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INformer: Inertial-Based Fusion Transformer for Camera Shake Deblurring.
IEEE Trans Image Process
October 2024
Inertial measurement units (IMU) in the capturing device can record the motion information of the device, with gyroscopes measuring angular velocity and accelerometers measuring acceleration. However, conventional deblurring methods seldom incorporate IMU data, and existing approaches that utilize IMU information often face challenges in fully leveraging this valuable data, resulting in noise issues from the sensors. To address these issues, in this paper, we propose a multi-stage deblurring network named INformer, which combines inertial information with the Transformer architecture.
View Article and Find Full Text PDFThe Zero-Velocity Correction Method for Pipe Jacking Automatic Guidance System Based on Fiber Optic Gyroscope.
Sensors (Basel)
September 2024
School of Engineering and Technology, China University of Geosciences, Beijing 100083, China.
The pipe jacking guidance system based on a fiber optic gyroscope (FOG) has gained extensive attention due to its high degree of safety and autonomy. However, all inertial guidance systems have accumulative errors over time. The zero-velocity update (ZUPT) algorithm is an effective error compensation method, but accurately distinguishing between moving and stationary states in slow pipe jacking operations is a major challenge.
View Article and Find Full Text PDFBASEPROD: The Bardenas Semi-Desert Planetary Rover Dataset.
Sci Data
September 2024
Space Robotics Lab, Department of Systems Engineering and Automation, University of Málaga, Malaga, Spain.
Dataset acquisitions devised specifically for robotic planetary exploration are key for the advancement, evaluation, and validation of novel perception, localization, and navigation methods in representative environments. Originating in the Bardenas semi-desert in July 2023, the data presented in this Data Descriptor is primarily aimed at Martian exploration and contains relevant rover sensor data from approximately 1.7km of traverses, a high-resolution 3D map of the test area, laser-induced breakdown spectroscopy recordings of rock samples along the rover path, as well as local weather data.
View Article and Find Full Text PDFFinite-Time Line-of-Sight Guidance-Based Path-Following Control for a Wire-Driven Robot Fish.
Biomimetics (Basel)
September 2024
Shien-Ming Wu School of Intelligent Engineering, South China University of Technology, Guangzhou 511442, China.
This paper presents an adaptive line-of-sight (LOS) guidance method, incorporating a finite-time sideslip angle observer to achieve precise planar path tracking of a bionic robotic fish driven by LOS. First, an adaptive LOS guidance method based on real-time cross-track error is presented. To mitigate the adverse effects of the sideslip angle on tracking performance, a finite-time observer (FTO) based on finite-time convergence theory is employed to observe the time-varying sideslip angle and correct the target yaw.
View Article and Find Full Text PDFHigh-precision docking of wheelchair/beds through LIDAR and visual information.
Front Bioeng Biotechnol
September 2024
Hunan Victor Petrotech Service Co., Ltd., Changsha, China.
To address the low docking accuracy of existing robotic wheelchair/beds, this study proposes an automatic docking framework integrating light detection and ranging (LIDAR), visual positioning, and laser ranging. First, a mobile chassis was designed for an intelligent wheelchair/bed with independent four-wheel steering. In the remote guidance phase, the simultaneous localization and mapping (SLAM) algorithm was employed to construct an environment map, achieving remote guidance and obstacle avoidance through the integration of LIDAR, inertial measurement unit (IMU), and an improved A* algorithm.
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