A5080306994- Robotics and Sensor-Based Localization
- Remote Sensing and LiDAR Applications
- Robotic Path Planning Algorithms
- 3D Surveying and Cultural Heritage
- Power Line Inspection Robots
- Optical measurement and interference techniques
- UAV Applications and Optimization
- Energy Load and Power Forecasting
- Advanced Optical Sensing Technologies
- Financial Distress and Bankruptcy Prediction
- Stock Market Forecasting Methods
Ningbo Institute of Industrial Technology
2021-2024
Chinese Academy of Sciences
2021-2024
Ningbo University
2022-2023
Indoor high-precision maps are harder to obtain. Numerous researchers considered the extendibility of indoor plane features constrain poses and improve mapping consistency. However, usage parametric planar or line requires complex modeling, threshold-based matching methods eager lead degradation. Indeed, planes can be more simply represented as projections, with projection direction perpendicular plane's normal vector. In this paper, we proposed a novel optimization framework that...
LiDAR-based SLAM Systems are widely applied in robotics for their accuracy and robustness. However, accurate localization small-scale indoor scenes is challenging since the point cloud features of sparse line scan LiDAR cannot always provide sufficient space constraints. In our experiments, even state-of-the-art methods have heavy odometry drift. this paper, to address problem, we propose a method that can improve performance existing algorithms scenes. By installing perpendicular LiDAR,...
Abstract With the progress of unmanned aerial vehicle (UAV) technology, people have higher and requirements for working endurance rotary-wing UAVs. The tethered UAV can be wired to power through cable, which solves problem endurance. During descent UAV, operator needs manually rotate take-up device manually. When fails put redundant tied cables into retracting paying-off timely, are prone entangled knotted, causing potential safety hazards. To overcome shortcomings above existing...
Abstract Aiming at the scene of a rescue in an indoor environment, this paper proposes real-time visual exploration UAV. UAVs can model unknown space 3D real-time, obtain obstacle information and flight navigation information, avoid obstacles fly to region interest real-time. Real-time transmission three-dimensional remote end provide personnel with timely arrangements for plans. The mapping uses 32-line laser radar, combining high-density point clouds IMU accurate information. cloud is then...
Aiming at the instability of image mapping and sparsity radar mapping, fusion method LiDAR point cloud is adopted. We use visible light camera Velodyne 16-line laser installed on UAV to complete required data acquisition by planning route UAV. The algorithm used fuse collected visual IMU synchronous flight control. map built using add constraints information. At same time, recover scale information increase accuracy mapping. works in relatively high-frequency mode, collects acceleration...
Due to different modality and sampling density between LiDAR camera, the correspondences these two sensors are difficult find. In this paper, we propose a novel method for Camera-LiDAR extrinsic parameters calibration based on near-far dual targets. our approach, chessboard target is placed closer combined device trihedron object of structured scene farther. Using chessboard, camera motion can be estimated through RGB images captured by camera. The point cloud from then used estimation. By...