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We consider the problem of understanding the 3D layout of indoor corridor scenes from a single image in real time. Identifying obstacles such as walls is essential for robot navigation, but also challenging due to the diversity in structure, appearance and illumination of real-world corridor scenes. Many current single-image methods make Manhattan-world(More)
This paper addresses the problem of autonomous navigation of a mi-cro aerial vehicle (MAV) inside a constrained shipboard environment for inspection and damage assessment, which might be perilous or inaccessible for humans especially in emergency scenarios. The environment is GPS-denied and visually degraded, containing narrow passageways, doorways and(More)
— Existing simultaneous localization and mapping (SLAM) algorithm is not robust in challenging low-texture environments because of few salient features. The resulting sparse or semi-dense map also conveys little information for motion planning. Though some work utilize plane or scene layout for dense map regularization, they require decent state estimation(More)
This paper addresses the problem of autonomous navigation of a micro aerial vehicle (MAV) for inspection and damage assessment inside a constrained shipboard environment, which might be perilous or inaccessible for humans, especially in emergency scenarios. The environment is GPS-denied and visually degraded, containing narrow passageways, doorways, and(More)
In this paper, an optimized central pattern generator (CPG) network is proposed for humanoid walking control. The CPG controller targets three joints (hip, knee and ankle) of each leg including 4 degrees of freedom (DOFs). The connections for CPG units of related joints are simplified and optimized hierarchically. The total number of CPG parameters is(More)
Obstacle avoidance from monocular images is a challenging problem for robots. Though multi-view structurefrom-motion could build 3D maps, it is not robust in textureless environments. Some learning based methods exploit human demonstration to predict a steering command directly from a single image. However, this method is usually biased towards certain(More)
Surface water and ground water is extremely needed in arid and semi-arid northwest area of China, and rainwater is the only potential recourse. Nevertheless, conventional water treatment processes and methods have high technique requirement. What's more, the operation, maintenance and management of the processes are often complicated, it is only suitable(More)
Based on the turbidity, lower temperature and micro polluted of cellar water in villages and towns in northwest china, removal efficiency of turbidity, CODMn, NH3-N, UV254 was analyzed in this integrate technology by simulating northwest cellar rainwater. Results showed that the turbidity, CODMn, NH3-N, UV254 in yielding water became stable and the average(More)
Existing simultaneous localization and mapping (SLAM) algorithms are not robust in challenging low-texture environments because there are only few salient features. The resulting sparse or semi-dense map also conveys little information for motion planning. Though some work utilize plane or scene layout for dense map regularization, they require decent state(More)
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