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Localization technique is a key technology for vehicular navigation and control. The use of satellite navigation is deemed essential. Yet, satellite-based navigation system is subject to multipath effect and signal blockages in urban area. To enhance the overall navigation capability, odometry techniques have been used as dead-reckoning devices to augment satellite navigation. To account the issues...
The infrared camera array devices, which are important components of the air robot automatic optical navigation system, need to be calibrated for keeping the effectiveness and precision of tracking and location. We propose a brand new method for automatic calibration of infrared camera array, we focus on the rotation matrices and translation matrices between the cameras and the world coordinate. We...
To analyze point cloud data of a car part, massive computations need to be carried out; if it is done by conventional ways, the processing efficiency is relatively low. However, by applying partition method to point data analysis, the work is easier. Such partition method should follow the minimal-distance matching principle to find out the enclosing matching points. Then the intersections of the...
The captured motion data can be utilized to produce kinds of animation for different characters. We propose a method to represent simulated motion, especially exaggerative motion by filtering the joint trajectories. The motion style is changed by shrinking or squashing the corresponding 3D trajectories. The similar but exaggerative motion with articulated constraints is generated by the inverse kinematic...
Given multi-view correspondences, it has been shown that 3D non-rigid structure can be recovered through factorization based techniques. However, establishing reliable correspondences across multi-view images of non-rigid structure is not an easy task. Existing methods solve multi-view correspondences and 3D non-rigid structure in sequel, which cannot exploit the crossover constraints in each sub-problem...
Behavior analysis of vehicles surrounding the egovehicle is an essential component in safe and pleasant autonomous driving. This study develops a framework for activity classification of observed on-road vehicles using 3D trajectory cues and a Long Short Term Memory (LSTM) model. As a case study, we aim to classify maneuvers of surrounding vehicles at four way intersections. LIDAR, GPS, and IMU measurements...
The Highly Automated Driving Map (HAD Map), is an essential and significant research topic in automated driving. In the meanwhile, the corrugated beam guardrail, known as one kind of the traffic crash barrier, is one of the most important elements in the HAD Map. Our novel contribution in this paper is proposing a method to detect corrugated beam guardrail automatically from mobile laser scanning...
Recent works of non-rigid registration have shown promising applications on tasks of deformable manipulation. Those approaches use thin plate spline-robust point matching (TPS-RPM) algorithm to regress a transformation function, which could generate a corresponding manipulation trajectory given a new pose/shape of the object. However, this method regards the object as a bunch of discrete and independent...
This work introduces a hybrid visual servoing technique for differentially flat, underactuated systems that is well suited for aggressive dynamics. Standard Position-Based Visual Servoing (PBVS) and Image-Based Visual Servoing (IBVS) approaches for underactuated systems, such as quadrotors, oftentimes do not explicitly ensure that the relevant image features stay in the camera's field of view, especially...
This paper presents an approach for selecting the next best base position for a climbing robot so as to observe the highest information gain about the environment. The robot is capable of adhering to and moving along and transitioning to surfaces with arbitrary orientations. This approach samples known surfaces, and takes into account the robot kinematics, to generate a graph of valid attachment points...
How should a robot direct active vision so as to ensure reliable grasping? We answer this question for the case of dexterous grasping of unfamiliar objects. By dexterous grasping we simply mean grasping by any hand with more than two fingers, such that the robot has some choice about where to place each finger. Such grasps typically fail in one of two ways, either unmodeled objects in the scene cause...
We address the challenging problem of tracking a moving target in cluttered environments using a quadrotor. Our online trajectory planning method generates smooth, dynamically feasible, and collision-free polynomial trajectories that follow a visually-tracked moving target. As visual observations of the target are obtained, the target trajectory can be estimated and used to predict the target motion...
This paper presents a real-time, kinodynamic planning and information-theoretic exploration framework that enables high-resolution mapping of three-dimensional environments featuring complex concavities and disjoint objects. The proposed approach targets planetary exploration applications and seeks to achieve real-time operation on computationally constrained systems while ensuring energy-efficient...
We investigated different dense multirotor UAV traffic simulation scenarios in open 2D and 3D space, under realistic environments with the presence of sensor noise, communication delay, limited communication range, limited sensor update rate and finite inertia. We implemented two fundamental self-organized algorithms: one with constant direction and one with constant velocity preference to reach a...
This paper presents a hybrid structure/trajectory constraint, that uses output camera poses of a model-based tracker, for object localization with SLAM algorithm. This constraint takes into account the structure information given by a CAD model while relying on the formalism of trajectory constraints. It has the advantages to be compact in memory and to accelerate the SLAM optimization process. The...
Objects with thin features and fine details are challenging for most multi-view stereo techniques, since such features occupy small volumes and are usually only visible in a small portion of the available views. In this paper, we present an efficient algorithm to reconstruct intricate objects using densely sampled light fields. At the heart of our technique lies a novel approach to compute per-pixel...
The availability of commodity multi-camera systems such as Google Jump, Jaunt, and Lytro Immerge have brought new demand for reliable and efficient extrinsic camera calibration. State-of-the-art solutions generally require that adjacent, if not all, cameras observe a common area or employ known scene structures. In this paper, we present a novel multi-camera calibration technique that eliminates such...
Fast real-time tracking is an integral component of modern 3D computer vision pipelines. Despite their advantages in accuracy and reliability, optical trackers suffer from limited acquisition rates depending either on intrinsic sensor capabilities or physical limitations such as exposure time. Moreover, data transmission and image processing produce latency in the pose stream. We introduce quaternionic...
In this paper, we present the first multi-body non-rigid structure-from-motion (SFM) method, which simultaneously reconstructs and segments multiple objects that are undergoing non-rigid deformation over time. Under our formulation, 3D trajectories for each non-rigid object can be well approximated with a sparse affine combination of other 3D trajectories from the same object. The resultant optimization...
This paper presents a systematic study of the scan skewing problem. Scan skewing is the non-rigid deformation of point clouds acquired by LiDAR's and is the result of their sequential scanning nature. We theoretically analyze the impact of skewing on scan matching and subsequently quantify the impact using synthetic LiDAR data with controlled skew distortions. We also show how the Geometric-Algebra...
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