Multi-sensor fusion systems have been widely applied in various fields, including mobile robot, simultaneous localization and mapping (SLAM), and autonomous driving. For a tightly coupled multi-sensor fusion system, s...
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ISBN:
(数字)9798350377705
ISBN:
(纸本)9798350377712
Multi-sensor fusion systems have been widely applied in various fields, including mobile robot, simultaneous localization and mapping (SLAM), and autonomous driving. For a tightly coupled multi-sensor fusion system, strict time synchronization between sensors will improve the accuracy of the system. However, there is currently a lack of open-source and general-purpose hardware synchronization systems for Cameras, IMUs, LiDARs, GNSS/RTK in the academic community. Therefore, we propose EverySync, an open hardware time synchronization system to address this gap. The synchronization accuracy of the system was evaluated through multiple experiments, achieving an accuracy of less than 1 ms. And, real-world experiments proved that hardware time synchronization improves the accuracy of the SLAM system. This open-source system is available on GitHub.
In complex indoor structural scenes such as shopping centers and malls, camera pose estimation using pure point features is easy to fail due to the difficulty in extracting sufficient and stable point features from we...
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ISBN:
(数字)9798350377705
ISBN:
(纸本)9798350377712
In complex indoor structural scenes such as shopping centers and malls, camera pose estimation using pure point features is easy to fail due to the difficulty in extracting sufficient and stable point features from weak textures or dynamic environments. Recent works have attempted to address these challenges by introducing line features. However, the addition of line features increases the number of parameters and landmarks for BA (Bundle Adjustment), leading to efficiency reduction. This is a common issue in multi-modal SLAM (Simultaneous Localization And Mapping). To address this issue, this paper proposes a novel visual-depth-inertial odometry (ASML-VDIO) framework by combining RGB-D and IMU sensors. To improve the efficiency of BA, the proposed landmark classification method classifies 3D landmarks into accurate landmarks and other landmarks based on spatial consistency verification and depth range limitation. Then, accurate landmarks are fixed, and only other landmarks are optimized in the optimization of BA. Furthermore, to remove line features extracted from dynamic objects (pedestrian, shopping-car, etc), we propose a dynamic line removal method that combines geometric constraints and motion constraints of line features. Finally, the method is evaluated on public and author-collected datasets, showing competitive accuracy and robustness in complex indoor structural scenes while 71% speedup on optimization thread with same constraints.
Blast furnace temperature, generally characterized by silicon content, is an important indicator to characterize the stability of furnace conditions in the blast furnace ironmaking process. To achieve its accurate pre...
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3D single object tracking (SOT) is a crucial task in fields of mobile robotics and autonomous driving. Traditional motion-based approaches achieve target tracking by estimating the relative movement of target between ...
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ISBN:
(数字)9798350377705
ISBN:
(纸本)9798350377712
3D single object tracking (SOT) is a crucial task in fields of mobile robotics and autonomous driving. Traditional motion-based approaches achieve target tracking by estimating the relative movement of target between two consecutive frames. However, they usually overlook local motion information of the target and fail to exploit historical frame information effectively. To overcome the above limitations, we propose a point-level flow method with multi-frame information for 3D SOT task, called FlowTrack. Specifically, by estimating the flow for each point in the target, our method could capture the local motion details of target, thereby improving the tracking performance. Meanwhile, to handle scenes with sparse points, we present a learnable target feature as the bridge to efficiently integrate target information from past frames. Moreover, we design a Instance Flow Head to transform dense point-level flow into instance-level motion, effectively aggregating local motion information to obtain global target motion. Finally, our method achieves competitive performance with improvements of 5.9% on the KITTI and 2.9% on the NuScenes, compared to the next best method.
Aerial-ground vehicles have shown great potential in various fields due to their superior mobility and outstanding endurance. However, most of morphing aerial-ground vehicles consider little about controllability and ...
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ISBN:
(数字)9798350377705
ISBN:
(纸本)9798350377712
Aerial-ground vehicles have shown great potential in various fields due to their superior mobility and outstanding endurance. However, most of morphing aerial-ground vehicles consider little about controllability and traversability in ground mode. We present a novel aerial-ground vehicle called TransRotor. By proposing a differential gear joint, we equip TransRotor with omnidirectional mobility in both air and ground mode. Besides, using a four-wheel-steering model in ground mode provides better traversability and ground flexibility. Moreover, we design mid-mode transformation for Trans-Rotor, which provides smooth and rapid mode switching. In this work, we firstly propose a novel design of an aerial-ground vehicle. Then, we propose a decoupled controller considering the four-wheel-steer model to achieve autonomous navigation of the vehicle. Comprehensive experiments and a benchmark comparison are carried out to validate the outstanding performance of the proposed system, where the system shows ground flexibility and saves energy up to more than 95%.
Semantic segmentation of LiDAR points has significant value for autonomous driving and mobile robot systems. Most approaches explore spatio-temporal information of multi-scan to identify the semantic classes and motio...
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In this paper,the event-triggered finite-time H∞bumpless transfer control problem of switched systems is *** event-triggered bumpless transfer control method with local constraints is proposed to reduce the bump gene...
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In this paper,the event-triggered finite-time H∞bumpless transfer control problem of switched systems is *** event-triggered bumpless transfer control method with local constraints is proposed to reduce the bump generated by switching event-triggered controller.A sufficient condition is given to ensure the solvability of the switched systems with eventtriggered finite-time H bumpless transfer *** positive lower bound of event-triggered integral is obtained,which implies that Zeno behavior is *** using the multiple Lyapunov functions method,a state-dependent switching law,an eventtriggered mechanism and a bumpless transfer controller are ***,a simulation example is given to verify the effectiveness of the proposed method.
In this paper,we discuss the output bumpless transfer control for a class of switched linear systems with statedependent ***,the concept of output bumpless transfer performance is given,which ensures the stability of ...
In this paper,we discuss the output bumpless transfer control for a class of switched linear systems with statedependent ***,the concept of output bumpless transfer performance is given,which ensures the stability of the closed-loop system as well as the output bumpless transfer at the switching *** using multiple Lyapunov function method and imposing the proposed output bumps limitation,a state-dependent switching,and the controller are ***,an example is given to verify the effectiveness of the proposed method.
This paper studies the output regulation bumpless transfer control for event-triggered discrete-time switched systems under denial-of-service(DoS) *** switched systems subject to DoS,both the sensor signal and switchi...
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This paper studies the output regulation bumpless transfer control for event-triggered discrete-time switched systems under denial-of-service(DoS) *** switched systems subject to DoS,both the sensor signal and switching signal may be *** satisfy the bumpless transfer(BT) performance,we cannot use the common input zeroing *** problem that the triggering error being attacked may not follow the triggering condition ***,the controller mode may be asynchronous with the plant *** with the above two problems,we design an event-triggered dynamic error feedback controller and a switching law to guarantee that the output regulation problem for switched systems is solvable,and the BT performance can be ***,corresponding sufficient conditions are proposed in the form of linear matrix inequalities(LMIs).Finally,a numerical example is given to illustrate the validity of our results.
The paper studies the leader-following consensus of the switched uncertain time-delay MASs under fixed directed communication *** the switching distributed controller and the minimum dwell time,the sufficient conditio...
The paper studies the leader-following consensus of the switched uncertain time-delay MASs under fixed directed communication *** the switching distributed controller and the minimum dwell time,the sufficient conditions in terms of matrix inequalities are obtained by L-K functional dependent on switching law to guarantee the leader-following consensus ***,an example is given to validate the effectiveness of the results.
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