A5038007744- Robotics and Sensor-Based Localization
- Advanced Vision and Imaging
- Robotic Path Planning Algorithms
- Prostate Cancer Treatment and Research
- Underwater Vehicles and Communication Systems
- Radiopharmaceutical Chemistry and Applications
- Optical measurement and interference techniques
- 3D Surveying and Cultural Heritage
- Therapeutic Uses of Natural Elements
- Kidney Stones and Urolithiasis Treatments
- Indoor and Outdoor Localization Technologies
- Remote Sensing and LiDAR Applications
- Robotic Mechanisms and Dynamics
- Cancer, Lipids, and Metabolism
- Bladder and Urothelial Cancer Treatments
- Advanced Measurement and Detection Methods
- Image Enhancement Techniques
- Advanced Algorithms and Applications
- CCD and CMOS Imaging Sensors
- Renal cell carcinoma treatment
- Medical Imaging Techniques and Applications
- Zebrafish Biomedical Research Applications
- Control and Dynamics of Mobile Robots
- Adaptive Control of Nonlinear Systems
- Radiomics and Machine Learning in Medical Imaging
Lanzhou University Second Hospital
2023-2024
Lanzhou University
2023-2024
Nankai University
2018-2022
Meizu (China)
2022
This paper proposes a novel nonlinear geometric hierarchical dynamic visual servoing approach to drive quadrotor the desired pose defined by previously captured image of planar target. Different from existing works, key novelty is extend positionbased control image-based control. More specifically, seamlessly integrating with control, and taking full advantage cascade property system, proposed strategy does not require thrust force or its derivative be measurable when compared backstepping...
This article proposes a novel adaptive image-based output feedback visual servoing approach to control multirotor the desired pose by using minimum onboard sensor suite, which consists of an inertial measurement unit and monocular camera. Different from "perspective moment," new type image feature is designed as "rotated perspective whose dynamics independent roll, pitch, yaw rates. On this basis, nonlinear observer estimate scaled linear velocity, more accurate, since does not involve noisy...
In this article, we propose a novel optimization-based tightly coupled Direct Visual-Inertial Odometry (DVIO), which fuses the visual and inertial measurements to provide real-time full state estimation. Different from existing frameworks, key novelty of proposed method is integrate data association, estimation, outlier detection into nonlinear optimization framework in way. Specifically, by jointly minimizing preintegration error measurement unit photometric camera, association with process...
Background The current treatment strategy for metastatic Hormone-Sensitive Prostate Cancer (mHSPC) is the combination of Androgen Receptor Signaling Inhibitors (ARSIs) medicines with androgen deprivation therapy (ADT). However, there a lack real-world data comparing efficacy different ARSI pharmaceuticals. Therefore, objective this study was to compare effectiveness and safety bicalutamide, abiraterone, enzalutamide, apalutamide in ADT patients mHSPC. Methods We retrospectively analyzed 82...
In this article, a novel real-time time-optimal trajectory planning (TOTP) approach is proposed for rotorcrafts under velocity constraints and complex nonconvex thrust, attitude input constraints. Different from existing works, the method first TOTP solution subject to these The key insight transform thrust into inequality on quadratic nonlinear function of path parameter acceleration squared velocity, by exploiting differential flatness characteristic rotorcraft. As result, can be...
Fiducial markers are landmarks typically used for pose estimation. However, the detection rate of existing fiducial marker based approaches is relatively low. To speed up without sacrificing accuracy or robustness, this paper proposes a novel enhanced detection-tracking algorithm wherein ROI (region interest) kernelized correlation filter (KCF) tracking strategy and Apriltag2 integrated together to form new framework. More specifically, by selecting appropriate aera from marker, KCF employed...
Multi-sensor fusion is a mainstream method for localization of unmanned systems. How to achieve 6-degrees freedom (DOF) pose estimation the system challenging in GPS-denied environments. Although map-aided methods normally perform well on intelligent transportation systems, prior maps are unavailable some scenes (e.g., dense forests, tunnels, and underground parking lots). In this paper, we present robust consistent monocular visual-inertial-depth odometry (VIDO) 6-DOF without need...
In this work, we propose a flexible and extendable framework which is integrated into the Robot Operating System (ROS) on an onboard companion computer for DJI-autopilots based Unmanned Aerial Vehicles (UAVs). Specifically, considering that do not directly support external position data except those obtained from GPS or DJI Guidance, to fully take advantages of stability reliability DJI-autopilots, high-level state estimator designed provide velocity UAV. And outer-loop geometric tracking...
Sensor calibration is one of the basic tasks for a multimodal sensing system. In this paper, we present two-stage spatiotemporal method common-used sensor suite, i.e. LiDAR-IMU-camera combination. first stage, proposed combines correlation analysis with hand-eye to acquire initial values time offset and extrinsic rotation parameters IMU-LiDAR IMU-camera respectively, refines through aligning rotational trajectories. second continuous-time batch optimization framework employed jointly...
ObjectiveThe purpose of this study was to construct a 3D and 2D contrast-enhanced computed tomography (CECT) radiomics model predict CGB3 levels assess its prognostic abilities in bladder cancer (Bca) patients.MethodsTranscriptome data CECT images Bca patients were downloaded from The Cancer Imaging Archive (TCIA) Genome Atlas (TCGA) database. Clinical 43 cases TCGA TCIA used for evaluation. Volume interest (VOI) (3D) region (ROI) (2D) features extracted. For the construction predicting...