates the space containing the...
Flap actuation systems (FAS) have numerous operational states, modes and environmental constraints, which translate to thousands of requirements associated with them. FAS must be analyzed and tested to determine compliance with requirements in any operating conditions. In this paper, examples of parametrized requirements for centrally driven FAS are presented and the advantages brought by a requirement...
In this paper, a problem of robust fault detection for uncertain networked control system (NCS) including random data packet loss is investigated. This NCS is established as a stochastic system with norm-bounded uncertainty, in which the stochastic variable is followed by Bernoulli distribution. Then, a robust fault detection filter (FDF) is designed based on the observer method, which is obtained...
To obtain a good dynamic control performance of permanent magnet synchronous motor (PMSM) drives, four sensors (one position, one DC-link voltage and at least two current sensors) are required for the control-loops. This paper deals with the unpredictable faults that occur in any one of the sensors using an advanced fault-tolerant control (FTC) scheme to provide continuous drive operation. The proposed...
While bringing massive-scale sensing at low cost, mobile participatory sensing is challenged by the low accuracy of the sensors embedded in and/or connected to the smartphones. The mobile measurements that are collected need to be corrected so as to accurately match the phenomena being observed. This paper addresses this challenge by introducing a multi-hop, multiparty calibration method that operates...
This paper proposed a robust spatial spectrum sensing algorithm to apply to a communication scenario which exist the estimated error of noise power and the jamming. A modified approximate model is proposed to include the estimated error of noise power and the jamming. The corresponding performance indicators are proposed. The proposed robust algorithm estimates the estimated error vector of noise...
A cost-effective micro sun sensor is presented for extracting the sun vector from image sensors based on a phenomenon called the black sun. The black sun, appearing as the result of electron overspill at an oversaturated CMOS image pixel when capturing a bright spot such as the sun, allows extracting the sun centroid accurately and robustly even when the sun image appears irregular and noisy due to...
It is possible to associate a highly constrained subset of relative 6 DoF poses between two 3D shapes, as long as the local surface orientation, the normal vector, is available at every surface point. Local shape features can be used to find putative point correspondences between the models due to their ability to handle noisy and incomplete data. However, this correspondence set is usually contaminated...
Cyber-physical systems (CPSs) are engineered solutions obtained through the seamless integration of computational algorithms and physical components. Nowadays, they are entitled to drive innovation and competition in different fields such as agriculture, building design and automation, energy, healthcare, transportation and, above all, industrial manufacturing. In fact, CPS technology is going to...
This paper presents an implementation of a system that is autonomously able to find, follow and land on a car moving at 15 km/h. Our solution consists of two parts, the image processing for fast onboard detection of landing platform and the Model Predictive Control tracker for trajectory planning and control. This approach is fully autonomous using only the onboard computer and onboard sensors with...
Touchscreen sensors are widely used in many devices such as smart phones, tablets, laptops, etc. There are many different types of modalities that enable sensing the touch. The dominant technologies on the market are the capacitive, resistive, acoustic or ultrasound, and optical touch systems. None of these technologies are perfect and each has some advantages and disadvantages. Capacitive touch technologies...
An accurate and robust lane recognition is a key aspect for autonomous cars of the near future. This paper presents the design and implementation of a robust autonomous driving algorithm using the proven Viola-Jones object detection method for lane recognition. The Viola-Jones method is used to detect traffic cones that are located besides the road as it can be done in emergency situations. The positions...
The advancing trend to autonomous driving tightens the requirements for automotive microcontrollers with embedded flash memories. High reliability and low latency demands however have prevented the broad usage of multilevel-cell flash in this sector so far. This paper describes a robust time-domain voltage sensing scheme tackling the challenges arising from these tight conditions. A dynamic voltage...
Images are formed by counting how many photons traveling from a given set of directions hit an image sensor during a given time interval. When photons are few and far in between, the concept of image breaks down and it is best to consider directly the flow of photons. Computer vision in this regime, which we call scotopic, is radically different from the classical image-based paradigm in that visual...
Compressive Sensing is practical and implemented into many areas. For these applications the conventional sensing noise (e.g. AWGN) with low energy on measurements could be reduced by the robustness of Compressive Sensing. Parallel, there exist some errors, which would strongly noise or remove some parts of measurements. In this case, the recovered information would contain much noise, since the robustness...
In this paper, we propose a superpixel generation method for synthetic aperture radar (SAR) images by using the density-based spatial clustering of applications with noise (DBSCAN) algorithm. The pixels is firstly grouped to generate initial superpixels by using probabilistic patch-based (PPB) dissimilarity. Then, small clusters are combined into their neighbor superpixels to get final results through...
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