相关论文: Spherical acquisition trajectories for X-ray compu…
In this paper, we propose an integrated framework for the autonomous robotic exploration in indoor environments. Specially, we present a hybrid map, named Semantic Road Map (SRM), to represent the topological structure of the explored…
High resolution images can be acquired using a non-regular sampling sensor which consists of an underlying low resolution sensor that is covered with a non-regular sampling mask. The reconstructed high resolution image is then obtained…
This paper proposes a 2-D autonomous exploration and mapping framework for LiDAR-based SLAM mobile robots, designed to address the major challenges on low-cost platforms, including process instability, map drift, and increased risks of…
Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new direction controller HTSMC, an instruction planning controller…
Hand action recognition is essential. Communication, human-robot interactions, and gesture control are dependent on it. Skeleton-based action recognition traditionally includes hands, which belong to the classes which remain challenging to…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…
X-ray computed tomographic infrastructures are medical imaging modalities that rely on the acquisition of rays crossing examined objects while measuring their intensity decrease. Physical measurements are post-processed by mathematical…
Three-dimensional (3D) photoacoustic computed tomography (PACT) is a powerful noninvasive biomedical imaging modality that provides volumetric data for structural and functional assessment \textit{in vivo}. To maximize angular coverage and…
Ergodic control synthesizes optimal coverage behaviors over spatial distributions for nonlinear systems. However, existing formulations model the robot as a non-volumetric point, whereas in practice a robot interacts with the environment…
Computed Tomography (CT) reconstruction is a fundamental component to a wide variety of applications ranging from security, to healthcare. The classical techniques require measuring projections, called sinograms, from a full 180$^\circ$…
Accelerated MRI shortens acquisition time by subsampling in the measurement $\kappa$-space. Recovering a high-fidelity anatomical image from subsampled measurements requires close cooperation between two components: (1) a sampler that…
While in situ experiments are gaining importance for the (mechanical) assessment of metamaterials or materials with complex microstructures, imaging conditions in such experiments are often challenging. The lab-based computed tomography…
Ultrasound is well-established as an imaging modality for diagnostic and interventional purposes. However, the image quality varies with operator skills as acquiring and interpreting ultrasound images requires extensive training due to the…
Haptic interfaces play a critical role in medical teleoperation by enabling surgeons to interact with remote environments through realistic force and motion feedback. Achieving high fidelity in such systems requires balancing the trade-offs…
We propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The convex cover consists of a set of polytopes such that the union…
Spherical robots have garnered increasing interest for their applications in exploration, tunnel inspection, and extraterrestrial missions. Diverse designs have emerged, including barycentric configurations, pendulum-based mechanisms, etc.…
This paper discusses the image processing and computer vision algorithms for real time detection and tracking of a sample wheel of a vehicle. During the manual tyre changing process, spinal and other muscular injuries are common and even…
This paper presents a hybrid robot motion planner that generates long-horizon motion plans for robot navigation in environments with obstacles. We propose a hybrid planner, RRT* with segmented trajectory optimization (RRT*-sOpt), which…
Sampling-based motion planning techniques have emerged as an efficient algorithmic paradigm for solving complex motion planning problems. These approaches use a set of probing samples to construct an implicit graph representation of the…