Weiwei Kong

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In this study, we focus on the problem of landing an unmanned aerial vehicle (UAV) in unknown and Global Navigation Satellite System(GNSS)-denied environments based on an infrared stereo vision system. This system is fixed on the ground and used to track the UAV's position during the landing process. In order to enlarge the search field of view (FOV), a(More)
This paper presents a new ground-based visual approach for guidance and safe landing of an unmanned aerial vehicle (UAV) in Global Navigation Satellite System(GNSS)-denied environments. In our previous work, the old system consists of one pan-tilt unit(PTU) with two cameras, whose detection range is limited by the baseline. To achieve long-range detection(More)
This paper concerns about automatic flight control strategies for the running takeoff and landing of fixed-wing unmanned aerial vehicles (UAVs). Firstly, a dynamic model of fixed-wing UAVs is developed. Then the takeoff and landing control strategies are designed. The flight control strategies are designed to be segmented. A fixed-wing UAV named(More)
Recently, there has been growing interest in developing unmanned aircraft system (UAS) based on visual sensors. During the whole autonomous assignment, the landing procedure is one of the most dangerous and challenging process. For most of unmanned aircraft vehicle, visual sensors are the basic equipment, which are also widely used during the landing(More)
Following the recent work Schaeffer and Osher (SIAM J Imaging Sci 6:226–262, 2013), the low patch-rank interpretation for the oscillating patterns of an image validates the application of matrix-rank optimization to image decomposition. Therein, the problem was mathematically modeled as a separable convex programming with three-block (a total variation(More)
The dried root of Gentiana macrophylla is a well-known traditional Chinese herbal medicine for treating jaundice, hepatitis, and stomachic and choleretic ailments. However, natural sources are now in short supply. A lack of information about its genetic background has been a great hindrance to producing its active constituents via genetic engineering. We(More)
This article mainly focuses on the vision-based obstacle avoidance of unmanned aerial vehicle (UAV). Detecting the obstacle and controlling the UAV to avoid it are two key modules in the sense-and-avoid system. We adopt a bio-inspired human vision algorithm called saliency method to realize the automatic detection. Furthermore, this article proposes a(More)
The mathematical model of small fixed-wing UAV is difficult to determine precisely, especially for low-cost UAVs due to the limitation of the body material. Control of small UAVs with model uncertainty is an open problem both in the control community and engineering field. Active disturbance rejection control (ADRC) proposed by Jingqing Han has been shown(More)
The scan registration is the cornerstone to Mobile Robotic Mapping, and the majority of existing global registration methods are dependent on specific features. This paper presents a global feature-less scan registration strategy based on the ground surface, which is extremely common in Mobile Robotic Mapping scenarios. The 3D rotation is decoupled from 3D(More)