相关论文: Spherical acquisition trajectories for X-ray compu…

This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem is formalized as a stochastic optimal control over the…

In Hamiltonian Monte Carlo sampling, the shape of the potential and the choice of the momentum distribution jointly give rise to the Hamiltonian dynamics of the sampler. An efficient sampler propagates quickly in all regions of the…

Wideband communication receivers often deal with the problems of detecting weak signals from distant sources received together with strong nearby interferers. When the techniques of random modulation are used in communication system…

Since its discovery over the last decade, Compressed Sensing (CS) has been successfully applied to Magnetic Reso- nance Imaging (MRI). It has been shown to be a powerful way to reduce scanning time without sacrificing image quality. MR…

Computed tomography (CT) is a widely-used imaging technology that assists clinical decision-making with high-quality human body representations. To reduce the radiation dose posed by CT, sparse-view and limited-angle CT are developed with…

Cardiac T1 mapping provides critical quantitative insights into myocardial tissue composition, enabling the assessment of pathologies such as fibrosis, inflammation, and edema. However, the inherently dynamic nature of the heart imposes…

Humans grasp unfamiliar objects by combining an initial visual estimate with tactile and proprioceptive feedback during interaction. We present ShapeGrasp, a robotic implementation of this approach. The proposed method is an iterative…

In this work, we propose a new paradigm of iterative model-based reconstruction algorithms for providing real-time solution for zooming-in and refining a region of interest in medical and clinical tomographic images. This algorithmic…

A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…

In high-performance computing (HPC) environments, particularly in synchrotron radiation facilities, vast amounts of X-ray images are generated. Processing large-scale X-ray Computed Tomography (X-CT) datasets presents significant…

Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…

This work is concerned with applying iterative image reconstruction, based on constrained total-variation minimization, to low-intensity X-ray CT systems that have a high sampling rate. Such systems pose a challenge for iterative image…

Cosmic ray muon computed tomography ({\mu}CT) is a new imaging modality with unique characteristics that could be particularly important for diverse applications including nuclear nonproliferation, spent nuclear fuel monitoring, cargo…

The creation of unique control methods for a hand prosthesis is still a problem that has to be addressed. The best choice of a human-machine interface (HMI) that should be used to enable natural control is still a challenge. Surface…

This paper presents EROAM, a novel event-based rotational odometry and mapping system that achieves real-time, accurate camera rotation estimation. Unlike existing approaches that rely on event generation models or contrast maximization,…

We study the problem of sampling robot trajectories and introduce the notion of C-Uniformity. As opposed to the standard method of uniformly sampling control inputs (which lead to biased samples of the configuration space), C-Uniform…

Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring unknown environments is that the robot has to plan with the…

Many automated manufacturing processes rely on industrial robot arms to move process-specific tools along workpiece surfaces. In applications like grinding, sanding, spray painting, or inspection, they need to cover a workpiece fully while…

Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…

We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few…