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CT-NeRF: Incremental Optimization of Neural Radiance Field and Camera Poses with Complex Trajectory

IEEE Transactions on Circuits and systems for Video Technology 2025年

作者： Ran, Yunlong Li, Yanxu Ye, Qi Huo, Yuchi Cui, Zhaopeng Bai, Zechun Sun, Jiahao Chen, Jiming Zhejiang University College of Control Science and Engineering Hangzhou China Zhejiang University College of Control Science and Engineering State Key Laboratory of Industrial Control Technology China Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province China Zhejiang University State Key Lab of CAD and CG China

Neural radiance field (NeRF) has achieved impressive results in high-quality 3D scene reconstruction. However, NeRF heavily relies on precise camera poses. While recent works like BARF have introduced camera pose optimization within NeRF, their applicability is limited to simple trajectory scenes. Existing methods struggle while tackling complex trajectories involving large rotations. To address this limitation, we propose CT-NeRF, an incremental reconstruction and optimization pipeline using only RGB images without pose and depth input. In this pipeline, we first propose a local-global bundle adjustment under a pose graph connecting neighboring frames to enforce the consistency between poses to escape the local minima caused by only pose consistency with the scene structure. Further, we instantiate the consistency between poses as a reprojection error constraint resulting from pixel-level correspondences between input image pairs. Through the incremental reconstruction, CT-NeRF enables the recovery of both camera poses and scene structure and is capable of handling scenes with complex trajectories. We evaluate the performance of CT-NeRF on two real-world datasets, NeRF-Buster and Free-Dataset, which feature complex trajectories. Results show CT-NeRF outperforms existing methods in novel view synthesis and pose estimation accuracy. © 1991-2012 IEEE.

关键词： 3D Reconstruction bundle adjustment NeRF novel view synthesis structure from motion

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Fixed-time neuroadaptive formation control for multiple QUAVs with external disturbance

Advanced Control for Applications: Engineering and Industria...

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Advanced control for Applications: Engineering and Industrial systems 2024年第3期6卷

作者： Cheng, Shuai Xin, Bin Du, Zhaofeng Chen, Jie School of Automation Beijing Institute of Technology Beijing China The National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing China The Department of Control Science and Engineering Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China

This paper studies the formation control of multiple quadrotor unmanned aerial vehicle systems (MQUAVSs) with external disturbance. A new adaptive fixed-time cooperative control protocol is designed for MQUAVSs. A fixed-time command filtered compensation control technology is presented to overcome the "explosion of complexity" issue, and a new fixed-time error compensation signal is designed to compensate the filtering error, which improves the convergence speed of the system. Adaptive neural network technology is introduced to deal with unknown nonlinear functions in the system. A fixed-time stability theorem is presented for MQUAVSs to ensure that MQUAVSs can reach the predetermined formation and the formation tracking errors converge to the neighborhood of the origin in a fixed time. Finally, the effectiveness of the proposed method is verified by the formation simulation of MQUAVs. © 2024 John Wiley & Sons Ltd.

关键词： Error compensation

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Statistical Diagnosis for Quality-Related Faults in BIW Assembly Process

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2023年第1期70卷 898-906页

作者： Fu, Yu-kai Yang, Guang-Hong Ma, Hong-Jun Chen, Hao Zhu, Bo Northeastern Univ Coll Informat Sci & Engn Shenyang 110819 Peoples R China Northeastern Univ Coll Informat Sci & Engn State Key Lab Synthet Automat Proc Ind Shenyang 110819 Peoples R China South China Univ Technol Sch Automat Sci & Engn Guangzhou 510641 Peoples R China Guangdong South China Univ Technol Key Lab Autonomous Syst & Networked Control Minist Educ Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Guangzhou 510640 Peoples R China BMW Brilliance Automot Ltd Shenyang 1100 Peoples R China

The assembly process of a car body-in-white (BIW) in a body shop is a very important link in complete vehicle manufacturing process, and BIW dimension quality control is the most important part of BIW quality control. The quality-related fixture fault diagnosis problem is proposed in smart dimension control loop [established in BMW Brilliance Automotive company (BBA)] aiming to detect locating fixture fault, which could seriously influence BIW dimension quality. This article introduces a novel statistical quality-related fault diagnosis method by combining Kalman filter and generalized likelihood ratio test, making system innovation as a basic fault diagnosis tool and establishing a hypothesis test between fixture-fault-free model and fixture-faulty model to detect potential fixture fault, meanwhile estimates fixture fault occurred station by maximum likelihood estimate. The fixture fault diagnosis flowchart is built to decrease false and missing alarm rate in actual production process. The case study based on the real BIW component assembly process data from BBA demonstrate that this fault diagnosis method can accurately post fixture fault warning and send correct order to on-site workers to maintain locating fixture in a batch of products.

关键词： Fault diagnosis Production Automobiles Mathematical models Automation Quality control Maximum likelihood estimation Body-in-white (BIW) dimension control car body assembly quality-related fault statistical fault diagnosis

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Active Disturbance Rejection control Design for the Hydraulic Actuator on Weeding Machine 40

Active Disturbance Rejection Control Design for the Hydrauli...

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40th Chinese control Conference (CCC)

作者： Liu, Fuchun Yang, Yang Wang, Lei South China Univ Technol Minist Educ Key Lab Autonomous Syst & Networked Control ASNC Sch Automat Sci & Engn Guangzhou 510640 Peoples R China

ISBN: (纸本)9789881563804

A weeding machine can sometimes cause plant damage while working in the paddy field due to the seedling line bending phenomenon. Thus, we introduce a computer-vision-based automatic seedling avoidance system for the weeding machine, with a hydraulic cylinder actuator driving the weeding wheels according to the guidance information. This paper aims to study and design a Linear Active Disturbance Rejection control (LADRC) controller for the hydraulic system. The proportional directional valve has a large input dead zone, decreasing the controller's performance and causing oscillation of the system output near the setpoint. We designed a nonlinear dead zone compensation module and proposed a residual dead zone compensation method, taking advantage of the Extended State Observer (ESO). A well-behaved hydraulic position servo system was designed and tested in Simulink simulation and on an experimental platform based on the compensation method. The results show that the system performance meets the requirement with approximately no overshoot, response time within 0.7 s, and steady-state error within 0.7 mm on the experimental platform.

关键词： weeding machine hydraulic system dead zone compensation LADRC

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A UHD MIPI CSI-2 image acquisition system based on FPGA 40

A UHD MIPI CSI-2 image acquisition system based on FPGA

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40th Chinese control Conference (CCC)

作者： Liu, Fuchun Wang, Lei Yang, Yang South China Univ Technol Minist Educ Coll Automat Sci & Engn Key Lab Autonomous Syst & Networked Control ASNC Guangzhou 510640 Peoples R China

ISBN: (纸本)9789881563804

With the development of information technology and the ultra high definition(UHD) video industry, the video's resolution is continuously improving, from the standard definition(SD) era to the high definition(HD) era, and the UHD era. In the field of biomedical engineering, the requirement of medical device endoscope for image resolution is higher and higher. Compared with the traditional HD endoscope system, the UHD endoscope image acquisition system designed in this article uses FPGA(Field Programmable Gate Array) as the processing center. The image resolution is increased from 1920*1080 to 3840*2160. Our system designed a physical layer and protocol layer of MIPI CSI-2 interface that can support 30 frame per second. It proves that our image acquisition system is practical and stable for medical endoscope image acquisition systems and also suitable for ultra-high-definition image systems in other fields.

关键词： FPGA MIPI CSI-2 D-PHY UHD image acquisition endoscope

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A note on a performance recovery method for a class of nonaffine-in-control nonlinear systems with input saturation

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2022年第18期32卷 10396-10409页

作者： Yang, Hao Pei, Hailong Cen, Jian Guangdong Polytech Normal Univ Sch Automat Guangzhou Peoples R China South China Univ Technol Unmanned Aerial Vehicle Syst Engn Technol Res Ctr Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou Peoples R China Guangdong Polytech Normal Univ Guangzhou Intelligent Bldg Equipment Informat Int Guangzhou Peoples R China

This article proposes a feasible method for a class of nonaffine-in-control nonlinear systems in the presence of input saturation to obtain performance recovery. In the previous work, the plant is required to be affine-in-control to derive the difference between the desired and saturated inputs. Considering the nonaffine structure, we first build a fast subsystem with respect to the nominal system, where no saturation is presented. Then, an intermediate subsystem is established to compensate the influence of input saturation by approximating the difference between the original and nominal systems. In the slow time-scale, a series of existing control methods can be combined to achieve the requested transient performance. The ability of performance recovery is proved rigorously by the singular perturbation theory. Numerical examples are illustrated to demonstrate the validity of the presented method.

关键词： input saturation nonaffine-in-control performance recovery singular perturbation theory

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A High-Performance Sensor-Based control for Complex Maneuvers of Ducted Fan Unmanned Aerial Vehicles 34

A High-Performance Sensor-Based Control for Complex Maneuver...

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34th Chinese control and Decision Conference (CCDC)

作者： Liu, Chengji Pei, Hailong Cheng, Zihuan South China Univ Technol Key Lab Autonomous Syst & Networked Control Minist Educ Guangzhou 510640 Peoples R China South China Univ Technol Unmanned Aerial Vehicle Syst Eng Tech Res Ctr Gua Guangzhou 510640 Peoples R China

ISBN: (纸本)9781665478960

This paper presents a sensor-based approach for control of ducted fan UAVs. In the inner-most loop control design that suffers from complex aerodynamics, we employ an Incremental Nonlinear Dynamics Inversion (INDI) controller such that only a simplified vehicle dynamics is needed while ensuring the robustness and response time. To account for the highly coupling effects of the longitudinal dynamics, we propose a sensor-based Total Energy control System (TECS), in which we take advantage of the accelerators to obtain non-conservative forces, liberating the design from dynamics model. The effectiveness of the approach is validated through simulation using a real model of a small ducted fan UAV.

关键词： Ducted Fan Aircraft Unmanned Aerial Vehicles Incremental control Total Energy control

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A Novel Trajectory Tracking controller for UAV with Uncertainty Based on RBF and Prescribed Performance Function 3rd

A Novel Trajectory Tracking Controller for UAV with Uncert...

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3rd International Conference on Neural Computing for Advanced Applications, NCAA 2022

作者： Qi, Xuelei Li, Chen Ma, Hongjun College of Information Science and Engineering Northeastern University Shenyang110819 China School of Automation Science and Engineering South China University of Technology Guangzhou510641 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Unmanned Aerial Vehicle Systems Engineering Technology Research Center of Guangdong Guangzhou China

ISBN: (纸本)9789811961410

This paper proposes a novel trajectory tracking controller based on RBF neural network and fractional-order sliding mode control (FO-SMC). First, the prescribed performance control (PPC) is introduced into the system to make the tracking error converge to the predefined set. Then, the fractional-order calculus is introduced into SMC to alleviate the chattering of the system. Considering that RBF neural network can compensate for the uncertainty of the UAV motion model, RBF is introduced into the design of the controller. Besides, the Lyapunov theorem proves the stability of the system, and all signals in the closed-loop system are stable. Finally, a case study is carried out through simulation. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Unmanned aerial vehicles (UAV)

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A Reference Nodes Selection Optimize Algorithm in Multi Robot System 34

A Reference Nodes Selection Optimize Algorithm in Multi Robo...

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34th Chinese control and Decision Conference (CCDC)

作者： Ye, Huanting Pei, Hailong South China Univ Technol Minist Educ Key Lab Autonomous Syst & Networked Control Guangzhou 510640 Peoples R China South China Univ Technol Unmanned Aerial Vehicle Syst Eng Tech Res Ctr Guangdong Guangzhou 510640 Peoples R China

ISBN: (纸本)9781665478960

Relative positioning is essential for control and coordination of multi-robot systems (MRS). For large-scale MRSs, relative positioning may consume too much computation and communication resources. By selecting a suitable subset of robots in the system as reference nodes (RN), the time difference of arrival (TDOA) algorithm can effectively resolve this problem. However, in a mobile MRS, varying topology may decrease the TDOA positioning accuracy. This paper addresses these challenges by presenting the dynamical RN selecting algorithm (DRS) in the fixed RNs amount situation. This algorithm updates the selection of RNs to maintain the accuracy of positioning when the topology changes. We prove the optimal conditions for RN selection with Cramer-Rao Lower Bound (CRLB) and propose an iterative RN selecting procedure. The simulations indicate that our algorithm can update the selection of RNs to limit the error of TDOA measurement efficiently.

关键词： UWB TDOA

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A High-Performance Sensor-Based control for Complex Maneuvers of Ducted Fan Unmanned Aerial Vehicles

A High-Performance Sensor-Based Control for Complex Maneuver...

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第34届中国控制与决策会议

作者： Chengji Liu Hailong Pei Zihuan Cheng Key Lab.of Autonomous Systems and Networked Control Ministry of EducationUnmanned Aerial Vehicle Systems Eng.Tech.Research Center of GuangdongSouth China University of Technology

This paper presents a sensor-based approach for control of ducted fan *** the inner-most loop control design that suffers from complex aerodynamics,we employ an Incremental Nonlinear Dynamics Inversion(INDI)controller such that only a simplified vehicle dynamics is needed while ensuring the robustness and response *** account for the highly coupling effects of the longitudinal dynamics,we propose a sensor-based Total Energy control System(TECS),in which we take advantage of the accelerators to obtain non-conservative forces,liberating the design from dynamics *** effectiveness of the approach is validated through simulation using a real model of a small ducted fan UAV.

关键词： Ducted Fan Aircraft Unmanned Aerial Vehicles Incremental control Total Energy control

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