| Author | Title | Year | Journal/Proceedings | Reftype | DOI/URL |
|---|---|---|---|---|---|
| Su, J. & Zhang, Y. | Integration of a plug-and-play desktop robotic system | 2009 | Robotica | article | |
| Abstract: This paper describes the development of a desktop robotic system that enables the plug-and-play function through the USB (universal serial bus) port of a personal computer (PC). Thus a new kind of desktop PC peripheral is invented that has programmable manipulability. The robotic system is realized on an internally distributed control structure that facilitates higher system reliability. A PID control algorithm is implemented on a prototype of the proposed system, to demonstrate the system's ability to implement feedback control. Experimental results show the performance and properties of the proposed system. | |||||
BibTeX:
@article{ ,
author = {Su, Jianbo and Zhang, Yanjun},
title = {Integration of a plug-and-play desktop robotic system},
journal = {Robotica},
year = {2009},
volume = { 27},
pages = {403 - 409}
}
|
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| Zeng, W. & Su, J. | A Networked Robot System Based on Distributed Intelligence | 2009 | Jiqiren/Robot | article | |
| Abstract: This paper proposes a distributed intelligence architecture based on Internet intelligence and implements a networked robot system based on distributed intelligence. In this architecture, sensors are provided with intelligence, and each device on the network is abstracted as an intelligent node. Intelligent sensor nodes process and transfer multi-level sensing information, realize the interaction and sharing of sensing intelligence. The robot node, based on the autonomous perception and plug-and-play connection mechanism, can perceive and obtain intelligence and information via Internet autonomously and adaptively according to different mission requirements and Internet conditions. Experimental results demonstrate that the proposed architecture effectively reduces the communication burden over Internet and improves the whole performance and intelligence level of the networked robot system. | |||||
BibTeX:
@article{ ,
author = {Zang, Wente and Su, Jianbo},
title = {A Networked Robot System Based on Distributed Intelligence},
journal = {Jiqiren/Robot},
year = {2009},
volume = { 31},
number = { 1},
pages = {1 - 7}
}
|
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| Bian, H. & Su, J. | Feature matching based on geometric constraints in weakly calibrated stereo views of curved scenes | 2008 | Journal of Systems Engineering and Electronics | article | |
| Abstract: The identification of the correspondences of points of views is an important task. A new feature matching algorithm for weakly calibrated stereo images of curved scenes is proposed, based on mere geometric constraints. After initial correspondences are built via the epipolar constraint, many point-to-point image mappings called homographies are set up to predict the matching position for feature points. To refine the predictions and reject false correspondences, four schemes are proposed. Extensive experiments on simulated data as well as on real images of scenes of variant depths show that the proposed method is effective and robust. | |||||
BibTeX:
@article{ ,
author = {Bian, Houqin and Su, Jianbo},
title = {Feature matching based on geometric constraints in weakly calibrated stereo views of curved scenes},
journal = {Journal of Systems Engineering and Electronics},
year = {2008},
volume = { 19},
number = { 3},
pages = {562 - 570}
}
|
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| Su, J., Zhang, Y. & Luo, Z. | Online estimation of image Jacobian matrix for uncalibrated dynamic hand-eye coordination | 2008 | International Journal of Systems, Control and Communications | article | |
| Abstract: This paper focuses on three different strategies for online estimation of the Image Jacobian Matrix (IJM) in uncalibrated robotic visual servoing, with the help of different scenarios of system configurations and coordination tasks that are prevalent in current research. The least square estimation method and the constant IJM policy are proposed for monocular visual feedback, while a Kalman filter-based method is proposed for a stereovision system. The PI control law and the optimal control theory are respectively adopted for coordination controllers to suit different control purposes. Extensive simulations and experiments are provided to evaluate performance of the proposed methods. | |||||
BibTeX:
@article{ ,
author = {Su, Jianbo and Zhang, Yanjun and Luo, Zhiwei},
title = {Online estimation of image Jacobian matrix for uncalibrated dynamic hand-eye coordination},
journal = {International Journal of Systems, Control and Communications},
year = {2008},
volume = { 1},
number = { 1},
pages = {31 - 52}
}
|
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| Zhao, L., Su, J. & Peng, W. | On evaluating domain of attraction of robotic control based on composite nonlinear feedback | 2008 | Journal of Systems Engineering and Electronics | article | |
| Abstract: For a robotic manipulator system with actuator input constraints,a method to evaluate the domain of attraction of the system is proposed.For the control method combining composite nonlinear feedback and computed-torque control,an iterative Ricatti equation algorithm is given to design such a linear gain that leads to a domain of attraction as large as possible.Simulation shows the effectiveness of the proposed approach. | |||||
BibTeX:
@article{ ,
author = {Zhao, Limin and Su, Jianbo and Peng, Wendong},
title = {On evaluating domain of attraction of robotic control based on composite nonlinear feedback},
journal = {Xitonggongcheng yu Dianzijishu/Journal of Systems Engineering and Electronics},
year = {2008},
volume = { 30},
number = { 10},
pages = {1977 - 1980}
}
|
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| Su, J. | Motion compression for telepresence locomotion | 2007 | Presence: Teleoperators and Virtual Environments | article | |
| Abstract: A telepresence system enables a user in a local environment to maneuver in a remote or virtual space through a robotic operator (agent). In order to ensure a high degree of telepresence realism, it is critical that the local user has the ability to control the remote agent's movement through the user's own locomotion. The required motion of the remote agent is determined according to its environment and the specific task it is to perform. The local user's environment is usually different from that of the remote agent in terms of the shapes and dimensions. A motion mapping is needed from the remote agent to the local user to ensure the similarity of the paths in the two environments. In particular, the terminal position of the local user after a segment of movement is also an important portion in such a motion mapping. This paper progressively addresses these issues from the optimization point of view. Two strategies are suggested for solving the motion mapping problem for the single user case. The resulting solutions are then extended to the multiuser case where several local users share a local environment to control different remote agents. Extensive simulations and comparisons show the feasibility and effectiveness of the proposed approaches. | |||||
BibTeX:
@article{ ,
author = {Su, Jianbo},
title = {Motion compression for telepresence locomotion},
journal = {Presence: Teleoperators and Virtual Environments},
year = {2007},
volume = { 16},
number = { 4},
pages = {385 - 398}
}
|
|||||
| Su, J. | Camera calibration based on receptive fields | 2007 | Pattern Recognition | article | |
| Abstract: Camera calibration is to identify a model that infers 3-D space measurements from 2-D image observations. In this paper, the nonlinear mapping model of the camera is approximated by a series of linear input-output models defined on a set of local regions called receptive fields. Camera calibration is thus a learning procedure to evolve the size and shape of every receptive field as well as parameters of the associated linear model. Since the learning procedure can also provide an approximation extent measurement for the linear model on each of the receptive fields, calibration model is consequently obtained from a fusion framework integrated with all linear models weighted by their corresponding approximation measurements. Since each camera model is composed of several receptive fields, it is feasible to unitedly calibrate multiple cameras simultaneously. The 3-D measurements of a multi-camera vision system are produced from a weighted regression fusion on all receptive fields of cameras. Thanks to the fusion strategy, the resultant calibration model of a multi-camera system is expected to have higher accuracy than either of them. Moreover, the calibration model is very efficient to be updated whenever one or more cameras in the multi-camera vision system need to be activated or deactivated to adapt to variable sensing requirements at different stages of task fulfillment. Simulation and experiment results illustrate effectiveness and properties of the proposed method. Comparisons with neural network-based calibration method and Tsai's method are also provided to exhibit advantages of the method. | |||||
BibTeX:
@article{ ,
author = {Su, Jianbo},
title = {Camera calibration based on receptive fields},
journal = {Pattern Recognition},
year = {2007},
volume = { 40},
number = { 10},
pages = {2837 - 2845}
}
|
|||||
| Zhou, W. & Su, J. | Learning user intention in networked mobile robot control | 2007 | Journal of Shanghai Jiaotong University (Science) | article | |
| Abstract: Teleoperated networked robot often has unpredictable behaviors due to uncertain time delay from data transmission over Internet. The robot cannot accomplish the desired actions of the remote operator in time, which severely impairs reliability and efficiency of the robot system. This paper investigated a novel approach, learning user intention, to compensate the uncertain time delay with the autonomy of a mobile robot. The user intention to control and operate the robot was modeled and incrementally inferred based on Bayesian techniques so that the desired actions could be recognized and completed by the robot autonomously. Thus the networked robot is able to fulfill the task assigned without frequent interaction with the user, which decreases data transmission and improves the efficiency of the whole system. Experimental results show the validity and feasibility of the proposed method. | |||||
BibTeX:
@article{ ,
author = {Zhou, Wei and Su, Jianbo},
title = {Learning user intention in networked mobile robot control},
journal = {Journal of Shanghai Jiaotong University (Science)},
year = {2007},
volume = { 12},
number = { 6},
pages = {773 - 779}
}
|
|||||
| Chen, J., Lei, X. & Su, J. | Agents based hierarchical control system for humanoid robots | 2007 | Gaojishu Tongxin/Chinese High Technology Letters | article | |
| Abstract: This paper presents a novel hierarchical control structure based on multi-agent for humanoid robots.It includes main control layer,communication layer and execution layer.The execution layer consists of some agents which execute the servo control of robot.Each agent has its own controller,sensors and actuator drivers.Each agent has its reactivity,autonomy,pro-activeness and social-ability,so the system can not only process the sensors primary data and transmit the processing results to the main control layer, but also with some unexpected conditions of the robot, such as self-collisions between robot links. The experimental results showed that the stability and real-time ability of humanoid robot were improved. | |||||
BibTeX:
@article{ ,
author = {Chen, Jian and Lei, Xusheng and Su, Jianbo},
title = {Agents based hierarchical control system for humanoid robots},
journal = {Gaojishu Tongxin/Chinese High Technology Letters},
year = {2007},
volume = { 17},
number = { 6},
pages = {586 - 590}
}
|
|||||
| Xie, W. & Su, J. | A New Plan and Coordination Strategy for Robot System | 2008 | Proceedings of the 27th Chinese Control Conference | inprocceedings | |
| Abstract: This paper proposes a general plan and coordination strategy for robot system. The state space for robot system is constructed according to the task requirement and system characteristic. Reachable state of the system is figured out by the system's internal and external constraints. Task plan and coordination is then transformed as trajectory solving problem in its state space, by which the realizable conditions for given task are discussed. If the task is realizable, the optimal strategy for task execution could be obtained by searching in state space. Otherwise, it could be transformed to be realizable via adjusting system's configuration and/or task constraint. and the transformation condition could also be determined．This contributes to design, plan, and coordination of the robotic tasks. Experiments of manipulator path planning and multi-robot formation movement are conducted to show the validity and generalization of the proposed method. | |||||
BibTeX:
@article{ ,
author = {Xie, Wenlong and Su, Jianbo},
title = {A New Plan and Coordination Strategy for Robot System},
journal = {Proceedings of the 27th Chinese Control Conference},
year = {2008},
volume = { 5},
pages = {398 - 403}
}
|
|||||
| Yang, F., Su, J. & Dai, J. | Fast Quality Assessment of Face Images for Face Recognition | 2008 | Proceedings of the 27th Chinese Control Conference | inprocceedings | |
| Abstract: The captured face images are of all kinds of quality in a face recognition system, some poor quality images. for example blurry images, could degrade the performance of the face recognition system. It is obliged to assess the quality of the acquired images in order to eliminate the bad effects result from poor quality images. The current techniques of image quality assessment are not suitable for the quality assessment of face images. This paper analyzes the characters of face recognition and then proposes a quantitative clarity assessment method in detail. The experimental results show that the proposed method can assess the quality of the face images accurately and quickly. The method manages to satisfy the real-time requirement and can be adopted as a preprocessing step in the automatic face recognition system conveniently. | |||||
BibTeX:
@article{ ,
author = {Yang, Fei and Su, Jianbo and Dai, Jingwen},
title = {Fast Quality Assessment of Face Images for Face Recognition},
journal = {Proceedings of the 27th Chinese Control Conference},
year = {2008},
volume = { 4},
pages = {531 - 535}
}
|
|||||
| Su, J. | Error analysis of feature prediction on weekly calibrated complex scenes based on homography | 2007 | 2007 Chinese Intelligent Automation Conference, Journal Central South University of Technology | inprocceedings | |
| Abstract: For the unknown planes of complex scenes,it is difficult to estimate the homography from three corresponding feature points,which will greatly affect the correspondence establishment.This error was investigated thoroughly and two kinds of error are recognized:input related and scene related.An improved algorithm is proposed and the experimental results show the effectiveness of the proposed method. | |||||
BibTeX:
@article{ ,
author = {Su, Jianbo},
title = {Error analysis of feature prediction on weekly calibrated complex scenes based on homography},
journal = {2007 Chinese Intelligent Automation Conference, Journal Central South University of Technology},
year = {2007},
volume = { 38},
pages = {376 - 382}
}
|
|||||
| Su, J. | Event based gait planning for humanoid robot | 2007 | 2007 Chinese Intelligent Automation Conference, Journal Central South University of Technology | inprocceedings | |
| Abstract: A new method for desired gait synthesis for biped walking robot is proposed based on the principle of EBC(event based control).It generates reasonable moving gaits by controlling the joints angles directly.By adjusting the values of the constraint parameters,different types of foot motion can be produced to adapt to different models.The correlation between the actuator specifications and the walking patterns are studied.Effectiveness of the proposed method is evaluated by simulations. | |||||
BibTeX:
@article{ ,
author = {Su, Jianbo},
title = {Event based gait planning for humanoid robot},
journal = {2007 Chinese Intelligent Automation Conference, Journal Central South University of Technology},
year = {2007},
volume = { 38},
pages = {484 - 489}
}
|
|||||
| Bian, H. & Su, J. | Feature matching iteration algorithm based on geometric constraints in stereo views of curved scenes | 2006 | Gaojishu Tongxin/Chinese High Technology Letters | article | |
| Abstract: Area detection, consistent constraint error detection, probability selection rule and symmetry optimization were successfully applied to the correction and completion of feature matching of curved scenes by epipolar constraints homography mapping in curved scenes. Only geometric constraints rather than scene-dependent constraints were involved in the whole matching process, so the method had great robustness and practicality. The results for experiments with real image data are given in the paper. | |||||
BibTeX:
@article{070610416128,
author = {Bian, Houqin and Su, Jianbo},
title = {Feature matching iteration algorithm based on geometric constraints in stereo views of curved scenes},
journal = {Gaojishu Tongxin/Chinese High Technology Letters},
year = {2006},
volume = { 16},
number = { 12},
pages = {1246 - 1252}
}
|
|||||
| Chen, J., Lei, X. & Su, J. | Agents based hierarchical control system for humanoid robots | 2007 | Gaojishu Tongxin/Chinese High Technology Letters | article | |
| Abstract: This paper presents a novel hierarchical control structure based on multi-agent for humanoid robots. It includes main control layer, communication layer and execution layer. The execution layer consists of some agents which execute the servo control of robot. Each agent has its own controller, sensors and actuator drivers. Each agent has its reactivity, autonomy, pro-activeness and social-ability, so the system can not only process the sensors' primary data and transmit the processing results to the main control layer, but also deal with some unexpected conditions of the robot, such as self-collisions between robot links. The experimental results showed that the stability and real-time ability of humanoid robot were improved. | |||||
BibTeX:
@article{072910703100,
author = {Chen, Jian and Lei, Xusheng and Su, Jianbo},
title = {Agents based hierarchical control system for humanoid robots},
journal = {Gaojishu Tongxin/Chinese High Technology Letters},
year = {2007},
volume = { 17},
number = { 6},
pages = {586 - 590}
}
|
|||||
| Fang, L. & Jianbo, S. | Reinforcement learning-based feature learning for object tracking | 2004 | Pattern Recognition, 2004. ICPR 2004. Proceedings of the 17th International Conference on | inproceedings | |
| Abstract: Feature learning in object tracking is important because the choice of the features significantly affects system's performance. A novel online feature learning approach based on reinforcement learning is proposed. Reinforcement learning has been extensively used as a generative model of sequential decision-making that interacts with uncertain environment. We extend this technique to feature selection for object tracking, and further add human-computer interaction to reinforcement learning to reduce the learning complexity and speed the convergence rate. Experiments of the object tracking are provided to verify the effectiveness of the proposed approach. | |||||
BibTeX:
@inproceedings{fang2004,
author = {Fang, Liu and Jianbo, Su},
title = {Reinforcement learning-based feature learning for object tracking},
booktitle = {Pattern Recognition, 2004. ICPR 2004. Proceedings of the 17th International Conference on},
year = {2004},
volume = {2},
pages = {748-751 Vol.2}
}
|
|||||
| Fuzhen, H. & Jianbo, S. | Moment-based Shape Priors for Geometric Active Contours | 2006 | Pattern Recognition, 2006. ICPR 2006. 18th International Conference on | inproceedings | |
| Abstract: In this paper a new method that incorporates moment-based shape information into geometric active contours is presented. As any shape may theoretically be characterized by its set of moments, the shape prior is represented based on Legendre moments. By combining the shape prior with the powerful geometric active contours proposed by Chan and Vese, the improved model can retain all the advantage of the Chan-Vese model and have the additional ability of being able to compactly represent global shape of an object. Experiments on synthetic and real image segmentation show the efficiency of our method | |||||
BibTeX:
@inproceedings{fuzhen2006,
author = {Fuzhen, Huang and Jianbo, Su},
title = {Moment-based Shape Priors for Geometric Active Contours},
booktitle = {Pattern Recognition, 2006. ICPR 2006. 18th International Conference on},
year = {2006},
volume = {2},
pages = {56-59}
}
|
|||||
| Gu, L. & Su, J. | Humanoid robot behavior learning based on ART neural network and cross-modality learning | 2006 | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) | article | |
| Abstract: This paper presents a novel robot behavior learning method based on Adaptive Resonance Theory (ART) neural network and cross-modality learning. We introduce the concept of classification learning and propose a new representation of observed behavior. Compared with previous robot behavior learning methods, this method has the property of learning a new behavior while at the same time preserving prior learned behaviors. Moreover, visual information and audio information are integrated to form a unified percept of the observed behavior, which facilitates robot behavior learning. We implement this learning method on a humanoid robot head for behavior learning and experimental results demonstrate the effectiveness of this method. © Springer-Verlag Berlin Heidelberg 2006. | |||||
BibTeX:
@article{064410206638,
author = {Gu, Lizhong and Su, Jianbo},
title = {Humanoid robot behavior learning based on ART neural network and cross-modality learning},
journal = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
year = {2006},
volume = { 4221 NCS - I},
pages = {447 - 450},
note = {Humanoid robots;Learning methods;Audio information;Cross modality learning;}
}
|
|||||
| Hou, X. & Su, J. | A distributed architecture for internet robot | 2004 | Proceedings - IEEE International Conference on Robotics and Automation | article | |
| Abstract: This paper describes a novel distributed networked architecture for intelligent robot It is proposed to addresses two challenges for Internet/LAN based robot system: (1) how to utilize the networked resources of perception and computation, (2) how to realize a dynamic structured and updateable robotic system. In this architecture, a generic distributed robotic framework evolved from hybrid robotic architecture is proposed to integrate autonomous robot into distributed network structure. A distributed computing infrastructure and the spontaneous and PnP connection mechanism are realized, which implement the scheme of distributed computation and information for networked robot system. | |||||
BibTeX:
@article{04288255189,
author = {Hou, Xueqiao and Su, Jianbo},
title = {A distributed architecture for internet robot},
journal = {Proceedings - IEEE International Conference on Robotics and Automation},
year = {2004},
volume = { 2004},
number = { 4},
pages = {3357 - 3362},
note = {Robotic teleoperation;Distributed computing;Autonomous robotics;Hybrid robotic architecture;Spontaneous (ad-hoc) connection;}
}
|
|||||
| Houqin, B. & Jianbo, S. | Feature matching based on geometric constraints in stereo views of curved scenes | 2005 | Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on | inproceedings | |
| Abstract: Many vision tasks rely upon the identification of sets of corresponding features among different images. In this paper, we proposed a new feature-matching algorithm only based on geometric constraints rather than scene-dependent constraints. Through four novel schemes, homography is successfully used to iteratively remove the ambiguity of correspondences that are produced by epipolar geometry, even for curved scenes that are of high depth variations and content complexities. Our experiment results show that the proposed method is effective and robust. | |||||
BibTeX:
@inproceedings{hou2005,
author = {Houqin, Bian and Jianbo, Su},
title = {Feature matching based on geometric constraints in stereo views of curved scenes},
booktitle = {Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on},
year = {2005},
pages = {313-318}
}
|
|||||
| Huang, F. & Su, J. | Multiple face contour detection based on geometric active contours | 2004 | Proceedings - Sixth IEEE International Conference on Automatic Face and Gesture Recognition | article | |
| Abstract: In this paper, a novel approach based on a multiphase geometric active contour model is presented for multiple face contour detection in grayscale still images. The proposed method first adopts the multiphase Chan-Vese model for image segmentation. Based on The Four-Color Theorem, this model can use only two level set functions to represent any partition in the piecewise smooth case. Then the Hausdorff distance is used as a similarity between a general elliptical face model and the segmented closed curves. Based on the predefined threshold, the final face contours are achieved in this validation step. Experiments are performed on a large test set and show the efficiency of our method. | |||||
BibTeX:
@article{04398380296,
author = {Huang, Fuzhen and Su, Jianbo},
title = {Multiple face contour detection based on geometric active contours},
journal = {Proceedings - Sixth IEEE International Conference on Automatic Face and Gesture Recognition},
year = {2004},
pages = {385 - 390},
note = {Face detection;Image gradient;Geometric active contours;Image sequence;}
}
|
|||||
| Huang, F. & Su, J. | Deformable pedal curves with application to face contour extraction | 2003 | Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition | article | |
| Abstract: Pedal curves are the loci of the feet of perpendiculars to the tangents of a fixed curve to a fixed point called the pedal point. By varying the location of the pedal point, deformable pedal curves have an important feature of incorporating a global parameterized shape into the curve evolution framework. In this paper, a hybrid geometric active model based on deformable pedal curves for face contour extraction is presented. Taking advantage of the deformable pedal curves, the proposed model can allow for representation of global and local shape characteristic of human face. Moreover, by implementing the model in a level set framework, automatic topological changes can be achieved naturally. Experimental results show the validity of our approach. | |||||
BibTeX:
@article{03367619425,
author = {Huang, Fuzhen and Su, Jianbo},
title = {Deformable pedal curves with application to face contour extraction},
journal = {Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition},
year = {2003},
volume = { 1},
pages = {328-333 - },
note = {Face contour extraction;Pedal curves;}
}
|
|||||
| Huang, F. & Su, J. | Face contour detection using geometric active contours | 2002 | Proceedings of the World Congress on Intelligent Control and Automation (WCICA) | article | |
| Abstract: In this paper, a new method that incorporates prior shape information into geometric active contours for face contour detection is proposed. The improved geometric active contour model is implemented using variational level set approach. With this model, face contours in images with complex backgrounds can be detected accurately depending on both the image edges and the prior face shape. The experiment results show the efficiency and effectiveness of our method. | |||||
BibTeX:
@article{03047336869,
author = {Huang, Fuzhen and Su, Jianbo},
title = {Face contour detection using geometric active contours},
journal = {Proceedings of the World Congress on Intelligent Control and Automation (WCICA)},
year = {2002},
volume = { 3},
pages = {2090 - 2093},
note = {Face contour detection;Geometric active contour;Variational level set;Theory of curve evolution;}
}
|
|||||
| Huang, F., Su, J. & Xi, Y. | Incorporating prior shape into geometric active contours for face contour detection | 2004 | Chinese Journal of Electronics | article | |
| Abstract: In this paper a new method that incorporates prior shape information into geometric active contours for face contour detection is proposed. As in general a human face can be treated as an ellipse with a little shape variation, the prior face shape is represented as an elliptical curve. By combining the prior face shape with the powerful geometric active model proposed by Chan and Vese, the improved geometric active model can retain all the advantage of the Chan-Vese model and can detect face contours in images with complex backgrounds accurately even if the image is noisy. Moreover, by implementing the new model in a variational level set framework, automatic topological changes of the model can be achieved naturally and the transformation parameters that map the face boundary to the prior shape can be roughly estimated simultaneously. The experimental results show our procedure to be efficient. | |||||
BibTeX:
@article{04338311941,
author = {Huang, Fuzhen and Su, Jianbo and Xi, Yugeng},
title = {Incorporating prior shape into geometric active contours for face contour detection},
journal = {Chinese Journal of Electronics},
year = {2004},
volume = { 13},
number = { 3},
pages = {552 - 555},
note = {Face contour detection;Geometric active contours;Level set;}
}
|
|||||
| Jianbo, S. | Performance Investigation and Improvement for the Uncalibrated Hand-Eye Coordination System | 2007 | Control Conference, 2007. CCC 2007. Chinese | inproceedings | |
| Abstract: The paper studies performance of the uncalibrated hand-eye coordination system, whose image Jacobian matrix is estimated by Neural Network way. Since the training conditions of NN are far from that of the practical working conditions, there are some unmodelled dynamics to be compensated in system controller designing. The discrete model of the system is set up, in accordance with the system dynamics and visual information processing, so that the system's performance and stability are well investigated, which leads to improved control method. Simulation results validate the effectiveness of the proposed method. | |||||
BibTeX:
@inproceedings{su2007,
author = {Jianbo, Su},
title = {Performance Investigation and Improvement for the Uncalibrated Hand-Eye Coordination System},
booktitle = {Control Conference, 2007. CCC 2007. Chinese},
year = {2007},
pages = {141-144}
}
|
|||||
| Jianbo, S., Hongyu, M. & Zhiwei, L. | Robotic uncalibrated hand-eye coordination based on the extended state observer | 2004 | Control Conference, 2004. 5th Asian | inproceedings | |
| Abstract: This paper proposes a standard control method to approach the uncalibrated robotic hand-eye coordination problem, which is system configuration- and task-independent. The coordination problem is first modeled by a dynamic system, where the unknown hand-eye relationship is regarded as system's modeling errors. An extended state observer is then designed to estimate impacts of this modeling error together with the system's external disturbances. With the estimation results as the compensation, the system control is thus accomplished based on a nonlinear combination of the system state errors. Experimental results are presented to verify the efficacy of the proposed approach and highlight the satisfactory performance. | |||||
BibTeX:
@inproceedings{su2004b,
author = {Jianbo, Su and Hongyu, Ma and Zhiwei, Luo},
title = {Robotic uncalibrated hand-eye coordination based on the extended state observer},
booktitle = {Control Conference, 2004. 5th Asian},
year = {2004},
volume = {2},
pages = {989-996 Vol.2}
}
|
|||||
| Jianbo, S. & Yugeng, X. | Path planning for robotic hand/eye system to intercept moving object | 1999 | Decision and Control, 1999. Proceedings of the 38th IEEE Conference on | inproceedings | |
| Abstract: Presents a of path planning method for a robotic hand/eye coordination system to approach and grasp a moving object. This method, which is called the variant proportional guidance (VPG) method, stems from the proportional guidance (PG) law for missile interception. It is advantageous over traditional tracking path planning methods in that it can tolerate larger errors from object positioning and is more capable of dealing with maneuvering motions of the object. In addition, the method enables the grasping pose of the robot gripper to be adjusted automatically along with the approaching process. Consequently, grasping may occur in an outflanking way. Thus, the possibility for the object to be grasped can be greatly improved. Simulations and experiments are provided to show the performance of the proposed method | |||||
BibTeX:
@inproceedings{su1999,
author = {Jianbo, Su and Yugeng, Xi},
title = {Path planning for robotic hand/eye system to intercept moving object},
booktitle = {Decision and Control, 1999. Proceedings of the 38th IEEE Conference on},
year = {1999},
volume = {3},
pages = {2963-2968 vol.3}
}
|
|||||
| Jianbo, S., Yugeng, X., Hanebeck, U. D. & Schmidt, G. | Nonlinear visual mapping model for 3-D visual tracking with uncalibrated eye-in-hand robotic system | 2004 | Systems, Man and Cybernetics, Part B, IEEE Transactions on | article | |
| Abstract: A new control scheme for the uncalibrated robotic visual tracking problem is proposed that compromises the computational expenses of overall system with offline modeling and online control. A nonlinear visual mapping model for the uncalibrated hand-eye coordination is first proposed with an artificial neural network implementation. An online visual tracking controller is then developed together with a real-time motion planner. To improve the system performance, the control scheme is also integrated with a feedforward controller to compensate unknown object motions. Extensive simulations and experiments demonstrate the effectiveness of the proposed control scheme. | |||||
BibTeX:
@article{su2004e,
author = {Jianbo, Su and Yugeng, Xi and Hanebeck, U. D. and Schmidt, G.},
title = {Nonlinear visual mapping model for 3-D visual tracking with uncalibrated eye-in-hand robotic system},
journal = {Systems, Man and Cybernetics, Part B, IEEE Transactions on},
year = {2004},
volume = {34},
number = {1},
pages = {652-659},
note = {1083-4419}
}
|
|||||
| Jianbo, S. & Zhiwei, L. | Incremental Motion Compression for Telepresent Walking Subject to Spatial Constraints | 2005 | Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on | inproceedings | |
| Abstract: In telepresence, it is critical for the local user to control the remote agent’s movement through his own locomotion in order to ensure a high degree of realism. Since the local user’s environment is normally different from that of the remote agent, there exists a motion mapping from the remote agent to the local user. After the path of the remote agent is predicted or recognized, it should be transformed to fit into the local environment, considering the constraints from the local environment, and ensuring utmost similarities in the shape and length of the paths. Moreover, terminal position of the local user in the local environment after a piece of known movement should also be carefully arranged after path transformation for his consecutive motions. These issues are incrementally addressed from the optimization point of view. Two schemes are proposed for path transformation problem. Extensive simulations and comparisons show the feasibility and effectiveness of the proposed approaches. | |||||
BibTeX:
@inproceedings{su2005,
author = {Jianbo, Su and Zhiwei, Luo},
title = {Incremental Motion Compression for Telepresent Walking Subject to Spatial Constraints},
booktitle = {Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on},
year = {2005},
pages = {69-74}
}
|
|||||
| Jin, L. & Su, J. | Homography-based correspondence in weakly calibrated curved surface environment and its error analysis | 2004 | Proceedings - IEEE International Conference on Robotics and Automation | article | |
| Abstract: Homography can be computed from four or more corresponding feature pairs in the polyhedral environment. For a stereo image pair that is weakly calibrated, the homography can be estimated via three corresponding feature pairs in the image pair together with the pair of the epipoles. That makes possible to estimate homography in curved surface environment Since the estimation procedure does not introduce redundant information, it is error-prone. This paper analyzes the origins that produce the errors, which are classified as scene-related origin and calculation-related origin, and differentiates the errors into two types, which are respectively defined as geometric error and algebraic error. The criterion to separate these two kinds of errors is also given. Algorithm to estimate the homography is then improved in its accuracy based on the error analysis. A matching-point accumulation procedure is proposed based on the prediction of the possible matching position from the estimated homography. Feasibility of the proposed algorithm is also discussed. Extensive simulation and experiments are given to illustrate the performances of the new algorithms. | |||||
BibTeX:
@article{04288255520,
author = {Jin, Liang and Su, Jianbo},
title = {Homography-based correspondence in weakly calibrated curved surface environment and its error analysis},
journal = {Proceedings - IEEE International Conference on Robotics and Automation},
year = {2004},
volume = { 2004},
number = { 2},
pages = {1203 - 1208},
note = {Homography estimation;Feature correspondence;Curved face scene;Geometric errors;}
}
|
|||||
| Kejun, Z. & Jianbo, S. | On Sensor Management of Calligraphic Robot | 2005 | Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on | inproceedings | |
| Abstract: Development of calligraphic robot is motivated by allowing humanoid robot and home service robot to mimic the writing skills of human beings. Similar to human beings, versatile sensors are involved in writing procedure of robot to percept stages of task fulfillment and status of writing-brush. It is well known that the structures of Chinese characters are very complex and delicate. The writing-brush is soft and can draw strokes of different and variable widths, which makes Chinese calligraphy a sort of art like painting. Since the relations of strokes of Chinese characters are complicated and the writing-brush is extremely intricate to handle that it might result in inconsistent strokes with even slight changes in environment, dynamic management of sensors is hence a critical issue for a successful writing of an elegant Chinese character. This paper presents a sensor management method based on fuzzy decision tree (FDT), with which necessary prerequisite knowledge of Chinese character writing can be integrated into control of calligraphic robot system. Properties of sensor management problem in calligraphic robot are analyzed. Implementation of the proposed method is discussed. Experiments evaluate the feasibility and advantages of the proposed method. | |||||
BibTeX:
@inproceedings{zhang2005,
author = {Kejun, Zhang and Jianbo, Su},
title = {On Sensor Management of Calligraphic Robot},
booktitle = {Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on},
year = {2005},
pages = {3570-3575}
}
|
|||||
| Lei, X. & Su, J. | Feedback control of humanoid robot locomotion | 2005 | Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science) | article | |
| Abstract: As an assistant tool for human beings, humanoid robot is expected to cooperate with people to do certain jobs. Therefore, it must have high intelligence to adapt to common working condition. The objective of this paper is to propose an adaptive fuzzy logic control (FLC) method to improve system adaptability and stability, which can adjust hip and ankle joint based on sensor information. Furthermore, it can real time adjust controller parameters to improve FLC performance. Based on sensor information, humanoid robot can get environment and inherent situation and use the adaptive-FLC to realize stable locomotion. The effectiveness of the proposed method is shown with simulations based on the parameters of the "IHR-1" humanoid robot. © Springer-Verlag Berlin Heidelberg 2005. | |||||
BibTeX:
@article{05439439986,
author = {Lei, Xusheng and Su, Jianbo},
title = {Feedback control of humanoid robot locomotion},
journal = {Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)},
year = {2005},
volume = { 3613},
number = { PART I},
pages = {890 - 899},
note = {Humanoid robot locomotion;Fuzzy logic control (FLC);Sensor information;}
}
|
|||||
| Liu, F. & Su, J. | Visual learning framework based on reinforcement learning | 2004 | Proceedings of the World Congress on Intelligent Control and Automation (WCICA) | article | |
| Abstract: This paper proposes a novel visual learning framework for attention control in active computer vision. The general hierarchical framework is constructed by using reinforcement learning to organize the image processing procedures and find optimal control strategy so as to efficiently reduce the computational cost. This framework allows the interactions between information in different levels and integration of visual modules with other machine learning algorithms, which make it possible to fulfill the specific task quickly by only processing relatively small quantities of data. The experiments of the selective attention on robot are provided to verify the effectiveness of the proposed framework. | |||||
BibTeX:
@article{04388367528,
author = {Liu, Fang and Su, Jianbo},
title = {Visual learning framework based on reinforcement learning},
journal = {Proceedings of the World Congress on Intelligent Control and Automation (WCICA)},
year = {2004},
volume = { 6},
pages = {4865 - 4868},
note = {Visual learning framework;Attention;Reinforcement learning;Optimal control strategy;}
}
|
|||||
| Lizhong, G. & Jianbo, S. | Gaze Control on Humanoid Robot Head | 2006 | Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on | inproceedings | |
| Abstract: This paper presents a general gaze control algorithm for humanoid robot head. Gaze control is an essential visual behavior for human-robot interaction. Calculation of the distance to fixation point is a first step to accomplish coordinated head-eye movements on humanoid robot head. We solved the problem of obtaining depth information under the condition of two eyes gazing at the point. Then we derived kinematics mathematical models of coordinated head-eye movements according to the geometry constraint of the robot head. A general humanoid robot head has been developed and experimental results demonstrate the effectiveness of the proposed algorithm. | |||||
BibTeX:
@inproceedings{gu2006,
author = {Lizhong, Gu and Jianbo, Su},
title = {Gaze Control on Humanoid Robot Head},
booktitle = {Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on},
year = {2006},
volume = {2},
pages = {9144-9148}
}
|
|||||
| Ma, H. & Su, J. | Uncalibrated robotic 3-D hand-eye coordination based on the extended state observer | 2003 | Proceedings - IEEE International Conference on Robotics and Automation | article | |
| Abstract: This paper studies a novel method to deal with the unknown image Jacobian matrix model for the uncalibrated robotic hand-eye coordination. An extended state observer is designed for online estimation of the image Jacobian matrix that is regarded as the system's unmodeled dynamics. A nonlinear feedback control law is then adopted for the coordination controller. With this scheme, a universal calibration-free controller is developed, which is independent from specific tasks and system configuration, for uncalibrated hand-eye coordination. Simulations and experiments of 3-D robotic visual positioning and tracking tasks show the validity and feasibility of the proposed control scheme. | |||||
BibTeX:
@article{03507776121,
author = {Ma, Hongyu and Su, Jianbo},
title = {Uncalibrated robotic 3-D hand-eye coordination based on the extended state observer},
journal = {Proceedings - IEEE International Conference on Robotics and Automation},
year = {2003},
volume = { 3},
pages = {3327 - 3332},
note = {Robotic hand eye coordination;Extended state observer;Robotic visual positioning;Image Jacobian matrix;Calibration free controller;}
}
|
|||||
| Pan, J., Su, J., Lei, X. & Lan, F. | Motion control strategy for humanoid robot MIH-1 | 2005 | IEEE International Conference on Mechatronics and Automation, ICMA 2005 | article | |
| Abstract: In this paper, we focus on the problem of stabilizing a humanoid robot on a complete walking cycle in 3D space. Based on the analysis of passive dynamic walking and mechanical energy consumption, we propose a strategy to drive a 26-DOF humanoid robot during two fundamental phases: swing-phase and impact-phase. The ZMP condition and other factors on the active walker are taken into account. Furthermore spring-phase, a standard procedure appearing only in the running cycle with both legs in the air, is discussed to prepare for the conversion-from walk to run. © 2005 IEEE. | |||||
BibTeX:
@article{05469480204,
author = {Pan, Jing and Su, Jianbo and Lei, Xusheng and Lan, Feng},
title = {Motion control strategy for humanoid robot MIH-1},
journal = {IEEE International Conference on Mechatronics and Automation, ICMA 2005},
year = {2005},
pages = {819 - 824},
note = {Humanoid robot;Gait generation;Constrained motion;Passive dynamic walking;}
}
|
|||||
| Pan, Q., Su, J. & Xi, Y. | Uncalibrated 3D robotic visual tracking based on stereo vision [BibTeX] |
2000 | Jiqiren/Robot | article | |
BibTeX:
@article{00115399929,
author = {Pan, Qielu and Su, Jianbo and Xi, Yugeng},
title = {Uncalibrated 3D robotic visual tracking based on stereo vision},
journal = {Jiqiren/Robot},
year = {2000},
volume = { 22},
number = { 4},
pages = {293 - 299}
}
|
|||||
| Qian, J. & Su, J. | Uncalibrated 2D motion tracking based on image Jacobian matrix [BibTeX] |
2003 | Moshi Shibie yu Rengong Zhineng/Pattern Recognition and Artificial Intelligence | article | |
BibTeX:
@article{03487760090,
author = {Qian, Jiang and Su, Jianbo},
title = {Uncalibrated 2D motion tracking based on image Jacobian matrix},
journal = {Moshi Shibie yu Rengong Zhineng/Pattern Recognition and Artificial Intelligence},
year = {2003},
volume = { 16},
number = { 3},
pages = {257 - }
}
|
|||||
| Qian, J. & Su, J. | Online estimation of image Jacobian Matrix by Kalman-Bucy filter for uncalibrated stereo vision feedback | 2002 | Proceedings - IEEE International Conference on Robotics and Automation | article | |
| Abstract: This paper studies the visual servoing problem with sensory feedback from uncalibrated stereo cameras. The linear Image Jacobian matrix is used to describe the spatial and temporary approximation of the differential movement relation between image space and robotic workspace. We suggest to construct an instrumental dynamic system with state variables formed from elements of the image Jacobian matrix. Thus a Kalman-Bucy filter is used to estimate the state variables of the constructed system on line, which is robust to system noise and external disturbances. A 3-D tracking task by a robot manipulator with visual feedback from uncalibrated stereo cameras is exemplified to show the formation of the instrumental system, estimation process and performance of the image Jacobian matrix and the design of the servo controller. Effectiveness of the proposed method and satisfactory tracking process can be found from extensive simulations and experiments provided in the paper. | |||||
BibTeX:
@article{02367067483,
author = {Qian, Jiang and Su, Jianbo},
title = {Online estimation of image Jacobian Matrix by Kalman-Bucy filter for uncalibrated stereo vision feedback},
journal = {Proceedings - IEEE International Conference on Robotics and Automation},
year = {2002},
volume = { 1},
pages = {562 - 567},
note = {Online estimation;Image Jacobian matrix;Kalman-Bucy filter;}
}
|
|||||
| Su, J. | Camera calibration based on receptive fields | 2007 | Pattern Recognition | article | URL |
| Abstract: Camera calibration is to identify a model that infers 3-D space measurements from 2-D image observations. In this paper, the nonlinear mapping model of the camera is approximated by a series of linear input-output models defined on a set of local regions called receptive fields. Camera calibration is thus a learning procedure to evolve the size and shape of every receptive field as well as parameters of the associated linear model. Since the learning procedure can also provide an approximation extent measurement for the linear model on each of the receptive fields, calibration model is consequently obtained from a fusion framework integrated with all linear models weighted by their corresponding approximation measurements. Since each camera model is composed of several receptive fields, it is feasible to unitedly calibrate multiple cameras simultaneously. The 3-D measurements of a multi-camera vision system are produced from a weighted regression fusion on all receptive fields of cameras. Thanks to the fusion strategy, the resultant calibration model of a multi-camera system is expected to have higher accuracy than either of them. Moreover, the calibration model is very efficient to be updated whenever one or more cameras in the multi-camera vision system need to be activated or deactivated to adapt to variable sensing requirements at different stages of task fulfillment. Simulation and experiment results illustrate effectiveness and properties of the proposed method. Comparisons with neural network-based calibration method and Tsai's method are also provided to exhibit advantages of the method. © 2007 Pattern Recognition Society. | |||||
BibTeX:
@article{072110617933,
author = {Su, Jianbo},
title = {Camera calibration based on receptive fields},
journal = {Pattern Recognition},
year = {2007},
volume = { 40},
number = { 10},
pages = {2837 - 2845},
note = {Camera calibration;Receptive fields;Sensor fusion;Weighted regression;},
url = {http://dx.doi.org/10.1016/j.patcog.2007.01.024}
}
|
|||||
| Su, J. | Uncalibrated robotic hand-eye coordination of full-degree-of-freedoms based on fuzzy neural network | 2004 | Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) | article | |
| Abstract: The six-degree-of-freedom uncalibrated robotic hand-eye coordination is explored under the scenario of monocular visual feedback on hand and a typical 3-D tracking task. A nonlinear visual mapping model from visual feedback to robot control is proposed, with the help of the target model for employing proper features to achieve unique control for the robot hand. The fuzzy neural network is utilized to map the nonlinear visual model effectively. Simulations show the performance of the proposed method. | |||||
BibTeX:
@article{05209109130,
author = {Su, Jianbo},
title = {Uncalibrated robotic hand-eye coordination of full-degree-of-freedoms based on fuzzy neural network},
journal = {Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition)},
year = {2004},
volume = { 32},
number = { SUPPL},
pages = {42 - 44},
note = {Hand eye coordination;Uncalibration;Fuzzy neural network;Nonlinear visual mapping model;Target model;Three dimensional tracking task;Monocular visual feedback;}
}
|
|||||
| Su, J. | Base calibration for dual robot system [BibTeX] |
1998 | Kongzhi Lilun Yu Yinyong/Control Theory and Applications | article | |
BibTeX:
@article{98124500367,
author = {Su, Jianbo},
title = {Base calibration for dual robot system},
journal = {Kongzhi Lilun Yu Yinyong/Control Theory and Applications},
year = {1998},
volume = { 15},
number = { 4},
pages = {575 - 582}
}
|
|||||
| Su, J., Chung, R. & Jin, L. | Homography-based partitioning of curved surface for stereo correspondence establishment | 2007 | Pattern Recognition Letters | article | URL |
| Abstract: Planar homography (collineation) is an image-to-image mapping that could be used to pinpoint stereo correspondences, but its usage has been limited to only planar scenes. This paper describes a mechanism that generalizes the use of planar homography for establishing stereo correspondences over curved scenes. Piecewise-linear approximation is used to describe curved scene, so that stereo correspondences over images of the scene are captured by a collection of local homographies. Unlike the classical approaches, the mechanism does not employ the smoothness heuristic in establishing correspondences, but is instead based upon the interplay of two processes in an iterative manner: (1) partitioning of the scene into local planar patches based upon the most current set of confirmed stereo correspondences; and (2) prediction of new stereo correspondences by the use of the local homographies defined by the partitions, plus confirmation of such predictions by the image data, thereby enlarging the set of confirmed correspondences in every iteration until no more improvement could be obtained. A key step of the mechanism is to decide what local planar homography, and thereby what planar patch, is to be used for correspondence prediction of any given unmatched feature in any given iteration of the mechanism. With knowledge of the epipolar geometry, homography could be defined by any 3 non-collinear feature correspondences. Thus for any given unmatched feature, there are choices of the aforementioned local homography as defined by any set of three non-collinear matched features in the vicinity of the feature. In this paper, we explore what criteria are to be used to decide which of such triplet sets of matched features should be used. We analyze what errors in correspondence prediction could come with a planar homography. In particular, we classify the errors into scene-related geometric error and computation-related algebraic error. We examine their effects by simulated data experiments, and propose two ways of deciding which local homography to adopt for any given unmatched feature point. Real image experiments show that the methods could lead to promising results. © 2007 Elsevier B.V. All rights reserved. | |||||
BibTeX:
@article{072710688044,
author = {Su, Jianbo and Chung, Ronald and Jin, Liang},
title = {Homography-based partitioning of curved surface for stereo correspondence establishment},
journal = {Pattern Recognition Letters},
year = {2007},
volume = { 28},
number = { 12},
pages = {1459 - 1471},
note = {Planar scenes;Planar homography;Vicinity;Curved scene;},
url = {http://dx.doi.org/10.1016/j.patrec.2007.03.010}
}
|
|||||
| Su, J. & Li, Y. | Fast parameter estimation algorithm of moving objects from sequential images for robot tracking | 1994 | Zidonghua Xuebao/Acta Automatica Sinica | article | |
| Abstract: It is essential to estimate in real-time the parameters of motion of moving objects in visually guided robot tracking and grasping. This paper presented a fast parameter estimation algorithm of moving objects in 2-D space, based on the relationship between the desired parameters of motion and a complex transformation on the images. This algorithm requires no model of the objects and no feature extraction. Comparison of the performances of this algorithm with the performances of FFT was given in this paper. | |||||
BibTeX:
@article{94121504661,
author = {Su, Jianbo and Li, Yaotong},
title = {Fast parameter estimation algorithm of moving objects from sequential images for robot tracking},
journal = {Zidonghua Xuebao/Acta Automatica Sinica},
year = {1994},
volume = { 20},
number = { 3},
pages = {286 - 291},
note = {Visual tracking;Image sequences;}
}
|
|||||
| Su, J., Liu, F. & Luo, Z. | Evolving optimal feature set by interactive reinforcement learning for image retrieval | 2005 | Lecture Notes in Computer Science | article | |
| Abstract: This paper proposes a new image retrieval strategy based on the optimal feature subset that is iteratively learned from the query image. The optimal feature set that can well describe the essential properties of the query image with respect to a retrieved image database is obtained from reinforcement learning procedure with the help of humancomputer interaction. Through human-computer interaction, user can provide similarity evaluation between the query and retrieved images, which actually gives the relevance feedback for a contend-based image retrieval method, and further serves as environmental rewards to feature set evolution actions in reinforcement learning procedure. Experiment results show the effectiveness of the proposed method. © Springer-Verlag Berlin Heidelberg 2005. | |||||
BibTeX:
@article{05399382164,
author = {Su, Jianbo and Liu, Fang and Luo, Zhiwei},
title = {Evolving optimal feature set by interactive reinforcement learning for image retrieval},
journal = {Lecture Notes in Computer Science},
year = {2005},
volume = { 3497},
number = { II},
pages = {813 - 818},
note = {Image databases;Query images;}
}
|
|||||
| Su, J., Ma, H., Qiu, W. & Xi, Y. | Task-independent robotic uncalibrated hand-eye coordination based on the extended state observer | 2004 | IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics | article | URL |
| Abstract: This paper proposes a standard method to approach the uncalibrated robotic hand-eye coordination problem that is system configuration- and task-independent. The unknown hand-eye relationship is first modeled as the modeling errors of a dynamic system. An extended state observer is then implemented to estimate summation of the system's modeling error and the system's external disturbances. With the estimation results as the compensation, the system control is accomplished from a nonlinear combination of the system state errors. A universal framework of controller design is provided for decoupled and coupled hand-eye systems of different configurations to execute dynamic tracking task. © 2004 IEEE. | |||||
BibTeX:
@article{04338312855,
author = {Su, Jianbo and Ma, Hongyu and Qiu, Wenbin and Xi, Yugeng},
title = {Task-independent robotic uncalibrated hand-eye coordination based on the extended state observer},
journal = {IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics},
year = {2004},
volume = { 34},
number = { 4},
pages = {1917 - 1922},
note = {Robotic hand eye coordination problem;Dynamic tracking;Extended state observer;Image Jacobian matrix model;},
url = {http://dx.doi.org/10.1109/TSMCB.2004.827615}
}
|
|||||
| Su, J. & Peng, W. | Incremental learning method for unified camera calibration | 2006 | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) | article | |
| Abstract: The camera model could be approximated by a set of linear models defined on a set of local receptive fields regions. Camera calibration could then be a learning procedure to evolve the size and shape of every receptive field as well as parameters of the associated linear model. For a multi-camera system, its unified model is obtained from a fusion procedure integrated with all linear models weighted by their corresponding approximation measurements. The 3-D measurements of the multi-camera vision system are produced from a weighted regression fusion on all receptive fields of cameras. The resultant calibration model of a multi-camera system is expected to have higher accuracy than either of them. Simulation and experiment results illustrate effectiveness and properties of the proposed method. Comparisons with the Tsai's method are also provided to exhibit advantages of the method. © Springer-Verlag Berlin Heidelberg 2006. | |||||
BibTeX:
@article{064610230484,
author = {Su, Jianbo and Peng, Wendong},
title = {Incremental learning method for unified camera calibration},
journal = {Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)},
year = {2006},
volume = { 4233 NCS - II},
pages = {622 - 631},
note = {Linear models;Camera models;Camera calibration;Multi camera vision systems;}
}
|
|||||
| Su, J., Qiu, W., Ma, H. & Woo, P. | Calibration-free robotic eye-hand coordination based on an auto disturbance-rejection controller | 2004 | IEEE Transactions on Robotics | article | URL |
| Abstract: This paper addresses the calibration-free robotic eye-hand coordination in a way other than the conventional image Jacobian matrix approach that has been studied extensively in literature. A nonlinear mapping rather than the linear mapping used in the image Jacobian matrix between the image space and the robotic control space is proposed. This mapping is regarded as the system's unmodeled dynamics expressed in system state equations. An extended state observer is designed first to estimate the unmodeled dynamics as well as the external disturbance of the system. With the estimation results as the compensation, a system controller is designed based on the nonlinear state-error feedback control strategy. Convergence of the extended state observer as well as the overall controller for a typical eye-hand coordination system is proved. Compared with the conventional calibration-free robotic eye-hand coordination with a Jacobian matrix, the proposed controller is independent of specific tasks and system configurations. Thus, a general design procedure is proposed for the calibration-free robotic eye-hand coordination. Simulation and experiment results demonstrate the satisfactory performance and effectiveness of the proposed approach. © 2004 IEEE. | |||||
BibTeX:
@article{04528741045,
author = {Su, Jianbo and Qiu, Wenbin and Ma, Hongyu and Woo, Peng-Yung},
title = {Calibration-free robotic eye-hand coordination based on an auto disturbance-rejection controller},
journal = {IEEE Transactions on Robotics},
year = {2004},
volume = { 20},
number = { 5},
pages = {899 - 907},
note = {Robotic eye-hand coordinatino;Calibration free;Auto disturbance-rejection controller (ADRC);Nonlinear state error feedback control;Robotic control;Unmodeled dynamics;},
url = {http://dx.doi.org/10.1109/TRO.2004.829458}
}
|
|||||
| Su, J., Wang, J. & Xi, Y. | Incremental Learning with Balanced Update on Receptive Fields for Multi-Sensor Data Fusion | 2004 | IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics | article | |
| Abstract: This paper addresses multi-sensor data fusion with incremental learning ability. A new cost function is proposed for the receptive field weighted regression (RFWR) algorithm based on the idea of back propagation (BP), so that the computation efficiency and the learning strategy of the modified RFWR are much more applicable for multi-sensor data fusion problem. Thus a new fusion structure and algorithm with incremental learning ability is constructed by adopting the modified RFWR algorithm together with the weighted average algorithm. Experiments of a two-camera unified positioning system are implemented successfully to test the proposed computation structure and algorithms. | |||||
BibTeX:
@article{04078022257,
author = {Su, Jianbo and Wang, Jun and Xi, Yugeng},
title = {Incremental Learning with Balanced Update on Receptive Fields for Multi-Sensor Data Fusion},
journal = {IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics},
year = {2004},
volume = { 34},
number = { 1},
pages = {659 - 665},
note = {Receptive Field Weighted Regression (RFWR);Incremental learning;Receptive fields;}
}
|
|||||
| Su, J. & Xi, Y. | Uncalibrated hand/eye coordination based on auto disturbance rejection controller | 2002 | Proceedings of the IEEE Conference on Decision and Control | article | |
| Abstract: The universal design method for the controller of the uncalibrated robotic hand/eye coordination system is investigated. The image Jacobian model is employed and the principle of the auto disturbance-rejection controller is introduced so that the new controller is independent of specific tasks and system configurations. Simulation and experiment results demonstrate the effectiveness of the proposed approach. | |||||
BibTeX:
@article{03197464300,
author = {Su, Jianbo and Xi, Yugeng},
title = {Uncalibrated hand/eye coordination based on auto disturbance rejection controller},
journal = {Proceedings of the IEEE Conference on Decision and Control},
year = {2002},
volume = { 1},
pages = {923 - 924},
note = {Eye-hand coordination;Auto disturbance rejection controller;Expanded state observer;}
}
|
|||||
| Su, J. & Xi, Y. | Image tracking for a 3D moving object based on uncalibrated global visual feedback [BibTeX] |
2000 | Gaojishu Tongxin/High Technology Letters | article | |
BibTeX:
@article{00115399647,
author = {Su, Jianbo and Xi, Yugeng},
title = {Image tracking for a 3D moving object based on uncalibrated global visual feedback},
journal = {Gaojishu Tongxin/High Technology Letters},
year = {2000},
volume = { 10},
number = { 7},
pages = {85 - 87}
}
|
|||||
| Su, J. & Xi, Y. | Calibration-free coordination of robotic hand-eye system on dynamic planar tracking [BibTeX] |
1999 | Moshi Shibie yu Rengong Zhineng/Pattern Recognition and Artificial Intelligence | article | |
BibTeX:
@article{00045124996,
author = {Su, Jianbo and Xi, Yugeng},
title = {Calibration-free coordination of robotic hand-eye system on dynamic planar tracking},
journal = {Moshi Shibie yu Rengong Zhineng/Pattern Recognition and Artificial Intelligence},
year = {1999},
volume = { 12},
number = { 4},
pages = {467 - 472}
}
|
|||||
| Tian, J. & Su, J. | Feature point matching of curved surface and robust uncertainty | 2006 | Journal of Systems Engineering and Electronics | article | URL |
| Abstract: Stereo matching is an important research area in stereovision and stereo matching of curved surface is especially crucial. A novel correspondence algorithm is presented and its matching uncertainty is computed robustly for feature points of curved surface. The corners are matched by using homography constraint besides epipolar constraint to solve the occlusion problem. The uncertainty sources are analyzed. A cost function is established and acts as an optimal rule to compute the matching uncertainty. An adaptive scheme Gauss weights are put forward to make the matching results robust to noises. It makes the practical application of corner matching possible. From the experimental results of an image pair of curved surface it is shown that computing uncertainty robustly can restrain the affection caused by noises to the matching precision. | |||||
BibTeX:
@article{063410082356,
author = {Tian, Jinsi and Su, Jianbo},
title = {Feature point matching of curved surface and robust uncertainty},
journal = {Journal of Systems Engineering and Electronics},
year = {2006},
volume = { 17},
number = { 2},
pages = {355 - 361},
note = {Stereo matching;Robust uncertainty;Homography;Epipolar constraint;Gauss weights;Feature point matching;Curved surface;Matching precision;},
url = {http://dx.doi.org/10.1016/S1004-4132(06)60062-5}
}
|
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| Tian, J. & Su, J. | Feature point matching of affine model images using hopfield network | 2005 | Lecture Notes in Computer Science | article | |
| Abstract: This paper presents an approach to match feature point of a pair of 3-dimensional affine model images. The affine transferring parameters are computed by a set of corresponding feature points, which are obtained based on 2D Hopfield neural network. The design of energy function of the neural network optimizes the matching error of the feature points. Two affine geometric constraints, epipolar and homography are used without the restriction to scene's particularity. A pair of affine model images tests the performance of the proposed method. © Springer-Verlag Berlin Heidelberg 2005. | |||||
BibTeX:
@article{05399382099,
author = {Tian, Jinsi and Su, Jianbo},
title = {Feature point matching of affine model images using hopfield network},
journal = {Lecture Notes in Computer Science},
year = {2005},
volume = { 3497},
number = { II},
pages = {405 - 410},
note = {Energy functions;Homography;Geometric constraints;}
}
|
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| Xueqiao, H. & Jianbo, S. | New approaches to Internet based intelligent robotic system | 2004 | Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on | inproceedings | |
| Abstract: To find new approaches to the stability and synchronization problems of Internet based telerobotic systems, a mission/behavior based robotic teleoperation scheme is proposed. A novel distributed perception strategy is presented to enable the robot to autonomously search and utilize sensors via the Internet. These two schemes are implemented in the Distributed Architecture for Internet Robot (DAIR) design. In this paper, the mechanism, utilization and explanation of these two schemes are given. Experiments have proved their feasibility and effectiveness for both performance improvement in teleoperation and intelligence advancement in Internet based robotic systems. | |||||
BibTeX:
@inproceedings{hou2004c,
author = {Xueqiao, Hou and Jianbo, Su},
title = {New approaches to Internet based intelligent robotic system},
booktitle = {Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on},
year = {2004},
volume = {4},
pages = {3363-3368 Vol.4}
}
|
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| Zhang, K. & Su, J. | General software architecture for multi-sensor information fusion system | 2004 | Proceedings of the World Congress on Intelligent Control and Automation (WCICA) | article | |
| Abstract: In this paper, a general software architecture for multisensor fusion system (MFS) in dynamic environment is described. The architecture has the characteristics of robustness, dynamically reconfigurable framework, "plug-in-play" for sensor, and predictability of sensor action. According to requirements of MFS, the real-time operating system (RTOS) is applied in this software architecture. The result is an RTOS-based software architecture, which consists of five kinds of tasks: Sensor Sampling Task (SST), Sensor Data Processing Task (SDPT), Fusion Task (FT), Management Task (MT) and Man/Machine Interface Task (MMIT). A calligraphic robot has been designed and developed in our lab based on the software architecture proposed. | |||||
BibTeX:
@article{04388367892,
author = {Zhang, Kejun and Su, Jianbo},
title = {General software architecture for multi-sensor information fusion system},
journal = {Proceedings of the World Congress on Intelligent Control and Automation (WCICA)},
year = {2004},
volume = { 5},
pages = {4640 - 4644},
note = {Multisensor fusion systems;Dynamic environment;RTOS;Calligraphic robot;}
}
|
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| Zhang, K. & Su, J. | RTOS-based software architecture for multisensor fusion system | 2004 | 2004 5th Asian Control Conference | article | |
| Abstract: In this paper, software architecture for multisensor fusion system (MFS) in dynamic environment is described. The architecture has the characteristics of robustness, dynamically reconfigurable framework, "plug-in-play" for sensor, and predictability of sensor action. According to requirements of MFS, the real-time operating system (RTOS) is applied in this software architecture. The result is an RTOS-based software architecture, which consists of five kinds of tasks: Sensor Sampling Task (SST), Sensor Data Processing Task (SDPT), Fusion Task (FT), Management Task (MT) and Man/Machine Interface Task (MMIT). A calligraphic robot has been designed and developed in our lab based on the software architecture proposed. The application of the architecture makes the sensor management of the calligraphic robot system easy. | |||||
BibTeX:
@article{05169044535,
author = {Zhang, Kejun and Su, Jianbo},
title = {RTOS-based software architecture for multisensor fusion system},
journal = {2004 5th Asian Control Conference},
year = {2004},
volume = { 2},
pages = {906 - 913},
note = {Real time operating systems (RTOS);Sensor data processing task (SDPT);Man/ machine interface task (MMIT);Component Object Model (COM);}
}
|
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| Zhang, Y. & Su, J. | Plug-and-play robotic system based on distributed control | 2005 | Gaojishu Tongxin/Chinese High Technology Letters | article | |
| Abstract: This paper presents a prototype of a desktop robotic system that enables plug-and-play function through a USB (Universal Serial Bus) port of a Personal Computer (PC). The robotic system is realized on an internally distributed control structure that facilitates higher system reliability. The PID algorithm is at present embedded for system control. | |||||
BibTeX:
@article{05239148325,
author = {Zhang, Yanjun and Su, Jianbo},
title = {Plug-and-play robotic system based on distributed control},
journal = {Gaojishu Tongxin/Chinese High Technology Letters},
year = {2005},
volume = { 15},
number = { 5},
pages = {49 - 53}
}
|
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| Zhendong, G. & Jianbo, S. | Switch Images Based on Fusion in Uncalibrated Visual Servoing | 2006 | Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on | inproceedings | |
| Abstract: This paper studies stable switch control between multiple cameras for uncalibrated visual servoing. To get the continuous dynamic image Jacobian matrix among robots and distributed visual sensors, we suggest switch images based on fusion. We analyze fusion structure and design fusion algorithm that is suitable with having dynamically adjustable fusion weights. Simulations without any knowledge of mobile robots and uncalibrated visual sensors show that the method has more adaptability capability than the traditional instant switch control method. In this way the method can enhance the system stability at the switching process | |||||
BibTeX:
@inproceedings{gao2006,
author = {Zhendong, Gao and Jianbo, Su},
title = {Switch Images Based on Fusion in Uncalibrated Visual Servoing},
booktitle = {Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on},
year = {2006},
pages = {3803-3808}
}
|
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| Zhou, W. & Su, J. | Task-oriented Internet robot system architecture | 2005 | Gaojishu Tongxin/Chinese High Technology Letters | article | |
| Abstract: A real-time control system was developed, which allows an arm manipulator to be teleoperated so as to track the moving target via Internet. The robot's network interface is discussed, and also a novel centralized architecture proposed. Then the autonomy of the Internet-based robot is explored, and the active switching between different task execution modes is used so that the network break effect on control is abated. The experimental results show the validity and feasibility of the proposed methods. | |||||
BibTeX:
@article{05339305140,
author = {Zhou, Wei and Su, Jianbo},
title = {Task-oriented Internet robot system architecture},
journal = {Gaojishu Tongxin/Chinese High Technology Letters},
year = {2005},
volume = { 15},
number = { 7},
pages = {29 - 34}
}
|
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Created by JabRef on 16/10/2007.