ORCID Profile
0000-0002-6124-4178
Current Organisation
University of Technology Sydney
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Research Topics
In Research Link Australia (RLA), "Research Topics" refer to ANZSRC FOR and SEO codes. These topics are either sourced from ANZSRC FOR and SEO codes listed in researchers' related grants or generated by a large language model (LLM) based on their publications.
Top 5 Research Topics
ANZSRC Field of Research (FoR)
Adaptive Agents and Intelligent Robotics | Manufacturing Engineering | Artificial Intelligence and Image Processing | Robotics And Mechatronics | Mechanical Engineering | Transport Engineering | Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics) | Resources Engineering and Extractive Metallurgy | Automotive Engineering | Mining Engineering | Automotive Engineering |
ANZSRC Socio-Economic Objective (SEO)
Expanding Knowledge in Engineering | Transport | Machinery and Equipment not elsewhere classified | Coal | Transport equipment not elsewhere classified | Intelligence | Road Infrastructure and Networks | Automotive equipment | Intermodal materials handling | Rail Infrastructure and Networks
Related Links
Publications
Optimizing Heart Rate Regulation for Safe Exercise
Publisher: Springer Science and Business Media LLC
Date: 02-12-2009
DOI: 10.1007/S10439-009-9849-0
Abstract: Safe exercise protocols are critical for effective rehabilitation programs. This paper aims to develop a novel control strategy for an automated treadmill system to reduce the danger of injury during cardiac rehabilitation. We have developed a control-oriented nonparametric Hammerstein model for the control of heart rate during exercises by using support vector regression and correlation analysis. Based on this nonparametric model, a model predictive controller has been built. In order to guarantee the safety of treadmill exercise during rehabilitation, this new automated treadmill system is capable of optimizing system performance over predefined ranges of speed and acceleration. The effectiveness of the proposed approach was demonstrated with six subjects by having their heart rate track successfully a predetermined heart rate.
A review of optimisation strategies used in simultaneous localisation and mapping
Publisher: Informa UK Limited
Date: 29-11-2019
H8model reduction for linear time-delay systems: Continuous-time case
Publisher: Informa UK Limited
Date: 2001
SLAM-TKA: Real-time Intra-operative Measurement of Tibial Resection Plane in Conventional Total Knee Arthroplasty
Publisher: Springer Nature Switzerland
Date: 2022
A convex optimization based approach for pose SLAM problems
Publisher: IEEE
Date: 10-2012
On the Structure of Nonlinearities in Pose Graph SLAM
Publisher: The MIT Press
Date: 05-07-2013
Mapping large scale environments using relative position information among landmarks
Publisher: IEEE
Date: 2006
Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach
Publisher: Springer International Publishing
Date: 2016
A Template-Based 3D Reconstruction of Colon Structures and Textures From Stereo Colonoscopic Images
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 02-2021
Implementation Issues and Experimental Evaluation of D-SLAM
Publisher: Springer Berlin Heidelberg
Date: 2006
2-Entity Random Sample Consensus for Robust Visual Localization: Framework, Methods, and Verifications
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 05-2021
Feature-based visual simultaneous localization and mapping: a survey
Publisher: Springer Science and Business Media LLC
Date: 16-01-2020
Deconstruction waste management through 3D reconstruction and BIM: a case study
Publisher: Springer Science and Business Media LLC
Date: 14-07-2017
DOI: 10.1186/S40327-017-0050-5
Abstract: The construction industry is responsible for 50% of the solid waste generated worldwide. Governments around the world formulate legislation and regulations concerning recycling and re-using building materials, aiming to reduce waste and environmental impact. Researchers have also been developing strategies and models of waste management for construction and demolition of buildings. The application of Building Information Modeling (BIM) is an ex le of this. BIM is emergent technology commonly used to maximize the efficiency of design, construction and maintenance throughout the entire lifecycle. The uses of BIM on deconstruction or demolition are not common especially the fixtures and fittings of buildings are not considered in BIM models. The development of BIM is based on two-dimensional drawings or sketches, which may not be accurately converted to 3D BIM models. In addition, previous researches mainly focused on construction waste management. There are few studies about the deconstruction waste management focusing on demolition. To fill this gap, this paper aims to develop a framework using a reconstructed 3D model with BIM, for the purpose of improving BIM accuracy and thus developing a deconstruction waste management system to improve demolition efficiency, effective recycling and cost savings. In particular, the developed as-built BIM will be used to identify and measure recyclable materials, as well as to develop a plan for the recycling process.
A Right Invariant Extended Kalman Filter for Object Based SLAM
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2022
Description of stability for linear time‐invariant systems based on the first curvature
Publisher: Wiley
Date: 14-11-2019
DOI: 10.1002/MMA.5896
D-SLAM: A Decoupled Solution to Simultaneous Localization and Mapping
Publisher: SAGE Publications
Date: 02-2007
Abstract: The main contribution of this paper is the reformulation of the simultaneous localization and mapping (SLAM) problem for mobile robots such that the mapping and localization can be treated as two concurrent yet separated processes: D-SLAM (decoupled SLAM). It is shown that SLAM with a range and bearing sensor in an environment populated with point features can be decoupled into solving a nonlinear static estimation problem for mapping and a low-dimensional dynamic estimation problem for localization. This is achieved by transforming the measurement vector into two parts: one containing information relating features in the map and another with information relating the map and robot. It is shown that the new formulation results in an exactly sparse information matrix for mapping when it is solved using an Extended Information Filter (EIF).Thus a significant saving in the computational effort can be achieved for large-scale problems by exploiting the special properties of sparse matrices. An important feature of D-SLAM is that the correlation among features in the map are still kept and it is demonstrated that the uncertainty of the feature estimates monotonically decreases. The algorithm is illustrated and evaluated through computer simulations and experiments.
An Invariant-EKF VINS Algorithm for Improving Consistency
Publisher: arXiv
Date: 2017
Saturated linear quadratic regulation of uncertain linear systems: Stability region estimation and controller design
Publisher: Informa UK Limited
Date: 2002
Linear SLAM: A linear solution to the feature-based and pose graph SLAM based on submap joining
Publisher: IEEE
Date: 11-2013
Toward Consistent and Efficient Map-Based Visual-Inertial Localization: Theory Framework and Filter Design
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 08-2023
Moving away from simulations: Innovative assessment of Mechatronic subjects using remote laboratories
Publisher: IEEE
Date: 10-2013
Dense 3D map construction for indoor search and rescue
Publisher: Wiley
Date: 2007
DOI: 10.1002/ROB.20173
Abstract: The main contribution of this paper is a new simultaneous localization and mapping (SLAM) algorithm for building dense three‐dimensional maps using information acquired from a range imager and a conventional camera, for robotic search and rescue in unstructured indoor environments. A key challenge in this scenario is that the robot moves in 6D and no odometry information is available. An extended information filter (EIF) is used to estimate the state vector containing the sequence of camera poses and some selected 3D point features in the environment. Data association is performed using a combination of scale invariant feature transformation (SIFT) feature detection and matching, random s ling consensus (RANSAC), and least square 3D point sets fitting. Experimental results are provided to demonstrate the effectiveness of the techniques developed. © 2007 Wiley Periodicals, Inc.
Towards a reliable SLAM back-end
Publisher: IEEE
Date: 11-2013
Convergence analysis for extended Kalman filter based SLAM
Publisher: IEEE
Date: 2006
A 16bit 1MS/s High-Bit Sampling SAR ADC with Improved Binary-Weighted Capacitive Array
Publisher: IEEE
Date: 23-10-2020
A new feature parametrization for monocular SLAM using line features
Publisher: Cambridge University Press (CUP)
Date: 05-03-2015
DOI: 10.1017/S026357471400040X
Abstract: This paper presents a new monocular SLAM algorithm that uses straight lines extracted from images to represent the environment. A line is parametrized by two pairs of azimuth and elevation angles together with the two corresponding camera centres as anchors making the feature initialization relatively straightforward. There is no redundancy in the state vector as this is a minimal representation. A bundle adjustment (BA) algorithm that minimizes the reprojection error of the line features is developed for solving the monocular SLAM problem with only line features. A new map joining algorithm which can automatically optimize the relative scales of the local maps is used to combine the local maps generated using BA. Results from both simulations and experimental datasets are used to demonstrate the accuracy and consistency of the proposed BA and map joining algorithms.
l/sup ∞/-bounded robust control for nonlinear discrete time systems
Publisher: IEEE
Date: 2002
Conic Feature Based Simultaneous Localization and Mapping in Open Environment via 2D Lidar
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2019
3D LiDAR Map Compression for Efficient Localization on Resource Constrained Vehicles
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 02-2021
A new state vector for range-only SLAM
Publisher: IEEE
Date: 05-2011
Fast, On-board, Model-aided Visual-Inertial Odometry System for Quadrotor Micro Aerial Vehicles
Publisher: arXiv
Date: 2016
Convergence and Consistency Analysis for A 3D Invariant-EKF SLAM
Publisher: arXiv
Date: 2017
Planning under uncertainty using model predictive control for information gathering
Publisher: Elsevier BV
Date: 11-2006
Direct Bundle Adjustment for 3D Image Fusion with Application to Transesophageal Echocardiography
Publisher: IEEE
Date: 27-09-2021
Decentralised Mission Monitoring with Spatiotemporal Optimal Stopping
Publisher: IEEE
Date: 10-2018
Some Research Questions for SLAM in Deformable Environments
Publisher: IEEE
Date: 27-09-2021
Parallax angle parametrization for monocular SLAM
Publisher: IEEE
Date: 05-2011
Linear SFM: A Hierarchical Approach to Solving Structure-from-Motion Problems by Decoupling the Linear and Nonlinear Components
Publisher: Elsevier BV
Date: 07-2015
Comparison of Two Strategies of Path Planning for Underwater Robot Navigation Under Uncertainty
Publisher: IEEE
Date: 12-2014
Fault tolerant decentralized H/sub ∞/ control for symmetric composite systems
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 1999
DOI: 10.1109/9.802926
2D Laser SLAM With General Features Represented by Implicit Functions
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 07-2020
Input-to-state stability of a class of Lur'e descriptor systems
Publisher: Wiley
Date: 16-04-2012
DOI: 10.1002/RNC.2821
Dense Isometric Non-Rigid Shape-From-Motion Based on Graph Optimization and Edge Selection
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2020
IN2LAAMA: Inertial Lidar Localization Autocalibration and Mapping
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 02-2021
IN2LAAMA: INertial Lidar Localisation Autocalibration And MApping
Publisher: arXiv
Date: 2019
Low-cost visual tracking with an intelligent wheelchair for innovative assistive care
Publisher: IEEE
Date: 12-2012
Linear SLAM: Linearising the SLAM problems using submap joining
Publisher: Elsevier BV
Date: 02-2019
Multi-Step Look-Ahead Trajectory Planning in SLAM: Possibility and Necessity
Publisher: IEEE
Date: 2005
Optimisation model and exact algorithm for autonomous straddle carrier scheduling at automated container terminals
Publisher: IEEE
Date: 09-2011
A pose pruning driven solution to pose feature GraphSLAM
Publisher: Informa UK Limited
Date: 26-01-2015
Analysis of input to state stability for discrete time nonlinear systems via dynamic programming
Publisher: IEEE
Date: 2003
A Method of State Estimation for Underwater Vehicle Navigation Around A Cylindrical Structure
Publisher: IEEE
Date: 06-2016
Near minimum time path planning for bearing-only localisation and mapping
Publisher: IEEE
Date: 2005
D-SLAM: Decoupled Localization and Mapping for Autonomous Robots
Publisher: Springer Berlin Heidelberg
Date: 2007
L2-SIFT: SIFT feature extraction and matching for large images in large-scale aerial photogrammetry
Publisher: Elsevier BV
Date: 05-2014
An observable time series based SLAM algorithm for deforming environment
Publisher: arXiv
Date: 2019
Motion segmentation based robust RGB-D SLAM
Publisher: IEEE
Date: 06-2015
On practical input to state stabilization for nonlinear discrete-time systems: A dynamic programming approach
Publisher: IEEE
Date: 09-2003
Parallax Bundle Adjustment on Manifold with Improved Global Initialization
Publisher: Springer International Publishing
Date: 2018
An Automatic Slope-Calibrated Ramp Generator for Single-Slope ADCs
Publisher: IEEE
Date: 10-2019
Decentralized fault tolerant stabilization for symmetric composite systems
Publisher: IEEE
Date: 1998
Optimal search for multiple targets in a built environment
Publisher: IEEE
Date: 2005
GEM: Online Globally Consistent Dense Elevation Mapping for Unstructured Terrain
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2021
Path planning for a robotic arm sand-blasting system
Publisher: IEEE
Date: 06-2008
Globally optimal consensus maximization for robust visual inertial localization in point and line map
Publisher: IEEE
Date: 24-10-2020
Input-to-state stability of a class of descriptor systems
Publisher: Wiley
Date: 17-07-2012
DOI: 10.1002/RNC.2876
Online Estimation of Ocean Current from Sparse GPS Data for Underwater Vehicles
Publisher: arXiv
Date: 2019
3D I-SLSJF: A consistent sparse local submap joining algorithm for building large-scale 3D Map
Publisher: IEEE
Date: 12-2009
Active SLAM using Model Predictive Control and Attractor based Exploration
Publisher: IEEE
Date: 10-2006
2D Laser SLAM With Closed Shape Features: Fourier Series Parameterization and Submap Joining
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2021
Exploiting the separable structure of SLAM
Publisher: Robotics: Science and Systems Foundation
Date: 13-07-2015
Active SLAM for Mobile Robots with Area Coverage and Obstacle Avoidance
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 06-2020
Iterated D-SLAM map joining: evaluating its performance in terms of consistency, accuracy and efficiency
Publisher: Springer Science and Business Media LLC
Date: 18-09-2009
Feature based SLAM using laser sensor data with maximized information usage
Publisher: IEEE
Date: 05-2011
Advanced Control for Singular Systems with Applications
Publisher: Hindawi Limited
Date: 05-06-2018
DOI: 10.1155/2018/1819540
Robust Global Structure From Motion Pipeline With Parallax on Manifold Bundle Adjustment and Initialization
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2019
Linear MonoSLAM: A linear approach to large-scale monocular SLAM problems
Publisher: IEEE
Date: 05-2014
Rescheduling policies for large-scale task allocation of autonomous straddle carriers under uncertainty at automated container terminals
Publisher: Elsevier BV
Date: 04-2014
A Low-Power Single-Slope based 14-bit Column-Level ADC for 384x288 Uncooled Infrared Imager
Publisher: IEEE
Date: 10-2019
Active SLAM in 3D deformable environments
Publisher: IEEE
Date: 23-10-2022
An invariant-EKF VINS algorithm for improving consistency
Publisher: IEEE
Date: 09-2017
Aortic 3D Deformation Reconstruction using 2D X-ray Fluoroscopy and 3D Pre-operative Data for Endovascular Interventions
Publisher: IEEE
Date: 05-2020
Parallax Bundle Adjustment on Manifold with Convexified Initialization
Publisher: arXiv
Date: 2018
A review of recent developments in Simultaneous Localization and Mapping
Publisher: IEEE
Date: 08-2011
Robot Localization: An Introduction
Publisher: Wiley
Date: 15-08-2016
Abstract: Robot localization is the process of determining where a mobile robot is located with respect to its environment. Localization is one of the most fundamental competencies required by an autonomous robot as the knowledge of the robot's own location is an essential precursor to making decisions about future actions. In a typical robot localization scenario, a map of the environment is available and the robot is equipped with sensors that observe the environment as well as monitor its own motion. The localization problem then becomes one of estimating the robot position and orientation within the map using information gathered from these sensors. Robot localization techniques need to be able to deal with noisy observations and generate not only an estimate of the robot location but also a measure of the uncertainty of the location estimate. This article provides an introduction to estimation of theoretic solutions to the robot localization problem. It begins by discussing the mathematical models used to describe the robot motion and observations from the sensors. Two of the most common probabilistic techniques, the extended Kalman filter and the particle filter, that can be used to combine information from sensors to compute an estimate of the robot location are then discussed in detail and illustrated by simple ex les. A brief summary of the large body of literature on robot localization is presented next. Appendices that present the essential mathematical background and alternative techniques are provided. The MATLAB code of the localization algorithms is also available.
High Quality 3D Reconstruction of Indoor Environments using RGB-D Sensors
Publisher: IEEE
Date: 06-2017
Special Issue on Localization and Mapping in Challenging Environments
Publisher: Elsevier BV
Date: 11-2017
Multi-robot simultaneous localization and mapping using D-SLAM framework
Publisher: IEEE
Date: 2007
Convergence comparison of least squares based bearing-only SLAM algorithms using different landmark parametrizations
Publisher: IEEE
Date: 12-2012
A Stacked LSTM-Based Approach for Reducing Semantic Pose Estimation Error
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2021
Analysis of Minima for Geodesic and Chordal Cost for a Minimal 2-D Pose-Graph SLAM Problem
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2020
Nonparametric Hammerstein Model Based Model Predictive Control for Heart Rate Regulation
Publisher: IEEE
Date: 08-2007
Necessary and Sufficient Conditions for Observability of SLAM-Based TDOA Sensor Array Calibration and Source Localization
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2021
Reliable Graphs for SLAM
Publisher: SAGE Publications
Date: 22-01-2019
Abstract: Estimation-over-graphs (EoG) is a class of estimation problems that admit a natural graphical representation. Several key problems in robotics and sensor networks, including sensor network localization, synchronization over a group, and simultaneous localization and mapping (SLAM) fall into this category. We pursue two main goals in this work. First, we aim to characterize the impact of the graphical structure of SLAM and related problems on estimation reliability. We draw connections between several notions of graph connectivity and various properties of the underlying estimation problem. In particular, we establish results on the impact of the weighted number of spanning trees on the D-optimality criterion in 2D SLAM. These results enable agents to evaluate estimation reliability based only on the graphical representation of the EoG problem. We then use our findings and study the problem of designing sparse SLAM problems that lead to reliable maximum likelihood estimates through the synthesis of sparse graphs with the maximum weighted tree connectivity. Characterizing graphs with the maximum number of spanning trees is an open problem in general. To tackle this problem, we establish several new theoretical results, including the monotone log-submodularity of the weighted number of spanning trees. We exploit these structures and design a complementary greedy–convex pair of efficient approximation algorithms with provable guarantees. The proposed synthesis framework is applied to various forms of the measurement selection problem in resource-constrained SLAM. Our algorithms and theoretical findings are validated using random graphs, existing and new synthetic SLAM benchmarks, and publicly available real pose-graph SLAM datasets.
Novel insights into the impact of graph structure on SLAM
Publisher: IEEE
Date: 09-2014
Proof of concept study for using UR10 robot to help total hip replacement
Publisher: Wiley
Date: 30-12-2021
DOI: 10.1002/RCS.2359
Abstract: The demand for total hip replacement (THR) for treating osteoarthritis has grown substantially worldwide. The existing robotic systems used in THR are invasive and costly. This study aims to develop a less‐invasive and low‐cost robotic system to assist THR surgery. A preliminary robotic reaming system was developed based on a UR10 robot equipped with a reamer to cut acetabulum. A novel approach was proposed to cut through a 5 mm hole in femur such that the operation is less invasive to the patients. The average error of the cutting hemisphere by the robotic reaming system is 0.1182 mm which is smaller than the average result reaming by hand (0.1301 mm). The robotic reaming can help make THR procedures less invasive and more accurate. Moreover, the system is expected to be significantly less expensive than the robotic systems available in the market at present.
A submap joining algorithm for 3D reconstruction using an RGB-D camera based on point and plane features
Publisher: Elsevier BV
Date: 08-2019
On-line 3D active pose-graph SLAM based on key poses using graph topology and sub-maps
Publisher: IEEE
Date: 05-2019
3D Reconstruction of Deformable Colon Structures based on Preoperative Model and Deep Neural Network
Publisher: IEEE
Date: 30-05-2021
Local reliable control for linear systems with saturating actuators
Publisher: IEEE
Date: 2002
Gaussian process model enabled particle filter for device-free localization
Publisher: IEEE
Date: 07-2017
Direct 3D ultrasound fusion for transesophageal echocardiography
Publisher: Elsevier BV
Date: 07-2021
Efficient two step optimization for large embedded deformation graph based SLAM
Publisher: IEEE
Date: 05-2020
Source apportionment of ambient PM2.5 at five spanish centres of the european community respiratory health survey (ECRHS II)
Publisher: Elsevier BV
Date: 03-2007
Linear SLAM: Linearising the SLAM Problems using Submap Joining
Publisher: arXiv
Date: 2018
Exact state and covariance sub-matrix recovery for submap based sparse EIF SLAM algorithm
Publisher: IEEE
Date: 05-2008
Efficient Active SLAM Based on Submap Joining, Graph Topology and Convex Optimization
Publisher: IEEE
Date: 05-2018
Multi-agent search with interim positive information
Publisher: IEEE
Date: 10-2007
Towards robust vision-based self-localization of vehicles in dense urban environments
Publisher: IEEE
Date: 10-2012
3D LiDAR-Based Global Localization Using Siamese Neural Network
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2020
Tree-Connectivity: Evaluating the Graphical Structure of SLAM
Publisher: IEEE
Date: 05-2016
Control of uncertain bilinear systems using linear controllers: stability region estimation and controller design
Publisher: IEEE
Date: 2002
Deep Learning Assisted Automatic Intra-operative 3D Aortic Deformation Reconstruction
Publisher: Springer International Publishing
Date: 2020
Feature-Based SLAM: Why Simultaneous Localisation and Mapping?
Publisher: Robotics: Science and Systems Foundation
Date: 12-07-2021
The nonlinearity structure of point feature SLAM problems with spherical covariance matrices
Publisher: Elsevier BV
Date: 10-2013
Reliable linear-quadratic control for symmetric composite systems
Publisher: Informa UK Limited
Date: 2001
Improvement of the inspection-repair process with building information modelling and image classification
Publisher: Emerald
Date: 07-05-2019
Abstract: Automated technologies have been applied to facility management (FM) practices to address labour demands of, and time consumed by, inputting and processing manual data. Less attention has been focussed on automation of visual information, such as images, when improving timely maintenance decisions. This study aims to develop image classification algorithms to improve information flow in the inspection-repair process through building information modelling (BIM). To improve and automate the inspection-repair process, image classification algorithms were used to connect images with a corresponding image database in a BIM knowledge repository. Quick response (QR) code decoding and Bag of Words were chosen to classify images in the system. Graphical user interfaces (GUIs) were developed to facilitate activity collaboration and communication. A pilot case study in an inspection-repair process was applied to demonstrate the applications of this system. The system developed in this study associates the inspection-repair process with a digital three-dimensional (3D) model, GUIs, a BIM knowledge repository and image classification algorithms. By implementing the proposed application in a case study, the authors found that improvement of the inspection-repair process and automated image classification with a BIM knowledge repository (such as the one developed in this study) can enhance FM practices by increasing productivity and reducing time and costs associated with ecision-making. This study introduces an innovative approach that applies image classification and leverages a BIM knowledge repository to enhance the inspection-repair process in FM practice. The system designed provides automated image-classifying data from a smart phone, eliminates time required to input image data manually and improves communication and collaboration between FM personnel for maintenance in the decision-making process.
Map-Based Visual-Inertial Localization: Consistency and Complexity
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 03-2023
A Submap Joining Based RGB-D SLAM Algorithm using Planes as Features
Publisher: Springer International Publishing
Date: 03-11-2017
Designing Sparse Reliable Pose-Graph SLAM: A Graph-Theoretic Approach
Publisher: arXiv
Date: 2016
Sparse Local Submap Joining Filter for Building Large-Scale Maps
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2008
A robust RGB-D SLAM algorithm
Publisher: IEEE
Date: 10-2012
Robust H ∞ reliable control for a class of uncertain neutral delay systems
Publisher: Informa UK Limited
Date: 2002
Simultaneous dynamic scheduling and collision-free path planning for multiple autonomous vehicles
Publisher: IEEE
Date: 06-2009
Necrotizing Meningoencephalitis in Five Chihuahua Dogs
Publisher: SAGE Publications
Date: 05-2008
DOI: 10.1354/VP.45-3-336
Abstract: An acute to chronic idiopathic necrotizing meningoencephalitis was diagnosed in 5 Chihuahua dogs aged between 1.5 and 10 years. Presenting neurologic signs included seizures, blindness, mentation changes, and postural deficits occurring from 5 days to 5.5 months prior to presentation. Cerebrospinal fluid analyses from 2 of 3 dogs s led were consistent with an inflammatory disease. Magnetic resonance imaging of the brain of 2 dogs demonstrated multifocal loss or collapse of cortical gray/white matter demarcation hypointense on T1-weighted images, with T2-weighted hyperintensity and slight postcontrast enhancement. Multifocal asymmetrical areas of necrosis or collapse in both gray and white matter of the cerebral hemispheres was seen grossly in 4 brains. Microscopically in all dogs, there was a severe, asymmetrical, intensely cellular, nonsuppurative meningoencephalitis usually with cystic necrosis in subcortical white matter. There were no lesions in the mesencephalon or metencephalon except in 1 dog. Immunophenotyping defined populations of CD3, CD11d, CD18, CD20, CD45, CD45 RA, and CD79a immunoreactive inflammatory cells varying in density and location but common to acute and chronic lesions. In fresh frozen lesions, both CD1b,c and CD11c immunoreactive dendritic antigen-presenting cells were also identified. Immunoreactivity for canine distemper viral (CDV) antigen was negative in all dogs. The clinical signs, distribution pattern, and histologic type of lesions bear close similarities to necrotizing meningoencephalitis as described in series of both Pug and Maltese breed dogs and less commonly in other breeds.
Trajectory planning for multiple robots in bearing-only target localisation
Publisher: IEEE
Date: 2005
The decentralized fixed modes of twin lift systems
Publisher: IEEE
Date: 1997
An approach to base placement for effective collaboration of multiple autonomous industrial robots
Publisher: IEEE
Date: 05-2015
Structure-to-Shape Aortic 3-D Deformation Reconstruction for Endovascular Interventions
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 08-2023
On the Structure of Nonlinearities in Pose Graph
Publisher: Robotics: Science and Systems Foundation
Date: 09-07-2012
Comparison of two different objective functions in 2D point feature SLAM
Publisher: Elsevier BV
Date: 11-2018
Maximizing the Weighted Number of Spanning Trees: Near-$t$-Optimal Graphs
Publisher: arXiv
Date: 2016
Tradeoffs in SLAM with Sparse Information Filters
Publisher: Springer Berlin Heidelberg
Date: 2008
Comparison Between MATLAB Bundle Adjustment Function and Parallax Bundle Adjustment
Publisher: IEEE
Date: 11-12-2022
A new state vector and a map joining algorithm for range-only SLAM
Publisher: IEEE
Date: 12-2012
How far is SLAM from a linear least squares problem?
Publisher: IEEE
Date: 10-2010
Observability Analysis of Graph SLAM-Based Joint Calibration of Multiple Microphone Arrays and Sound Source Localization
Publisher: arXiv
Date: 2022
GSAP: A Global Structure Attention Pooling Method for Graph-Based Visual Place Recognition
Publisher: MDPI AG
Date: 10-04-2021
DOI: 10.3390/RS13081467
Abstract: The Visual Place Recognition problem aims to use an image to recognize the location that has been visited before. In most of the scenes revisited, the appearance and view are drastically different. Most previous works focus on the 2-D image-based deep learning method. However, the convolutional features are not robust enough to the challenging scenes mentioned above. In this paper, in order to take advantage of the information that helps the Visual Place Recognition task in these challenging scenes, we propose a new graph construction approach to extract the useful information from an RGB image and a depth image and fuse them in graph data. Then, we deal with the Visual Place Recognition problem as a graph classification problem. We propose a new Global Pooling method—Global Structure Attention Pooling (GSAP), which improves the classification accuracy by improving the expression ability of the Global Pooling component. The experiments show that our GSAP method improves the accuracy of graph classification by approximately 2–5%, the graph construction method improves the accuracy of graph classification by approximately 4–6%, and that the whole Visual Place Recognition model is robust to appearance change and view change.
Multi-Session SLAM Over Low Dynamic Workspace Using RGBD Sensor
Publisher: WORLD SCIENTIFIC
Date: 25-08-2016
Line matching based on planar homography for stereo aerial images
Publisher: Elsevier BV
Date: 06-2015
Complete region of interest reconstruction by fusing multiview deformable three‐dimensional transesophageal echocardiography images
Publisher: Wiley
Date: 17-08-2022
DOI: 10.1002/MP.15910
Abstract: While three‐dimensional transesophageal echocardiography (3D TEE) has been increasingly used for assessing cardiac anatomy and function, it still suffers from a limited field of view (FoV) of the ultrasound transducer. Therefore, it is difficult to examine a complete region of interest without moving the transducer. Existing methods extend the FoV of 3D TEE images by mosaicing multiview static images, which requires synchronization between 3D TEE images and electrocardiogram (ECG) signal to avoid deformations in the images and can only get the widened image at a specific phase. This work aims to develop a novel multiview nonrigid registration and fusion method to extend the FoV of 3D TEE images at different cardiac phases, avoiding the bias toward the specifically chosen phase. A multiview nonrigid registration and fusion method is proposed to enlarge the FoV of 3D TEE images by fusing dynamic images captured from different viewpoints sequentially. The deformation field for registering images is defined by a collection of affine transformations organized in a graph structure and is estimated by a direct (intensity‐based) method. The accuracy of the proposed method is evaluated by comparing it with two B‐spline–based methods, two Demons‐based methods, and one learning‐based method VoxelMorph. Twenty‐nine sequences of in vivo 3D TEE images captured from four patients are used for the comparative experiments. Four performance metrics including checkerboard volumes, signed distance, mean absolute distance (MAD), and Dice similarity coefficient (DSC) are used jointly to evaluate the accuracy of the results. Additionally, paired t ‐tests are performed to examine the significance of the results. The qualitative results show that the proposed method can align images more accurately and obtain the fused images with higher quality than the other five methods. Additionally, in the evaluation of the segmented left atrium (LA) walls for the pairwise registration and sequential fusion experiments, the proposed method achieves the MAD of (0.07 ± 0.03) mm for pairwise registration and (0.19 ± 0.02) mm for sequential fusion. Paired t ‐tests indicate that the results obtained from the proposed method are more accurate than those obtained by the state‐of‐the‐art VoxelMorph and the diffeomorphic Demons methods at the significance level of 0.05. In the evaluation of left ventricle (LV) segmentations for the sequential fusion experiments, the proposed method achieves a DSC of (0.88 ± 0.08), which is also significantly better than diffeomorphic Demons at the 0.05 level. The FoVs of the final fused 3D TEE images obtained by our method are enlarged around two times compared with the original images. Without selecting the static (ECG‐gated) images from the same cardiac phase, this work addressed the problem of limited FoV of 3D TEE images in the deformable scenario, obtaining the fused images with high accuracy and good quality. The proposed method could provide an alternative to the conventional fusion methods that are biased toward the specifically chosen phase.
Measurement feedback controller design to achieve input to state stability
Publisher: IEEE
Date: 2004
Variation of soluble and insoluble calcium in red rains related to dust sources and transport patterns from North Africa to northeastern Spain
Publisher: American Geophysical Union (AGU)
Date: 13-03-2007
DOI: 10.1029/2006JD007153
A Deep Learning Framework for Robust Semantic SLAM
Publisher: IEEE
Date: 02-2020
Occupancy-SLAM: Simultaneously Optimizing Robot Poses and Continuous Occupancy Map
Publisher: Robotics: Science and Systems Foundation
Date: 27-06-2022
Large-scale monocular SLAM by local bundle adjustment and map joining
Publisher: IEEE
Date: 12-2010
2021 IEEE RAS Winter School on Simultaneous Localization and Mapping in Deformable Environments [Education]
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 03-2022
Invariant EKF based 2D Active SLAM with Exploration Task
Publisher: IEEE
Date: 30-05-2021
Online estimation of ocean current from sparse GPS data for underwater vehicles
Publisher: IEEE
Date: 05-2019
IN2LAMA: INertial Lidar Localisation And Mapping
Publisher: IEEE
Date: 05-2019
Multiobjective optimization for autonomous straddle carrier scheduling at automated container terminals
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 07-2013
A comparison of cardiovascular reactivity of rural blacks, urban blacks and whites
Publisher: Wiley
Date: 10-1992
Gaussian Process Preintegration for Inertial-Aided State Estimation
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2020
Broadcast Your Weaknesses: Cooperative Active Pose-Graph SLAM for Multiple Robots
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2020
On the number of local minima to the point feature based SLAM problem
Publisher: IEEE
Date: 05-2012
Predicting Objective Function Change in Pose-Graph Optimization
Publisher: IEEE
Date: 10-2019
Convergence and Consistency Analysis for Extended Kalman Filter Based SLAM
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2007
A framework for multi-session RGBD SLAM in low dynamic workspace environment
Publisher: Elsevier BV
Date: 2016
MIS-SLAM: Real-time Large Scale Dense Deformable SLAM System in Minimal Invasive Surgery Based on Heterogeneous Computing
Publisher: arXiv
Date: 2018
The decoupling of a class of large-scale systems with symmetric circulant structure
Publisher: Elsevier BV
Date: 07-1999
Topological local-metric framework for mobile robots navigation: a long term perspective
Publisher: Springer Science and Business Media LLC
Date: 29-03-2019
Decoupling localization and mapping in SLAM using compact relative maps
Publisher: IEEE
Date: 2005
Robust Incremental SLAM Under Constrained Optimization Formulation
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2018
Task oriented area partitioning and allocation for optimal operation of multiple industrial robots in unstructured environments
Publisher: IEEE
Date: 12-2014
Observability Analysis of Graph SLAM-Based Joint Calibration of Multiple Microphone Arrays and Sound Source Localization
Publisher: IEEE
Date: 17-01-2023
Discounted MEAN bound for the optimal searcher path problem with non-uniform travel times
Publisher: Elsevier BV
Date: 10-2008
Towards dense moving object segmentation based robust dense RGB-D SLAM in dynamic scenarios
Publisher: IEEE
Date: 12-2014
Evaluation of different SLAM algorithms using Google tangle data
Publisher: IEEE
Date: 06-2017
Probabilistic Search for a Moving Target in an Indoor Environment
Publisher: IEEE
Date: 10-2006
Incremental SQP method for constrained optimization formulation in SLAM
Publisher: IEEE
Date: 11-2016
Models for pushing objects with a mobile robot using single point contact
Publisher: IEEE
Date: 10-2010
Evaluation of Pose Only SLAM
Publisher: IEEE
Date: 10-2010
Device-free localization via an extreme learning machine with parameterized geometrical feature extraction
Publisher: MDPI AG
Date: 17-04-2017
DOI: 10.3390/S17040879
A critique of current developments in simultaneous localization and mapping
Publisher: SAGE Publications
Date: 09-2016
Abstract: The number of research publications dealing with the simultaneous localization and mapping problem has grown significantly over the past 15 years. Many fundamental and practical aspects of simultaneous localization and mapping have been addressed, and some efficient algorithms and practical solutions have been demonstrated. The aim of this paper is to provide a critical review of current theoretical understanding of the fundamental properties of the SLAM problem, such as observability, convergence, achievable accuracy and consistency. Recent research outcomes associated with these topics are briefly discussed together with potential future research directions.
Towards a consistent SLAM algorithm using B-splines to represent environments
Publisher: IEEE
Date: 10-2010
CARE: Confidence-Rich Autonomous Robot Exploration Using Bayesian Kernel Inference and Optimization
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2023
ParallaxBA: Bundle adjustment using parallax angle feature parametrization
Publisher: SAGE Publications
Date: 26-01-2015
Abstract: The main contribution of this paper is a novel feature parametrization based on parallax angles for bundle adjustment (BA) in structure and motion estimation from monocular images. It is demonstrated that under certain conditions, describing feature locations using their Euclidean XYZ coordinates or using inverse depth in BA leads to ill-conditioned normal equations as well as objective functions that have very small gradients with respect to some of the parameters describing feature locations. The proposed parallax angle feature parametrization in BA (ParallaxBA) avoids both of the above problems leading to better convergence properties and more accurate motion and structure estimates. Simulation and experimental datasets are used to demonstrate the impact of different feature parametrizations on BA, and the improved convergence, efficiency and accuracy of the proposed ParallaxBA algorithm when compared with some existing BA packages such as SBA, sSBA and g2o. The C/C++ source code of ParallaxBA is available on OpenSLAM ( openslam.org/ ).
Comparison of EKF based SLAM and Optimization based SLAM Algorithms
Publisher: IEEE
Date: 05-2018
A sparse separable SLAM back-end
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 12-2016
Simultaneous Localization and Mapping
Publisher: WORLD SCIENTIFIC
Date: 05-2011
DOI: 10.1142/8145
3D Reconstruction of Tibia and Fibula using One General Model and Two X-ray Images
Publisher: IEEE
Date: 29-05-2023
The QUENDA-BOT: Autonomous Robot for Screw-Fixing Installation in Timber Building Construction
Publisher: IEEE
Date: 26-08-2023
Dynamic Reconstruction of Deformable Soft-tissue with Stereo Scope in Minimal Invasive Surgery
Publisher: arXiv
Date: 2020
Dynamic Reconstruction of Deformable Soft-Tissue With Stereo Scope in Minimal Invasive Surgery
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 2018
Cramér–Rao Bounds and Optimal Design Metrics for Pose-Graph SLAM
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 04-2021
Anchor Selection for SLAM Based on Graph Topology and Submodular Optimization
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 02-2022
MIS-SLAM: Real-Time Large-Scale Dense Deformable SLAM System in Minimal Invasive Surgery Based on Heterogeneous Computing
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
Date: 10-2018
Time optimal robot motion control in simultaneous localization and map building (SLAM) problem
Publisher: IEEE
Date: 2004
Active SLAM in structured environments
Publisher: IEEE
Date: 05-2008
Fast, on-board, model-aided visual-inertial odometry system for quadrotor micro aerial vehicles
Publisher: IEEE
Date: 05-2016
DSR: Direct Simultaneous Registration for Multiple 3D Images
Publisher: Springer Nature Switzerland
Date: 2022
3D Lidar-IMU Calibration based on Upsampled Preintegrated Measurements for Motion Distortion Correction
Publisher: IEEE
Date: 05-2018
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