In this paper we present an extension of Direct Sparse Odometry (DSO) [1] to a monocular visual SLAM system with loop closure detection and pose-graph optimization (LDSO). As direct technique, DSO can utilize any image pixel sufficient intensity gradient, which makes it robust even in featureless areas. LDSO retains robustness, while at the same time ensuring repeatability some these points by favoring corner features tracking frontend. This allows reliably detect candidates conventional...

This letter presents an incremental voxel-based lidar-inertial odometry (LIO) method for fast-tracking spinning and solid-state lidar scans. To achieve the high tracking speed, we neither use complicated tree-based structures to divide spatial point cloud nor strict k nearest neighbor (k-NN) queries compute matching. Instead, voxels (iVox) as our data structure, which is modified from traditional supports insertion parallel approximated k-NN queries. We propose linear iVox PHC (Pseudo...

Monocular visual odometry (VO) and simultaneous localization mapping (SLAM) have seen tremendous improvements in accuracy, robustness, efficiency, gained increasing popularity over recent years. Nevertheless, not so many discussions been carried out to reveal the influences of three very influential yet easily overlooked aspects, such as photometric calibration, motion bias, rolling shutter effect. In this work, we evaluate these aspects quantitatively on state art direct, feature-based,...

Accurate linear brake-pressure control in a hydraulic unit (HCU) of the vehicle dynamics system, such as electronic-stability (ESC) can improve performance while significantly reduce noise and brake paddle vibration during transient high-frequency process. To minimize system cost, only simple switching solenoid valves master cylinder pressure (MCP) sensor are used ESC, thus an accurate real-time sensorless spool-position estimation is key to controller. In this paper, new sliding-mode...

In this paper, we propose a novel adaptive sliding mode fault-tolerant control scheme based on offline multibody dynamics for the uncertain Stewart platform under loss of actuator effectiveness. The asymptotic stability is analyzed by Lyapunov method in presence friction, unmodeled dynamics, environmental disturbances, and even unpredictable faults. To cope with nonlinear coupling various properties freedom directions, nominal are employed to design initial upper bound uncertainties realize...

The detection of loop closure is essential importance in visual simultaneous localization and mapping systems. It can reduce the accumulating drift algorithms if loops are checked correctly. Traditional approaches take advantage Bag-of-Words model, which clusters feature descriptors as words measures similarity between observations word space. However, features usually designed artificially may not be suitable for data from new-coming sensors. In this paper a novel approach proposed that...

Since four in-wheel-motor drive electric vehicles (4IDEVs) are overactuated systems, the torque distribution strategy is crucial for improving system efficiency, lateral stability, and safety. Hence, this paper proposes a multiobjective optimal 4IDEVs to improve vehicle yaw stability performance energy efficiency. First, motor loss model built describe power characteristics, an efficiency control allocation (EECA) method over NEDC proposed analyze accuracy. Then, hybrid predictive...

High-frequency inductive power transfer (IPT) has garnered significant attention in recent years due to its long transmission distance and high efficiency. The inductance values L quality factors Q of the transmitting receiving coils greatly influence system's operation. Traditional methods involved impedance analyzers or network for measurement, which required bulky costly equipment. Moreover, disassembling it re-measurement is impractical once product packaged. Alternatively, simulation...

As the latest product of Godson processor series, Godson-3B is an 8-core high-performance general-purpose implemented in 65nm CMOS low-power mixed process with 7 layers Cu metallization. contains 582.6M transistors (including 4MB L2-cache) within 299.8mm <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> area. The number signal pins 654. highest frequency 1.05GHz, and peak performance 128GFLOPS (double-precision) or 256GFLOPS...

A large number of Web services are already available on the Web, and type growing a daily basis. As service paradigm becomes popular more applications developed or deployed as services, need for defining different matches manifest. This has raised an interesting research point matches. We concentrate vital part matching - capability formally analyse define exact match plug-in capabilities using abstract finite-state machine approaches. Based above work, we propose new lightweight description...

In this paper we present an extension of Direct Sparse Odometry (DSO) to a monocular visual SLAM system with loop closure detection and pose-graph optimization (LDSO). As direct technique, DSO can utilize any image pixel sufficient intensity gradient, which makes it robust even in featureless areas. LDSO retains robustness, while at the same time ensuring repeatability some these points by favoring corner features tracking frontend. This allows reliably detect candidates conventional...

Hybrid main memory with both DRAM and emerging non-volatile (NVM) becomes a promising solution for high performance energy-efficient embedded systems. Cache plays an important role highly affects the number of write backs to NVM blocks. However, existing cache policies fail fully address significant asymmetry between operations (especially writes) operations, leading non-optimal system designs. We propose write-back aware last-level management scheme hybrid memory, which improves hit ratio...

This paper proposes a state estimation approach 'robust strong tracking unscented Kalman filter with unknown inputs' that can be applied to non-linear systems inputs. Specifically, the and measurement equations are linearised by statistical linearisation. Then, equation of input is derived based on weighted least squares method. The multiple suboptimal fading factor introduced into priori error covariance matrix improve ability for inaccuracy system model abrupt change variables caused...