The rotation matrix estimation problem is a keypoint for mobile robot localization, navigation, and control. Based on the quaternion theory and the epipolar geometry, an extended Kalman filter (EKF) algorithm is propo...
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The rotation matrix estimation problem is a keypoint for mobile robot localization, navigation, and control. Based on the quaternion theory and the epipolar geometry, an extended Kalman filter (EKF) algorithm is proposed to estimate the rotation matrix by using a single-axis gyroscope and the image points correspondence from a monocular camera. The experimental results show that the precision of mobile robot s yaw angle estimated by the proposed EKF algorithm is much better than the results given by the image-only and gyroscope-only method, which demonstrates that our method is a preferable way to estimate the rotation for the autonomous mobile robot applications.
The relative pose between inertial and visual sensors equipped in autonomous robots is calibrated in two steps. In the first step, the sensing system is moved along a line, the orientations in the relative pose are co...
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The relative pose between inertial and visual sensors equipped in autonomous robots is calibrated in two steps. In the first step, the sensing system is moved along a line, the orientations in the relative pose are computed from at least five corresponding points in the two images captured before and after the movement. In the second step, the translation parameters in the relative pose are obtained with at least two corresponding points in the two images captured before and after one step motion. Experiments are conducted to verify the effectiveness of the proposed method.
As a new research field in wireless sensor network (WSN), wireless video sensor network (WVSN) makes surveillance multifunctional and intelligent, with rich and intuitive sensing information. It attracts more and more...
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Agent-based evacuation modeling approach is gained more and more attention for investigating human cognitive capabilities and social behaviors in building fires. This paper mainly overviews the research about various ...
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This paper analyses the cause of the major faults of the SF6 high voltage circuit breaker, and then introduces a solution using an embedded controlsystem. The controlsystem consists of the controller for every break...
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This paper analyses the cause of the major faults of the SF6 high voltage circuit breaker, and then introduces a solution using an embedded controlsystem. The controlsystem consists of the controller for every breaker and a supervisor controlsystem in the control center. Then a double-annular fiber field-bus communication network for the controlsystem is introduced, of which the data link layer is implemented by the CAN controller. According to the operation state of every node and the fiber, the fiber communication module of every node can be configured to several different transmission modes. Due to the influence of temperature, the empirical formula of Beattie-Bridgman is used to calculate the pressure of SF6.
Calibration of a functional structural plant model is a challenging task because of the complexity of model structure. Parameter estimation through gradient-based optimization technique was highly dependent on initial...
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Web services are becoming the most promising technology for cloud computing. When a single web service fails to satisfy service requestor's multiple function demands, web services need to be configured together to...
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Interactive image segmentation which needs the user to give certain hard constraints has shown promising performance for object segmentation. In this paper, we consider characters in text image as a special kind of ob...
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Interactive image segmentation which needs the user to give certain hard constraints has shown promising performance for object segmentation. In this paper, we consider characters in text image as a special kind of object, and propose an adaptive graph cut based text binarization method to segment text from background. The main contributions of the paper lie in: 1) in order to make the binarization local adaptive with uneven background, the text region image is firstly roughly split into several sub-images on which graph cut is applied, and 2) considering the unique characteristics of the text, we propose to automatically classify some pixels as text or background with high confidence, severed as hard constraints seeds for graph cut to extract text from background by spreading the seeds into the whole sub-image. The experimental results show that our approach could get better performance in both character extraction accuracy and recognition accuracy.
In this paper, we proposed an architecture of a hierarchical networked urban traffic signal controlsystem Based on Multi-agent. With mobile agent technology, traffic control strategies are designed as traffic control...
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In this paper, we proposed an architecture of a hierarchical networked urban traffic signal controlsystem Based on Multi-agent. With mobile agent technology, traffic control strategies are designed as traffic control agents, which can move from device to device in a network. The system can reconfigure and replace these agents according to inconstant states of traffic environment and performances of agents. By this way, demand-based control is realized in traffic signal controlsystem. Then we described the details and key technologies in the procession of agent-generation, agent-storage and agent-usage. At last, a prototype of the system is developed and basic functions of this system are tested by simulations. These simulations also confirm extensibility and effectiveness of the system.
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