Wen Lik Dennis Lui

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This paper describes a topological SLAM system using a purely vision-based approach. This robot utilizes a GPU-based omnidirectional catadioptric stereovision system to perceive and plan its path in the environment. Subsequently, the omnidirectional images generated are used to incrementally build a database of image signatures based on the standard 2D Haar(More)
This paper presents a 6 degrees of freedom egomotion estimation method using Iterative Closest Point (ICP) for low cost and low accuracy range cameras such as the Microsoft Kinect. Instead of Euclidean coordinates, the method uses inverse depth coordinates which better conforms to the error characteristics of raw sensor data. Novel inverse depth(More)
Different image processing approaches are presented that are candidates for the Monash Vision Group prosthetic vision device. As described in a companion paper [6], the Monash Vision Group is developing a bionic eye based on the implantation of 7-11 stimulation tiles on the primary visual cortex of the brain. In the lead up to an expected 2014 first(More)
The Webots commercial mobile robot simulation software and Khepera II miniature mobile robot have always been popular tools in research centers and universities. In this paper, the two items will be utilized as a platform for the investigation of Neural Q-Learning controllers. Webots remains as the primary simulation software where the simulated environment(More)
Implanted visual prostheses provide bionic vision with very low spatial and intensity resolution when compared against healthy human vision. Vision processing converts camera video to low resolution imagery for bionic vision with the aim of preserving salient features such as edges. Transformative Reality extends and improves upon traditional vision(More)
Egomotion estimation is a fundamental building block for self-localisation and SLAM, especially when an accurate map is not available to the robot. This paper presents a real time plane-based approach to estimate the 6 degrees of freedom (DOF) pose of a moving Microsoft Kinect. An inverse depth formulation is used to robustly fit multiple planes in the(More)