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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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Autonomous Implicit Indoor Scene Reconstruction with Frontier Exploration

arXiv

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arXiv 2024年

作者： Zeng, Jing Li, Yanxu Sun, Jiahao Ye, Qi Ran, Yunlong Chen, Jiming College of Control Science and Engineering Zhejiang University Hangzhou310027 China College of Control Science and Engineering The State Key Laboratory of Industrial Control Technology Zhejiang University The Key Key Lab of CS&AUS of Zhejiang Province China

Implicit neural representations have demonstrated significant promise for 3D scene reconstruction. Recent works have extended their applications to autonomous implicit reconstruction through the Next Best View (NBV) based method. However, the NBV method cannot guarantee complete scene coverage and often necessitates extensive viewpoint sampling, particularly in complex scenes. In the paper, we propose to 1) incorporate frontier-based exploration tasks for global coverage with implicit surface uncertainty-based reconstruction tasks to achieve high-quality reconstruction. and 2) introduce a method to achieve implicit surface uncertainty using color uncertainty, which reduces the time needed for view selection. Further with these two tasks, we propose an adaptive strategy for switching modes in view path planning, to reduce time and maintain superior reconstruction quality. Our method exhibits the highest reconstruction quality among all planning methods and superior planning efficiency in methods involving reconstruction tasks. We deploy our method on a UAV and the results show that our method can plan multi-task views and reconstruct a scene with high quality. Copyright © 2024, The Authors. All rights reserved.

关键词： Motion planning

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State Estimation for Discrete-Time Semi-Markovian Jump Piecewise-Affine Systems with Complex Semi-Markovian Kernel 63

State Estimation for Discrete-Time Semi-Markovian Jump Piece...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Tang, Qi Liu, Tao Sun, Xi-Ming University of Hong Kong Department of Electrical and Electronic Engineering Hong Kong Shenzhen Institute of Research and Innovation The University of Hong Kong Hong Kong Dalian University of Technology Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education Dalian116024 China Dalian University of Technology School of Control Science and Engineering Dalian116024 China

ISBN: (纸本)9798350316339

This paper addresses state estimation for discretetime semi-Markovian jump piecewise-affine (PWA) systems. To handle uncertainties caused by unknown disturbances, we propose an analysis method that considers all transfer paths between different regions within the same mode. We then examine the mean-square exponential stability and L∞ performance of the error dynamic system by constructing Lyapunov functions that depend on mode, region, and sojourn time. The related criteria are derived using ellipsoidal outer approximation. Based on these criteria, we design L∞ observers. Finally, we demonstrate the applicability of our method through a numerical example. © 2024 IEEE.

关键词： Lyapunov functions

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Rollover Prevention control for Autonomous Vehicles with High Centers of Gravity Considering Input Saturation

Rollover Prevention Control for Autonomous Vehicles with Hig...

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第43届中国控制会议

作者： Linying Lu Ting Zhang Lin Qi Jiayi Fang Xiaohong Jiao School of Electrical Engineering Yanshan University Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University School of Vehicle and Mobility Tsinghua University School of Mechanical Engineering Beijing Institute of Technology

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

A fixed-time terminal sliding mode control(FTSMC) strategy based on extended state observer for cooperative control of rollover prevention and trajectory tracking is proposed to enable the high-center-of-gravity autonomous vehicles to ensure tracking performance and prevent rollover. The FTSMC allows the errors to converge globally to a predefined arbitrarily small set centered at zero in a fixed time and then exponentially converge to zero while weakening the influence of input saturation on the controller by compensating the auxiliary system of input saturation. Simulation comparisons with existing results verify the effectiveness and advantages of the designed strategy under the MATlab/Simulink environment.

关键词： Autonomous Vehicles Fixed-time Rollover Prevention Input Saturation

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Hopf Bifurcation Hybrid control Strategy for Mill Main Driving System Under Unsteady Lubrication

SSRN

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SSRN 2022年

作者： Liu, Shuang Meng, Qingfu Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Hebei066004 China Key Lab of Industrial Computer Control Engineering of Hebei Province Yanshan University Mr Hebei066004 China

Aiming at the vibration behavior of the main driving system of rolling mill when the lubrication condition changes, the Hopf bifurcation phenomenon of the system under unsteady lubrication condition is analyzed, and an improved hybrid control strategy is proposed to suppress the vibration of rolling mill. Firstly, according to the variation law of lubrication conditions in rolling process, the dynamic rolling moment of the main drive system under unsteady lubrication was given, and the torsional vibration mechanical model of the main drive system was established, and the Hopf bifurcation behavior of the system under boundary lubrication was analyzed. It is found that when the subcritical Hopf bifurcation occurs in the system, the main transmission system of the linker will experience sudden and destructive instability oscillations. Therefore, this paper proposes an improved hybrid control strategy to control the Hopf bifurcation behavior of the system. The traditional hybrid control strategy uses a single control parameter to control both parameter disturbance and state feedback. Here, two control parameters are used to control parameter disturbance and state feedback respectively. In the state feedback part, nonlinear feedback is used to replace the traditional linear feedback. After the control is added, the critical value of Hopf bifurcation can be changed and the stability region of the system can be increased by adjusting the control parameters of the disturbance part of the parameters. Here, direct Normal form calculation method is introduced to calculate the Hopf bifurcation specification of the system. By adjusting the control parameters of the state feedback part by the canonical coefficient, the system can be changed from subcritical bifurcation to supercritical bifurcation, the phase trajectory of the system can be changed from unstable limit cycle to stable limit cycle, and the amplitude of limit cycle can be controlled. The effectiveness of the proposed

关键词： Lubrication

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Stabilization of switched systems with unstable modes via mode-partition-dependent ADT

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Journal of the Franklin Institute 2023年第2期360卷 1308-1326页

作者： Jin, Cui-Li Wang, Qing-Guo Wang, Rui Wu, Di Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian116024 China Institute of Artificial Intelligence and Future Networks Beijing Normal University at ZhuhaiGuangdong Key Lab of AI and Multi-Modal Data Processing BNU-HKBU United International College Zhuhai519087 China Key Laboratory of Advanced Technology for Aerospace Vehicles Liaoning Province and School of Aeronautics and Astronautics Dalian University of Technology Dalian116024 China

This paper concerns the stability of switched systems orchestrating between unstable modes. First, a mode partition is applied to select stabilizing switching from the switching between modes from different subsets. Second, a piecewise Lyapunov-like function is applied to decline at stabilizing switching times. Then, the stability criteria build on mode-partition-dependent average dwell time by collecting enough stabilizing switching behavior to stabilize the destabilizing switching behavior and unstable modes. Finally, the simulation verification shows the feasibility and effectiveness of the method. © 2022 The Franklin Institute

关键词： Stability criteria

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Learning MPC for Process Dynamic Working Condition Change Tasks under Model Mismatch

Learning MPC for Process Dynamic Working Condition Change Ta...

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American control Conference (ACC)

作者： Guanghui Yang Rui Wang Zuhua Xu Zhijiang Shao State Key Lab of Industrial Control Technology College of Control Science and Engineering Zhejiang University Hangzhou China

In this study, a learning model predictive control (MPC) algorithm for process dynamic working condition change (DWCC) tasks is proposed. The algorithm continuously compensates for model–plant mismatch (MPM) and improves dynamic performance by predicting multi-step-ahead disturbance from similar DWCC tasks. First, a state-space model augmented by disturbance variables ensures offset-free control for MPM. Second, a dynamic autoencoder is constructed to extract private features from process sequences based on long short-term memory and fully connected networks. DWCC scenarios similar to the current scenario are located from the historical database by calculating the distance between extracted features. Finally, the multi-step-ahead disturbance and its uncertainty representation are predicted through multi-output Gaussian process regression based on the located scenarios. The obtained multi-step-ahead disturbance is incorporated into the state-space MPC framework. A nonlinear case is conducted to demonstrate the effectiveness of the proposed method.

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ENABLING HIGH SENSITIVITY AIRFLOW MEASUREMENT USING PHASE-CHANGE MATERIALS 26

ENABLING HIGH SENSITIVITY AIRFLOW MEASUREMENT USING PHASE-CH...

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26th International Conference on Miniaturized Systems for Chemistry and Life Sciences, MicroTAS 2022

作者： Zhou, Yushan Cao, Yunqi Sepúlveda, Nelson Zhang, Hongjian State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Zhejiang Hangzhou310027 China Department of Electrical and Computer Engineering Michigan State University East LansingMI48824 United States

ISBN: (纸本)9781733419048

A lab-on-a-chip (LOC) thermal mass flow sensor based on microelectromechanical systems (MEMS) technology is designed, fabricated, and characterized. Vanadium dioxide (VO2), a nonlinear phase-change material with 3-order of change in resistance is placed in the down streaming direction of the heat source as the sensing element. The resistance of VO2 is monitored under gas flow rates ranging from 0 to 37.8 μL·s-1 with a maximum sensitivity of 368.56 ppm/(μL·min-1). The studies presented in this research may enable the application of utilizing nonlinear metamaterial in microfluidic LOC sensors with orders of magnitude improvement in sensitivity. © 2022 MicroTAS 2022 - 26th International Conference on Miniaturized Systems for Chemistry and Life Sciences. All rights reserved.

关键词： Phase change materials

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Tactile-Based Object Pose Estimation Employing Extended Kalman Filter 8

Tactile-Based Object Pose Estimation Employing Extended Kalm...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Lin, Qiguang Yan, Chaojie Li, Qiang Ling, Yonggen Zheng, Yu Lee, Wangwei Wan, Zhaoliang Huang, Bidan Liu, Xiaofeng College of IoT Engineering Hohai University Jiangsu Key Laboratory of Special Robotic Technology Jiangsu Changzhou213022 China Zhejiang University Institute of Cyber-System and Control State Key Laboratory of Industrial Control and Technology Hangzhou China Bielefeld33619 Germany Tencent Robotics X Shenzhen China School of Computer Science and Engineering Sun Yat-sen University Guangzhou China

ISBN: (纸本)9798350300178

In this paper, we present a new approach to estimate the pose of an object being manipulated by a multi-fingered robotic hand. The method utilizes advanced tactile sensors with high spatial resolution to optimize the estimation of the object's pose using an Extended Kalman Filter (EKF) based approach. We defined and derived the state and measurement equations, as well as evaluated the estimation accuracy in grasping tasks. The approach is able to effectively account for the pose transition caused by tactile pushing, and the mapping from the object's pose to the contact position and normal direction as measured by the tactile sensor. The method was evaluated in multiple grasping experiments in simulation scenarios. Results show that the estimation can converge towards the ground truth in a relatively short period of time, with displacement and rotation errors remaining within acceptable levels. This new method has the potential to improve the accuracy and reliability of robotic grasping and manipulation tasks. © 2023 IEEE.

关键词： Extended Kalman filters

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Computational imaging based on single-photon detection: a survey

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Artificial Intelligence Review 2025年第8期58卷 1-54页

作者： Pu, Yanyun Zhu, Chengyuan Yao, Gongxin Li, Chao Pan, Yu Yang, Kaixiang Yang, Qinmin State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Zhejiang University Zheda Road Zhejiang Hangzhou310027 China Institute of Cyber-Systems and Control College of Control Science and Engineering Zhejiang University Zheda Road Zhejiang Hangzhou310027 China School of Computer Science and Engineering South China University of Technology Guangzhou510641 China

The rapid advancements in single-photon detectors with picosecond timing resolution over the past decade have significantly driven the development of time-correlated single-photon counting (TCSPC) for computational imaging applications, including bioimaging and remote sensing. In this review, we utilize the CiteSpace tool to create knowledge maps and perform a bibliometric analysis of this research area. Furthermore, we provide a comprehensive overview of the key challenges associated with computational imaging using temporal single-photon counting. We also highlight how these challenges have been addressed under extreme conditions to establish a reference model for future imaging solutions. We examine the performance evaluation parameters of single-photon detectors to enhance the understanding of detector array scaling and their application in constructing efficient computational imaging systems. Lastly, we aim to elucidate the current technical challenges in single-photon detector-based computational imaging and explore their potential future developments. © The Author(s) 2025.

关键词： Computational Imaging

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