Foundations of Vision Based Control of Robotic Vehicles. Automated and partially automated robotic vehicles are an emerging technology in society. The safety and performance of such systems depends crucially on their sensing and control algorithms. Vision sensing is one of the few sensor modalities that has the potential to adequately represent the complexity of a real world environment. By providing simple and effective vision based control algorithms this project develops Frontier Technologi ....Foundations of Vision Based Control of Robotic Vehicles. Automated and partially automated robotic vehicles are an emerging technology in society. The safety and performance of such systems depends crucially on their sensing and control algorithms. Vision sensing is one of the few sensor modalities that has the potential to adequately represent the complexity of a real world environment. By providing simple and effective vision based control algorithms this project develops Frontier Technologies for Building and Transforming Australian Industries by enabling a wide range of robotic vehicle applications, including aerial, submersible, and wheeled vehicles.Read moreRead less
Image Based Visual Servo Control of Dynamic Under-Actuated Systems. The project builds on earlier work on visual servo control of under-actuated rigid body dynamics to develop and implement sophisticated and robust image based visual servo control for a wide class of under-actuated and fully actuated dynamic systems. The scope of the project extends far beyond basic testing of preliminary results to address key technical issues facing visual servo control algorithms at this time. The project i ....Image Based Visual Servo Control of Dynamic Under-Actuated Systems. The project builds on earlier work on visual servo control of under-actuated rigid body dynamics to develop and implement sophisticated and robust image based visual servo control for a wide class of under-actuated and fully actuated dynamic systems. The scope of the project extends far beyond basic testing of preliminary results to address key technical issues facing visual servo control algorithms at this time. The project is strongly motivated by the host of emerging applications for visual servo control of unmanned aerial vehicles. The experimental program within the project is based on control of a four rotor VTOL `hoverbot'.Read moreRead less
Discovery Early Career Researcher Award - Grant ID: DE150101365
Funder
Australian Research Council
Funding Amount
$360,000.00
Summary
In-person tele-presence through hybrid camera networks. This project aims to develop novel theories and algorithms for live capturing of accurate dense 3D models of moving subjects based on hybrid camera networks. The latter consist of a mix of static external red, green, blue plus depth (RGB-D) cameras and a dynamic head-mounted regular camera. The scientific novelties will be dense, non-rigid, and collaborative structure-from-motion theories that maximise the exploitation of such hybrid inform ....In-person tele-presence through hybrid camera networks. This project aims to develop novel theories and algorithms for live capturing of accurate dense 3D models of moving subjects based on hybrid camera networks. The latter consist of a mix of static external red, green, blue plus depth (RGB-D) cameras and a dynamic head-mounted regular camera. The scientific novelties will be dense, non-rigid, and collaborative structure-from-motion theories that maximise the exploitation of such hybrid information, for instance by utilising exact head-pose information. The outcome is a working prototype producing live full-body animations, thus leveraging new applications in the Information Technology industry. Highly strategically relevant examples are given by 3D tele-presence, enhanced tele-operation, robotics, and intelligent transportation systems.Read moreRead less