Sin-Yi Jiang

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This paper presents a vision-based obstacle avoidance design using a monocular camera onboard a mobile robot. An image processing procedure is developed to estimate distances between the robot and obstacles based-on inverse perspective transformation (IPT) in image plane. A robust image processing solution is proposed to detect and segment navigatable(More)
This paper presents a novel force-cooperative guidance controller design for a walking assistive robot such that it can guide an elderly or handicapped person in an indoor environment. The guidance system has been implemented on a walking helper robot (Walbot) to allow the robot to incorporate passive behaviors. A handrail was provided for Walbot to(More)
This paper presents a point-to-point pose tracking controller design for a steer-and-drive omnidirectional mobile robot. A method is proposed for smooth position and orientation tracking of the omnidirectional mobile platform based on a differential flatness approach. This method is full-state controllable, which can plan a smooth trajectory for the mobile(More)
This paper presents a shared-control-based design for teleoperation of a dual-arm omnidirectional mobile robot— a robot that can execute tasks commanded by a remotely user, or that can operate autonomously by adapting to its immediate environment, or that can operate in both modes simultaneously. To achieve this capability for the robot and for its(More)
In this paper, we propose a CAD-based 6-DOF pose estimation design for random bin-picking of multiple different objects using a Kinect RGB-D sensor. 3D CAD models of objects are constructed via a virtual camera, which generates a point cloud database for object recognition and pose estimation. A voxel grid filter is suggested to reduce the number of 3D(More)
In this paper, we investigate the performance of KinectFusion algorithm for 3D reconstruction using a Kinect sensor. A sensor model is applied to generate depth image to evaluate accuracy of the algorithm. To obtain ground truth of depth image as well as camera pose, we generate depth data based on a CAD model in a simulation program. In the error analysis,(More)
Global IPv6 deployment was slower than originally expected. As IPv4 address exhaustion approaches, IPv4 to IPv6 transition issues become more critical and less tractable. Host-based transition mechanisms used in dual-stack environments cannot meet all transition requirements. Most end users are not sufficiently expert to configure or maintain host-based(More)
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