3D mapping for unknown environments is a crucial issue for mobile service robots,which has many important applications in navigation and path *** this paper,we use Microsoft kinect sensor mounted on a mobile robot to ...
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ISBN:
(纸本)9781509009107
3D mapping for unknown environments is a crucial issue for mobile service robots,which has many important applications in navigation and path *** this paper,we use Microsoft kinect sensor mounted on a mobile robot to obtain3 D *** the process,consistent frames of RGB-D data are captured and *** Closest Point(ICP)algorithm and incremental registration method are employed to perform the fine ***,we use OctoMap to store 3D map of octree representation,an efficient data ***,our results demonstrate the practical applicability and effectiveness of the proposed approach.
作者:
Xiuxian LiHousheng SuLi LiDepartment of Control Science and Engineering
College of Electronics and Information Engineeringand Shanghai Research Institute for Intelligent Autonomous SystemsTongji UniversityShanghai 200092China Institute for Advanced Study
Tongji UniversityShanghai 200092China School of Automation
Image Processing and Intelligent Control Key Laboratory of Education Ministry of ChinaHuazhong University of Science and TechnologyLuoyu Road 1037Wuhan 430074China
This paper investigates the robust flocking problem for second-order nonlinear systems with a leader and external *** contrast with most of second-order systems in the literature,the intrinsic dynamics here are nonlin...
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This paper investigates the robust flocking problem for second-order nonlinear systems with a leader and external *** contrast with most of second-order systems in the literature,the intrinsic dynamics here are nonlinear and non-identical that depend not only on the velocity but also on the position,which is more ***,the interaction topology is undirected and *** that the leader’s velocity may be constant or time-varying,two distributed flocking control laws have been proposed for two cases to make the differences of the velocities between all followers and the leader approach to zero *** proposed distributed flocking control laws are both model-independent which results in the effectiveness of the controllers to cope with the different intrinsic dynamics of the followers and the leader under some assumptions on boundedness of several *** example is given to illustrate the validity of the theoretical results.
Spectrum mapping reflects the strength of brain electrical activity in different frequency band. The current study analyzes changes in electroencephalography (EEG) after spinal cord injury (SCI) on the basis of spectr...
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An improved Zernike moment using a region-based shape descriptor is presented. The improved Zernike moment not only has rotation invariance, but also has scale invariance that the unimproved Zernike moment does not ha...
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Non-local operation is widely explored to model the long-range dependencies. However, the redundant computation in this operation leads to a prohibitive complexity. In this paper, we present a Representative Graph (Re...
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作者:
Sun, YangguangDing, MingyueCollege of Computer Science
South-Central University for Nationalities Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China College of Life Science and Technology
Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China
A novel statistical method was proposed for boundary extraction of interested objects in this letter. The proposed method was inspired by the physical nature of quantum and the statistical property of wave function. B...
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The electrical-gas coupled power flow problem is one of the most basic problems under Energy Internet. In order to achieve a more complete analysis of the electric-gas coupled power flow, this paper establishes a nove...
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Existing coupled distributed estimation and motion control strategies of mobile sensor networks present limitations in velocity-varying target tracking. Therefore, a velocity-varying target tracking algorithm based on...
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Existing coupled distributed estimation and motion control strategies of mobile sensor networks present limitations in velocity-varying target tracking. Therefore, a velocity-varying target tracking algorithm based on flocking control is proposed herein. The Kalman-consensus filter is utilized to estimate the position, velocity and acceleration of a target. The flocking control algorithm with a velocity-varying virtual leader enables the position of the center of the mobile sensor network to converge to that of the target. By applying an effective cascading Lyapunov method, stability analysis is performed. Simulation results are provided to validate the feasibility of the proposed algorithm.
For battery management systems, it is significant to reliably estimate state-of-charge (SOC) from limited measurements in real time. Based on a nonlinear SOC-dependent equivalent circuit model, we propose a real-time ...
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The number of arithmetic units used in one-dimensional (1-D) discrete wavelet transform (DWT) is the main consideration for reducing the area of VLSI implementation of 1-D DWT, while the size of intermediate memory us...
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