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- articleMay 2022
Real‐time vehicle detection and tracking using 3D LiDAR
AbstractThis paper studies the problem of vehicle detection and tracking for an autonomous vehicle using 3D Light Detection and Ranging (LiDAR). In order to increase the accuracy of vehicle detection and tracking, a new clustering algorithm is proposed to ...
- research-articleNovember 2021
Object traversing by monocular UAV in outdoor environment
AbstractIn search and monitoring tasks, object traversing scenarios are more challenging than avoidance and tracking. In this paper, we propose an object perception and path planning algorithm which can detect hollow objects and calculate a traversing ...
- research-articleOctober 2019
Controlled tracking in urban terrain: Closing the loop
AbstractWe investigate the challenging problem of integrating detection, signal processing, target tracking, and adaptive waveform scheduling with lookahead in urban terrain. We propose a closed‐loop active sensing system to address this problem by ...
- research-articleOctober 2019
Feature‐based recursive observer design for homography estimation and its application to image stabilization
AbstractThis paper presents a new algorithm for online estimation of a sequence of homographies applicable to image sequences obtained from robotic vehicles equipped with vision sensors. The approach taken exploits the underlying Special Linear group ...
- research-articleOctober 2019
Continuous‐discrete filters for bearings‐only underwater target tracking problems
AbstractIn this work, we develop a continuous‐discrete shifted Rayleigh filter (CD‐SRF) and a continuous‐discrete sparse‐grid Gauss‐Hermite filter (CD‐SGHF) for a real‐life passive underwater bearings‐only target tracking problem. The stochastic ...
- research-articleOctober 2019
Indoor Tracking by RFID Fusion with IMU Data
AbstractIndoor tracking and positioning technology have received significant attention. There are many techniques to track indoor targets, such as Wi‐Fi technology, radio frequency identification (RFID), and inertial navigation technology. However, these ...
- correctionNovember 2018
- articleMarch 2017
Alignment Motion Control for an Automated Human Ear Surgery via Vision-Servoing
To treat a worldwide common ear disease called Otitis Media with Effusion, a robotic device allowing fast and automatic grommet tube insertion has been designed in our earlier works. However, the previous version has to be manually placed close to the ...
- articleSeptember 2016
A Multiple Model Tracking Algorithm Based on an Adaptive Particle Filter
The interacting multiple model based on a particle filter fails to meet the requirements of real-time performance when manoeuvring target tracking by radar due to deficiencies in its high calculation complexity. An improved particle filter based on ...