Efficient and reliable manipulation of biological particles is crucial in medical diagnosis chemical synthesis. Inertial microfluidic devices utilizing passive hydrodynamic forces the secondary flow have drawn considerable attention for their high throughputs, low costs, harmless particle manipulation. However, as dominant mechanism, inertial lift force difficult to quantitatively analyze because uncertainties its magnitude direction. The equilibrium position varies along migration process,...

This paper focuses on solving the problems of unknown measurement noise covariance and outliers, which occurs in vision/dual-IMU integrated attitude determination system. Although many adaptive filters robust have been proposed to deal with or most them cannot handle both outliers. The assume no outliers measurements accurate matrices. In this paper, we propose an cubature Kalman filter, achieves adaptivity by estimating through variational Bayesian (VB) method, robustness suppressing based...

This paper presents a loosely-coupled visual/inertial hybrid system for relative attitude determination on moving platform. The inertial measurements are accomplished by two gyroscopes, of which the slave gyroscope removes redundant motion platform from total sensed master gyroscope. To correct integration drift error and compensate biases, we fuse visual fused together through error-state Kalman filter (ESKF). Furthermore, an improved ESKF is proposed utilizing variational Bayesian (VB)...

In fringe projection profilometry, the relationship between phase and height is of utmost significance to perform accurate measurement. To enhance accuracy robustness, a calibration method presented based on pattern geometric constraints. By analyzing distribution in image coordinate, this establishes one-to-one mapping directly, lens distortion camera considered involved mathematical description, so as eliminate error propagation. The (x, y) coordinates are calculated from with known...

Attitude estimation from unknown corresponding points plays a crucial role in visual tasks involving feature points, but current solutions suffer slow computation and poor tolerance to noise. In order address these drawbacks, this article proposes an inertial measurement unit (IMU)-assisted uncertainty-weighted attitude algorithm noncorresponding points. The enhances both speed robustness anisotropic method begins with initial pose generator based on preintegration, optimizing the selection...

Speckle structured light has become a research hotspot due to its ability acquire target three-dimensional information with single image projection in recent years. To address the challenges of low number extracted speckle feature points, high mismatch rate and poor real-time performance traditional algorithms, as well obstacle requiring expensive annotation data deep learning-based methods, lightweight efficient self-supervised convolutional neural network (CNN) is proposed achieve...

Cubature Kalman filter (CKF) is widely used for non-linear state estimation under Gaussian noise. However, the performance may degrade greatly in presence of heavy-tailed measurement Recently, maximum correntropy square-root cubature (MCSCKF) has been proposed to enhance robustness against outliers. As generally known, algorithms have benefit low computational complexity and guaranteed positive semi-definiteness covariances. Therefore, MCSCKF not only possesses advantages (SCKF), but also...

A high-speed scanning stroboscopic fringe-pattern projection system is designed. rotating polygon mirror and a line-structured laser cooperate to produce stable unambiguous fringe patterns. The combines the rapidity of grating with high accuracy light source. patterns have fast frame rate, great density, precision, brightness, convenience in adjusting frequency, linewidth, amount phase shift. characteristics stability this are verified by experiments. Experimental results show that finest...

To determine the relative attitude between objects on a moving base and reference system by MEMS (Micro-Electro-Mechanical Systems) gyroscope, motion information of is redundant, which must be removed from gyroscope. Our strategy to add an auxiliary gyroscope attached system. The master sense total motion, base. By generalized difference method, in non-inertial frame can determined dual gyroscopes. With vision sensor suppressing accumulative drift integration formed. Coordinate definitions...

This paper investigates the multi-rate inertial and vision data fusion problem in nonlinear attitude measurement systems, where sampling rate of sensor is much faster than that sensor. To fully exploit high frequency obtain favorable results, a CKF (Cubature Kalman Filter) algorithm with estimated residual compensation proposed order to adapt discrepancy. During inter-sampling slow observation data, noise can be regarded as infinite. The gain unknown approaches zero. also unknown. Therefore,...

In this paper, a novel hybrid method combining adaptive chirp mode pursuit (ACMP) with an multiscale Savitzky-Golay filter (AMSGF) based on moving average (AMA) is proposed for offline denoising micro-electromechanical system (MEMS) gyroscope signal. The scheme includes preliminary and further denoising. At the stage, original signal decomposed into modes one by using ACMP modified stopping criterion mutual information. Useful information extracted while most noise discarded in residue at...

Serving as an effective biomarker in liquid biopsy, circulating tumor cells (CTCs) can provide accessible source for cancer biology study. For the in-depth evaluation of CTCs analysis, their efficient enrichment is essential, owing to low abundance peripheral blood. In this paper, self-assembled immunomagnetic beads were developed isolate from ordered bundles under assistance spiral inertial effect. Parametric numerical simulations performed explore velocity distribution cross section. Based...

Based on structured-light vision measurement technology, we study a measuring method for microdiameter.The principle and mathematical model are described.A novel grayscale barycenter extraction algorithm along the radial direction is proposed, which can precisely gather image coordinates of ellipse-shaped light-stripe centers.The accuracy result shows marked improvement by using algorithm.The executes circle fitting to measured three-dimensional (3D) data linear least square method, acquire...

In order to estimate the position and orientation of an object with a single camera, novel measurement method based on pinhole camera model five reference points is presented.Taking specially designed planar target monocular vision system, projection line built.According model, coordinates in coordinate system are estimated least-squares algorithm.Thus worked out.Experimental result shows that precision angle less than 0.2 • , displacement 0.1 mm.

Calibration between multiple sensors is a fundamental procedure for data fusion. To address the problems of large errors and tedious operation, we present novel method to conduct calibration light detection ranging (LiDAR) camera. We invent target, which an arbitrary triangular pyramid with three chessboard patterns on its planes. The target contains both 3D information 2D information, can be utilized obtain intrinsic parameters camera extrinsic system. In proposed method, world coordinate...

Pose estimation with unknown correspondences between 3D object points and 2D image is known as the simultaneous pose correspondence determination problem in field of computer vision. It currently still diffcutlt to solve particularly appearance occlusion cluster. In this paper, we present a new iterative algorithm for an without any additional 3D-2D corresondence infromation. Our method combines SoftAssign derterming OI (orthogonal iteration) computing pose. An assignment matrix which...