An Optimization Framework for Real-Time Appearance-Based Tracking under Weak Perspective

2005 ◽  
Author(s):  
A. P. Leung ◽  
S. Gong
Keyword(s):  
Real Time ◽  
Optimization Framework

scholarly journals A real-time interactive system of surface reconstruction and dynamic projection mapping with RGB-depth sensor and projector

2018 ◽  
Vol 14 (7) ◽  
pp. 155014771879085 ◽  
Author(s):  
Yundong Guo ◽  
Shu-Chuan Chu ◽  
Zhenyu Liu ◽  
Chan Qiu ◽  
Hao Luo ◽  
...  
Keyword(s):  
Real Time ◽  
Surface Reconstruction ◽  
Virtual Worlds ◽  
Target Surface ◽  
Calibration Procedure ◽  
Interactive System ◽  
Depth Sensor ◽  
Projection Mapping ◽  
Optimization Framework ◽  
Depth Data

Reconstruction and projection mapping enable us to bring virtual worlds into real spaces, which can give spectators an immersive augmented reality experience. Based on an interactive system with RGB-depth sensor and projector, we present a combined hardware and software solution for surface reconstruction and dynamic projection mapping in real time. In this article, a novel and adaptable calibration scheme is proposed, which is used to estimate approximate models to correct and transform raw depth data. Besides, our system allows for smooth real-time performance using an optimization framework, including denoising and stabilizing. In the entire pipeline, markers are only used in the calibration procedure, and any priors are not needed. Our approach enables us to interact with the target surface in real time, while maintaining correct illumination. It is easy and fast to develop different applications for our system, and some interesting cases are demonstrated at last.

scholarly journals Simulation of Upward Jump Control for One-Legged Robot Based on QP Optimization

Sensors ◽  
2021 ◽  
Vol 21 (5) ◽  
pp. 1893
Author(s):  
Dingkui Tian ◽  
Junyao Gao ◽  
Chuzhao Liu ◽  
Xuanyang Shi
Keyword(s):  
Real Time ◽  
Trajectory Generation ◽  
Real Time Control ◽  
Optimization Framework ◽  
Time Control ◽  
Sampling Intervals ◽  
Zero Moment ◽  
Upward Jump ◽  
Actuated Joints ◽  
Joint Acceleration

An optimization framework for upward jumping motion based on quadratic programming (QP) is proposed in this paper, which can simultaneously consider constraints such as the zero moment point (ZMP), limitation of angular accelerations, and anti-slippage. Our approach comprises two parts: the trajectory generation and real-time control. In the trajectory generation for the launch phase, we discretize the continuous trajectories and assume that the accelerations between the two sampling intervals are constant and transcribe the problem into a nonlinear optimization problem. In the real-time control of the stance phase, the over-constrained control objectives such as the tracking of the center of moment (CoM), angle, and angular momentum, and constraints such as the anti-slippage, ZMP, and limitation of joint acceleration are unified within a framework based on QP optimization. Input angles of the actuated joints are thus obtained through a simple iteration. The simulation result reveals that a successful upward jump to a height of 16.4 cm was achieved, which confirms that the controller fully satisfies all constraints and achieves the control objectives.

Sign in / Sign up

Export Citation Format

Share Document