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
Using the method of line structure light produced by a laser diode,three dimensional profile measurement is deeply researched.A hardware circuit developed is used to get the center position of light section for the im...Using the method of line structure light produced by a laser diode,three dimensional profile measurement is deeply researched.A hardware circuit developed is used to get the center position of light section for the improvement of the measurement speed.A double CCD compensation technology is used to improve the measurement precision. An easy and effective calibration method of the least squares to fit the parameter of system structure is used to get the relative coordinate relationship of objects and images of light section in the directions of height and axis. Sensor scanning segment by segment and layer by layer makes the measurement range expand greatly.展开更多
A laser-scanning calibre measuring and digital indicating grating photosensor gauging systems are introduced,which are used to measure the dimensions of bullet.In the paper,we expound the operation principle and desig...A laser-scanning calibre measuring and digital indicating grating photosensor gauging systems are introduced,which are used to measure the dimensions of bullet.In the paper,we expound the operation principle and design idea of the principal parts and units.展开更多
We recently proposed a new class of wavelength-swept lasers for swept-source optical coherence tomography （SS-OCT）. It uses the same gain medium with the conventional swept lasers, but does not require any tunable f...We recently proposed a new class of wavelength-swept lasers for swept-source optical coherence tomography （SS-OCT）. It uses the same gain medium with the conventional swept lasers, but does not require any tunable filters. It is based on a principle called ＂dispersion tuning＂, in which a highly dispersive medium is inserted in the laser cavity, and loss/gain modulation is applied to mode-lock the laser. Since the cavity contains no mechanical components, such as tunable filters, we could achieve the very high sweep rate. In this review paper, we describe the principle of the dispersion-tuned swept lasers in detail and present our recent work on the application to the SS-OCT system.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Using the method of line structure light produced by a laser diode,three dimensional profile measurement is deeply researched.A hardware circuit developed is used to get the center position of light section for the improvement of the measurement speed.A double CCD compensation technology is used to improve the measurement precision. An easy and effective calibration method of the least squares to fit the parameter of system structure is used to get the relative coordinate relationship of objects and images of light section in the directions of height and axis. Sensor scanning segment by segment and layer by layer makes the measurement range expand greatly.
文摘A laser-scanning calibre measuring and digital indicating grating photosensor gauging systems are introduced,which are used to measure the dimensions of bullet.In the paper,we expound the operation principle and design idea of the principal parts and units.
文摘We recently proposed a new class of wavelength-swept lasers for swept-source optical coherence tomography （SS-OCT）. It uses the same gain medium with the conventional swept lasers, but does not require any tunable filters. It is based on a principle called ＂dispersion tuning＂, in which a highly dispersive medium is inserted in the laser cavity, and loss/gain modulation is applied to mode-lock the laser. Since the cavity contains no mechanical components, such as tunable filters, we could achieve the very high sweep rate. In this review paper, we describe the principle of the dispersion-tuned swept lasers in detail and present our recent work on the application to the SS-OCT system.
