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A number of 3D local feature descriptors have been proposed in the literature. It is however, unclear which descriptors are more appropriate for a particular application. A good descriptor should be descriptive, compact, and robust to a set of nuisances. This paper compares ten popular local feature descriptors in the contexts of 3D object recognition, 3D(More)
This paper presents a multiple hypothesis approach to solve the simultaneous localisation and mapping (SLAM) problem with a bearing-only sensor. The main contribution of the paper is to provide a remedy for the landmark initialisation problem that occurs due to the absence of range information, in a computationally efficient manner. Each landmark is(More)
In this paper, the possibility and necessity of multi-step trajectory planning in Extended Kalman Filter (EKF) based SLAM is investigated. The objective of the trajectory planning here is to minimize the estimation error of the robot and landmark locations subject to a given time horizon. We show that the problem can be regarded as an optimization problem(More)
Developing a specific model for a tractor-trailer system subject to slips in real working environment is essential for understanding its system behavior and designing controllers. This paper presents a comprehensive analysis of the kinematics of the tractor-trailer under the influence of disturbances caused by the ground onto the implements and wheels. An(More)
In this paper we provide a broad survey of developments in active vision in robotic applications over the last 15 years. With increasing demand for robotic automation, research in this area has received much attention. Among the many factors that can be attributed to a high-performance robotic system, the planned sensing or acquisition of perceptions on the(More)
The contrast enhancement of gray-level digital images is considered in this paper. In particular, the mean image intensity is preserved while the contrast is enhanced. This provides better viewing consistence and effectiveness. The contrast enhancement is achieved by maximizing the information content carried in the image via a continuous intensity(More)
Use of a Gaussian Sum filter (GSF) to efficiently solve the initialisation problem in bearing-only simultaneous localisation and mapping (SLAM) is the main contribution of this paper. When information about the range is not available, the initial probability density function (pdf) of a landmark in the environment can not be represented using a Gaussian. The(More)
This paper considers trajectory planning problems for autonomous robots in information gathering tasks. The objective of the planning is to maximize the information gathered within a finite time horizon. It is assumed that either the Extended Kalman Filter (EKF) or the Extended Information Filter (EIF) is applied to estimate the features of interest and the(More)