Zobrazeno 1 - 10
of 10
pro vyhledávání: '"Kanzhi Wu"'
Publikováno v:
IEEE/ASME Transactions on Mechatronics. 27:1973-1981
Feature extraction and matching are the basis of many computer vision problems, such as image retrieval, object recognition, and visual odometry. In this article, we present a novel RGB-D feature with texture and geometric information (TG). It consis
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5b3a21ceb5127ddc12d7b2d211553346
https://doi.org/10.1109/tmech.2022.3175812
https://doi.org/10.1109/tmech.2022.3175812
Publikováno v:
IROS
© 2017 IEEE. The main contribution of this paper is a planar scan matching algorithm that makes use of the incident angle of a scan point as a feature to enhance the robustness to large relative transformations, particularly in orientation. A new de
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e52579a57891a32e6880a20bf0ba4897
https://doi.org/10.1109/iros.2017.8206260
https://doi.org/10.1109/iros.2017.8206260
Publikováno v:
ACC
© 2017 American Automatic Control Council (AACC). In this paper, we introduce a novel factor-graph based multi-sensor fusion algorithm that optimally estimates camera-odometer extrinsic calibration (6 DOF rigid body transformation between the two se
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::245d8137405d1df0fb60dc1334978523
https://doi.org/10.23919/acc.2017.7963501
https://doi.org/10.23919/acc.2017.7963501
Publikováno v:
IROS
The main contribution of this paper is an invariant extended Kalman filter (EKF) for visual inertial navigation systems (VINS). It is demonstrated that the conventional EKF based VINS is not invariant under the stochastic unobservable transformation,
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::49f8481610cd8978cdb0b805dc90f9a2
http://arxiv.org/abs/1702.07920
http://arxiv.org/abs/1702.07920
In this paper, we investigate the convergence and consistency properties of an Invariant-Extended Kalman Filter (RI-EKF) based Simultaneous Localization and Mapping (SLAM) algorithm. Basic convergence properties of this algorithm are proven. These pr
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1bf9e9be88c58b317c11326646184b91
Publikováno v:
ICRA
© 2017 IEEE. This paper presents a novel appearance and shape feature, RISAS, which is robust to viewpoint, illumination, scale and rotation variations. RISAS consists of a keypoint detector and a feature descriptor both of which utilise texture and
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::06c5341e29c666b873bfaf83975acdc3
Publikováno v:
ICRA
This paper presents an active object recognition and pose estimation system for household objects in a highly cluttered environment. A sparse feature model, augmented with the characteristics of features when observed from different viewpoints is use
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::c773e41eafaf3ba81352291b99685e53
https://doi.org/10.1109/icra.2015.7139782
https://doi.org/10.1109/icra.2015.7139782
Publikováno v:
ICARCV
© 2014 IEEE. This paper presents a modular algorithm pipeline for recognizing textured household objects in cluttered environment and estimating 6 DOF poses using an RGB-D sensor. The method draws from recent advances in this area and introduces a n
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::365a125b0e792f464ac8cb1f53359534
https://doi.org/10.1109/icarcv.2014.7064563
https://doi.org/10.1109/icarcv.2014.7064563
Publikováno v:
ICIG
Image segmentation is a critical issue in image understanding and several achievements have been achieved in this area. In this paper, we propose an improved image segmentation algorithm based on mean shift mode detection and Tree-Structured MRF (TS-
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::d63af1ebe5678f5c7243cb24d17f84de
https://doi.org/10.1109/icig.2011.152
https://doi.org/10.1109/icig.2011.152
Autor:
Kanzhi Wu, Xiaokui Yue
Publikováno v:
SPIE Proceedings.
With the increase of on-orbit manipulations and space conflictions, missions such as tracking and capturing the target spacecrafts are aroused. Unlike cooperative spacecrafts, fixing beacons or any other marks on the targets is impossible. Due to the
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::b9bf00273c2a85bc9c3242570d195ed5
https://doi.org/10.1117/12.899652
https://doi.org/10.1117/12.899652