Quang Vinh Tran

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This study proposes an approach to segment human object from a depth image based on histogram of depth values. The region of interest is first extracted based on a predefined threshold for histogram regions. A region growing process is then employed to separate multiple human bodies with the same depth interval. Our contribution is the identification of an(More)
This paper addresses the localization problem. The extended Kalman filter (EKF) is employed to localize a unicycle-like mobile robot equipped with a laser range finder (LRF) sensor and an omni-directional camera. The LRF is used to scan the environment which is described with line segments. The segments are extracted by a modified least square quadratic(More)
Localization is fundamental to autonomous operation of the mobile robot. In this paper, a new optimal filter namely fuzzy neural network based extended Kalman filter (FNN-EKF) is introduced to improve the localization of a mobile robot in unknown environment. The filter is a combination between a normal extended Kalman filter (EKF) installed on a(More)
This paper proposes an automatic method to generate an extractive summary of multiple Vietnamese documents which are related to a common topic by modeling text documents as weighted undirected graphs. It initially builds undirected graphs with vertices representing the sentences of documents and edges indicate the similarity between sentences. Then, by(More)
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space representation is constructed to describe these mixed uncertainties. Based on it, the optimal linear estimator is(More)
Dealing with the uncertainties of Internet characteristics is an important issue that needs being taken into account in developing Internet-based real-time systems. In this paper, we present our approach in applying fuzzy logic to develop back-up mechanisms for an Internet-based mobile robot to deal with unwanted network problems such as long delays or(More)
This study proposes behavior-based navigation architecture, named BBFM, to deal with the problem of navigating the mobile robot in unknown environments in the presence of obstacles and local minimum regions. In the architecture, the complex navigation task is split into principal sub-tasks or behaviors. Each behavior is implemented by a fuzzy controller and(More)
This paper presents a behavior-based approach for the navigation of networked mobile robot. In the model, a complex navigation task is divided into individual behaviors. Each behavior deals with a different aspect of the network and environment. The predictive filter, stabilization control, and fuzzy logic are employed to design and implement the behavior.(More)
This paper presents a new optimal filter namely past observation-based extended Kalman filter for the problem of localization of Internet-based mobile robot in which the control input and the feedback measurement suffer from communication delay. The filter operates through two phases: the time update and the data correction. The time update predicts the(More)
Tracking the movement of human eyes is expected to yield natural and convenient applications based on human-computer interaction (HCI). To implement an effective eye-tracking system, eye movements must be recorded without placing any restriction on the userpsilas behavior or user discomfort. This paper describes an eye movement recording system that offers(More)
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