A new scan matching method for mobile robot localization is presented, which takes line segment as the feature and matches the real scans in the given reference map by relationships of the directional-defined line seg...A new scan matching method for mobile robot localization is presented, which takes line segment as the feature and matches the real scans in the given reference map by relationships of the directional-defined line segments. The alignment was done by hierarchically identifying the multiple relationships and the result was recorded in a correspondence matrix, where the best match is defined and selected for localization. It is indicated that the searching algorithm of the best match can find the ambiguities and get rid of them. This method with less computational cost works well in occluded environment, and can correct the error in pose estimation without the need for the estimation itself. The efficiency, accuracy and robustness of this method were verified by experiments of localization in an occluded environment and a long-distance indoor navigation.展开更多
This paper describes a three-dimensional structured light scanning system to generate a virtual model of a dental arch, from the patient＇s mouth, and the scheme ofa 2 ＋ 1 DOF （degree of freedom） parallel/serial Ro...This paper describes a three-dimensional structured light scanning system to generate a virtual model of a dental arch, from the patient＇s mouth, and the scheme ofa 2 ＋ 1 DOF （degree of freedom） parallel/serial Robot for implant positioning, both positioned on a platform held in a fixed position with respect to the patient＇s head. Presently, dental prosthesization requires quite a long time to be completed. This process, in fact, involves the detection of the shape of the dental arch, its plaster model generation, scanning of it, prosthesis preparation and its implant. The procedur＇e is even longer when use of dental implants is required, while early loading of the implants is considered a positive solution. Current research effort is focused on the development of devices for the direct intra-oral determination of the shape of dental prostheses and inserts. These devices, however, are able to detect limited portions of the dental arch, since they must be hand-held by the doctor without external supports, and this may produce relatively large errors due to the sum of relatively small ones. Furthermore, to place an implant correctly, the doctor can use a new system to guide the implant position, but this requires sending the information in Sweden to obtain a special mask in return.展开更多
One being developed automatic sweep robot, need to estimate if anyone is on a certain range of road ahead then automatically adjust running speed, in order to ensure work efficiency and operation safety. This paper pr...One being developed automatic sweep robot, need to estimate if anyone is on a certain range of road ahead then automatically adjust running speed, in order to ensure work efficiency and operation safety. This paper proposed a method using face detection to predict the data of image sensor. The experimental results show that, the proposed algorithm is practical and reliable, and good outcome have been achieved in the application of instruction robot.展开更多
基金Sponsored by the National High Technology Research and Development Program of China(Grant No.2006AA040203)The National Natural Science Foundation of China(Grant No.60475032 and 60775062)the Program for New Century Excellent Talents in University(Grant No.NCET-07-0538)
文摘A new scan matching method for mobile robot localization is presented, which takes line segment as the feature and matches the real scans in the given reference map by relationships of the directional-defined line segments. The alignment was done by hierarchically identifying the multiple relationships and the result was recorded in a correspondence matrix, where the best match is defined and selected for localization. It is indicated that the searching algorithm of the best match can find the ambiguities and get rid of them. This method with less computational cost works well in occluded environment, and can correct the error in pose estimation without the need for the estimation itself. The efficiency, accuracy and robustness of this method were verified by experiments of localization in an occluded environment and a long-distance indoor navigation.
文摘This paper describes a three-dimensional structured light scanning system to generate a virtual model of a dental arch, from the patient＇s mouth, and the scheme ofa 2 ＋ 1 DOF （degree of freedom） parallel/serial Robot for implant positioning, both positioned on a platform held in a fixed position with respect to the patient＇s head. Presently, dental prosthesization requires quite a long time to be completed. This process, in fact, involves the detection of the shape of the dental arch, its plaster model generation, scanning of it, prosthesis preparation and its implant. The procedur＇e is even longer when use of dental implants is required, while early loading of the implants is considered a positive solution. Current research effort is focused on the development of devices for the direct intra-oral determination of the shape of dental prostheses and inserts. These devices, however, are able to detect limited portions of the dental arch, since they must be hand-held by the doctor without external supports, and this may produce relatively large errors due to the sum of relatively small ones. Furthermore, to place an implant correctly, the doctor can use a new system to guide the implant position, but this requires sending the information in Sweden to obtain a special mask in return.
文摘One being developed automatic sweep robot, need to estimate if anyone is on a certain range of road ahead then automatically adjust running speed, in order to ensure work efficiency and operation safety. This paper proposed a method using face detection to predict the data of image sensor. The experimental results show that, the proposed algorithm is practical and reliable, and good outcome have been achieved in the application of instruction robot.
