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The design requirement for flight visual simulation system is studied and the overall structure and development process are proposed in this paper. Through the construction of 3D scene model library and aircraft model, the rendering and…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…
Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…
Consecutive LiDAR scans compose dynamic 3D sequences, which contain more abundant information than a single frame. Similar to the development history of image and video perception, dynamic 3D sequence perception starts to come into sight…
The spinal angle is an important indicator of body balance. It is important to restore the 3D shape of the human body and estimate the spine center line. Existing mul-ti-image-based body restoration methods require expensive equipment and…
3D scene graphs have recently emerged as a powerful high-level representation of 3D environments. A 3D scene graph describes the environment as a layered graph where nodes represent spatial concepts at multiple levels of abstraction and…
We propose a new method for the problem of controlling linear dynamical systems under partial observation and adversarial disturbances. Our new algorithm, Double Spectral Control (DSC), matches the best known regret guarantees while…
Lines provide the significantly richer geometric structural information about the environment than points, so lines are widely used in recent Visual Odometry (VO) works. Since VO with lines use line tracking results to locate and map, line…
The effective classical/quantum dynamics of a particle constrained on a closed line embedded in a higher dimensional configuration space is analyzed. By considering explicit examples it is shown how different reduction mechanisms produce…
This paper introduces a model for producing stylized line drawings from 3D shapes. The model takes a 3D shape and a viewpoint as input, and outputs a drawing with textured strokes, with variations in stroke thickness, deformation, and color…
3D printing and other layer manufacturing processes are challenged by dimensional accuracy. Several techniques are used to validate and calibrate dimensional accuracy through the complete building envelope. The validation process involves…
Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…
Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…
Line intersection with convex and un-convex polygons or polyhedron algorithms are well known as line clipping algorithms and very often used in computer graphics. Rendering of geometrical problems often leads to ray tracing techniques, when…
Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…
An experimental method has been developed to locate unstable equilibria of nonlinear structures quasi-statically. The technique involves loading a structure by application of either a force or a displacement at a main actuation point, while…
This paper presents a novel approach to automated drifting with a standard passenger vehicle, which involves a Nonlinear Model Predictive Control to stabilise and maintain the vehicle at high sideslip angle conditions. The proposed…
A straight line triangle representation (SLTR) of a planar graph is a straight line drawing such that all the faces including the outer face have triangular shape. Such a drawing can be viewed as a tiling of a triangle using triangles with…
Camera calibration is an essential prerequisite for event-based vision applications. Current event camera calibration methods typically involve using flashing patterns, reconstructing intensity images, and utilizing the features extracted…