张宁  Learning Motion Planning Policies in Uncertain Environments through Repeated Task Executions 通过重复任务执行学习不确定环境中的运动规划策略链接:https://pan.baidu.com/s/1TlSJn0fXuKEwZ9vts4xA6g 提取码:jwsd 复制这段内容后打开百度网盘手机App,操作更方便哦 Florence Tsang, Ryan A. Macdonald, and Steph…

Motion Planning for a Small Aerobatic Fixed-Wing Unmanned Aerial Vehicle Joshua Levin, Aditya Paranjape, and Meyer Nahon 小型特技飞行无人机的运动规划 https://pan.baidu.com/s/1xB6WxNMEo-SNAApsNT0GQQ Abstract— A motion planner is developed for guiding a small aeroba…

Automatic Parameter Tuning of Motion Planning Algorithms 运动规划算法的自动参数整定 Jos´e Cano, Yiming Yang, Bruno Bodin, Vijay Nagarajan, and Michael O’Boyle 张宁 Automatic Parameter Tuning of Motion Planning Algorithms https://pan.baidu.com/s/17rNCxNp3Lqbtqt-sO1x…

张宁  Efficient Trajectory Planning for High Speed Flight in Unknown Environments 高效飞行在未知环境中的有效轨迹规划链接:https://pan.baidu.com/s/1l0HtSOU-6QSojq7ELrmLIA  提取码:ayc1 Markus Ryll, John Ware, John Carter and Nick Roy There has been considerable recent work in…

想着CSDN还是不适合做论文类的笔记,那里就当做技术/系统笔记区,博客园就专心搞看论文的笔记和一些想法好了,[]以后中框号中间的都算作是自己的内心OS 有时候可能是问题,有时候可能是自问自答,毕竟是笔记嘛 心路历程记录:然后可能有很多时候都是中英文夹杂,是因为我觉得有些方法并没有很好地中文翻译的意思(比如configuration space),再加上英文能更好的搜索.希望大家能接受这种夹杂写法,或者接受不了的话直接关掉这个看原文 前言:这是一篇02年的关于Motion Planning - P…

张宁 Optimal Trajectory Generation for Quadrotor Teach-And-Repeat链接:https://pan.baidu.com/s/1x0CmuOXiLu_BHQFfhnrwSA 提取码:9npg Optimal Trajectory Generation for Quadrotor Teach-and-Repeat 四旋翼重复示教的最优轨迹生成 Fei Gao, Luqi Wang, Kaixuan Wang, William Wu, Boyu…

 Grassfire算法: 一.概念 这个算法是做图像处理的抽骨架处理,目的是求出图像的骨架,可以想象一片与物体形状相同的草,沿其外围各点同时点火.当火势向内蔓延,向前推进的火线相遇处各点的轨迹就是中轴. 一个与细化有关的运算是抽骨架,也称为中轴变换(Medialaxis transform)或焚烧草地技术(grass-fire technigue).中轴是所有与物体在两个或更多非邻接边界点处相切的圆心的轨迹.但抽骨架很少通过在物体内拟合圆来实现.    概念上,中轴可设想成按如下方式形成.想象…

前言与引用 这一个呢,主要是自己突然看一篇论文的时候不知道 为什么他提出的方法对于规划来说就是好的,规划又应该分为哪几个部分,解决的是哪几个部分的问题?带着这个问题,我就去搜:Motion Planning是什么?hhhh 然后从参考的知乎链接中到了这个课(其实我曾经在b站刷到过 但是当时我还没意识到自己的这一系列基础性问题 没问出问题,我向来是一个... 有问题再去学 再去找的 带着问题走) 知乎<Apollo Lattice Planner从学习到放弃.额不....到实践>:https:/…

Stabilize an Unsupervised Feature Learning for LiDAR-based Place Recognition Peng Yin, Lingyun Xu, Zhe Liu, Lu Li, Hadi Salman, Yuqing He Abstract— Place recognition is one of the major challenges for the LiDAR-based effective localization and mappin…

张宁 Cooperative Object Transportation by Multiple Ground and Aerial Vehicles: Modeling and Planning 多地面和空中车辆的协同目标运输:建模与规划 "链接:https://pan.baidu.com/s/1u00fHJMF4u9_4l7-h655og 提取码:n94y" In this paper, the modeling and planning problems of a system…

目录 摘要部分: I. Introduction 介绍 II. Background 背景 A. Collision Avoidance with DRL B. Characterization of Social Norms III. Approach 方法 A. Inducing Social Norms 前言: 摘要部分: For robotic vehicles to navigate safely and efficiently in pedestrian-rich environme…

原创博文:转载请标明出处:http://www.cnblogs.com/zxouxuewei 最近有不少人询问有关MoveIt!与OMPL相关的话题,但是大部分问题都集中于XXX功能怎么实现,XXX错误怎么解决.表面上看,解决这些问题的方法就是提供正确的代码,正确的编译方法,正确的运行步骤. 然而,这种解决方法只能解决这个特定的问题,而且解决之后我们也无法学到一些实际的东西.要想彻底明白,需要从源头入手,也就是说,不要问"MoveIt! 怎么把机械手从空间一个点移到另一个点?",而是要…

动态规划 动态规划(Dynamic Programming,简称DP)是一种通过把原问题分解为相对简单的子问题的方式求解复杂问题的方法. 动态规划常常适用于具有如下性质的问题: 具有最优子结构(Optimal substructure) Principle of optimality applies Optimal solution can be decomposed into subproblems 重叠子问题(Overlapping subproblems) Subproblems recu…

Towards real-time unsupervised monocular depth estimation on CPU Matteo Poggi , Filippo Aleotti , Fabio Tosi , Stefano Mattoccia 在CPU上进行实时无监督单目深度估计 Abstract— Unsupervised depth estimation from a single image is a very attractive technique with severa…

Exploiting Points and Lines in Regression Forests for RGB-D Camera Relocalization 利用回归森林中的点和线进行RGB-D相机重新定位 张宁 https://pan.baidu.com/s/17RfrQqp0LaCELabma4jVDQ Lili Meng , Frederick Tung , James J. Little , Julien Valentin , Clarence W. de Silva Abstra…

原创博文:转载请标明出处:http://www.cnblogs.com/zxouxuewei 最近有不少人询问有关MoveIt!与OMPL相关的话题,但是大部分问题都集中于XXX功能怎么实现,XXX错误怎么解决.表面上看,解决这些问题的方法就是提供正确的代码,正确的编译方法,正确的运行步骤. 然而,这种解决方法只能解决这个特定的问题,而且解决之后我们也无法学到一些实际的东西.要想彻底明白,需要从源头入手,也就是说,不要问“MoveIt! 怎么把机械手从空间一个点移到另一个点?“,而是要问”Mov…

张宁 Geometric and Physical Constraints for Drone-Based Head Plane Crowd Density Estimation 基于无人机的向下平面人群密度估计的几何和物理约束https://arxiv.org/abs/1803.08805 Weizhe Liu, Krzysztof Lis, Mathieu Salzmann, Pascal Fua Abstract—State-of-the-art methods for counting…

张宁 Real-Time Vehicle Detection from Short-Range Aerial Image with Compressed MobileNet链接:https://pan.baidu.com/s/1Uk6McGCnCzTieJYehjSFBA 提取码:e0bn Yuhang He, Ziyu Pan, Lingxi Li, Yunxiao Shan, Dongpu Cao and Long Chen Vehicle detection from short-rang…

张宁  Using Geometric Features to Represent Near-Contact Behavior in Robotic Grasping链接:https://pan.baidu.com/s/1X3X5QJlHKBFZYS_-rWWHQQ 提取码:eyvb 复制这段内容后打开百度网盘手机App,操作更方便哦 Abstract—In this paper we define two feature representations for grasping. These r…

Teaching Robots to Draw 教会机器人画画https://h2r.cs.brown.edu/wp-content/uploads/kotani19.pdf Atsunobu Kotani and Stefanie Tellex In this paper, we introduce an approach which enables manipulator robots to write handwritten characters or line drawings. Giv…

张宁  GEN-SLAM - Generative Modeling for Monocular Simultaneous Localization and Mapping GEN-SLAM  - 单目同时定位和建图的生成模型https://arxiv.org/abs/1902.02086 Punarjay Chakravarty, Praveen Narayanan and Tom Roussel Abstract—We present a Deep Learning based system…

FMD Stereo SLAM: Fusing MVG and Direct Formulation Towards Accurate and Fast Stereo SLAM FMD Stereo SLAM:融合MVG和直接方法,实现准确,快速的双目SLAM Fulin Tang, Heping Li, Yihong Wu We propose a novel stereo visual SLAM framework considering both accuracy and speed at…

Project AutoVision - Localization and 3D Scene Perception for an Autonomous Vehicle with a Multi-Camera System Lionel Heng, Benjamin Choi https://arxiv.org/abs/1809.05477 Abstract: Project AutoVision aims to develop localization and 3D scene percepti…

张宁 Semi-Dense Visual-Inertial Odometry and Mapping for Quadrotors with SWAP Constraints 具有SWAP约束的四旋翼半密集视觉惯性里程计和建图 https://ieeexplore.ieee.org/document/8463163 Wenxin Liu, Giuseppe Loianno, Kartik Mohta, Kostas Daniilidis, and Vijay Kumar Abstract—Mic…

Topomap: Topological Mapping and Navigation Based on Visual SLAM Maps Fabian Bl¨ochliger, Marius Fehr, Marcin Dymczyk, Thomas Schneider and Roland Siegwart Topomap:基于Visual SLAM地图的拓扑映射和导航 https://arxiv.org/pdf/1709.05533.pdf Abstract—Visual robot nav…

张宁 Visual Odometry Using a Homography Formulation with Decoupled Rotation and Translation Estimation Using Minimal Solutions "链接:https://pan.baidu.com/s/13l8ERXM9SiBqDe2r_25elw 提取码:xs4u " 视觉测距法使用单应性配方,使用最小解决方案进行解耦旋转和平移估计使用最小解决方案进行解耦旋转和平移估计的单应性框架…

Deep-LK for Efficient Adaptive Object Tracking "链接:https://pan.baidu.com/s/1Hn-CVgiR7WV0jvaYBv5G_A 提取码:mp97" 用于高效自适应对象跟踪的Deep-LK方法 In this paper, we present a new approach for efficient regression-based object tracking. Our approach is closely r…

张宁 Semantic Labeling of Indoor Environments from 3D RGB Maps Manuel Brucker,  Maximilian Durner,  Rare Ambru, Zoltán Csaba Márton, Axel Wendt, Patric Jensfelt,  Kai O. Arras,  Rudolph Triebel "链接:https://pan.baidu.com/s/1JtQfWlhynnXvh69VLmvAFg 提取码:7e…

Cubic Range Error Model for Stereo Vision with Illuminators 带有照明器的双目视觉的三次范围误差模型 "链接:https://pan.baidu.com/s/1ihSDMHyBzRF6TRZftS2WHw 提取码:la7r " Marius Huber, Timo Hinzmann, Roland Siegwart, and Larry H. Matthies Abstract—Use of low-cost depth sen…

A Multi-Position Joint Particle Filtering Method for Vehicle Localization in Urban Area 城市车辆定位的多位置联合粒子滤波方法 Shuxia Gu, Zhiyu Xiang*, Yi Zhang and Qi Qian 张宁 Abstract—Robust localization is a prerequisite for autonomous vehicles. Traditional visual loc…