Advanced Sensing and Control Technologies for Autonomous Robots.

The development of advanced sensing and control technologies provides increased intelligence and autonomy for robots and enhances the robots' agility, maneuverability, and efficiency, which has attracted growing attention in various industries and domains [...

Adaptive Model Predictive Control for Mobile Robots with Localization Fluctuation Estimation.

Mobile robots are widely employed in various fields to perform autonomous tasks. In dynamic scenarios, localization fluctuations are unavoidable and obvious. However, common controllers do not consider the impact of localization fluctuations, resulting in violent jittering or poor trajectory tracking of the mobile robot.

Pavement crack analysis by referring to historical crack data based on multi-scale localization.

Pavement crack analysis, which deals with crack detection and crack growth detection, is a crucial task for modern Pavement Management Systems (PMS). This paper proposed a novel approach that uses historical crack data as reference for automatic pavement crack analysis. At first, a multi-scale localization method, which including GPS based coarse localization, image-level localization, and metric localization has been presented to establish image correspondences between historical and query crack images.

Integration of GPS, Monocular Vision, and High Definition (HD) Map for Accurate Vehicle Localization.

Self-localization is a crucial task for intelligent vehicles. Existing localization methods usually require high-cost IMU (Inertial Measurement Unit) or expensive LiDAR sensors (e.g.

Flexible extrinsic calibration of a camera and a two-dimensional laser rangefinder with a folding pattern.

This paper proposes a novel folding pattern for flexible extrinsic calibration of a camera and a 2D laser rangefinder (LRF). The proposed pattern consists of multiple foldable facets. By folding and unfolding the facets, we can easily adjust the sizes and expanding angles of the pattern so that it can be observed by sensors with different view angles at different distances.

Camera self-calibration from translation by referring to a known camera.

This paper presents a novel linear method for camera self-calibration by referring to a known (or calibrated) camera. The method requires at least three images, with two images generated by the uncalibrated camera from pure translation and one image generated by the known reference camera. We first propose a method to compute the infinite homography from scene depths.

Calibration of stereo cameras from two perpendicular planes.

We present a novel linear algorithm with which to calibrate stereo cameras from two perpendicular planes. Stereo cameras are two cameras aligned in a special configuration with coplanar image planes and parallel axes that are increasingly more widely used in computer vision tasks. Our objective is to present a more practical and simplified linear algorithm for these special configuration cameras, as traditional linear algorithms usually require too-strong constraints either on three-dimensional scenes or on the camera's motion.