Pub Date : 2011-06-21DOI: 10.1109/WCICA.2011.5970705
D. Navarro-Alarcon, Yunhui Liu, Peng Li
In this paper we employ passivity-based control techniques to guarantee the stable manipulation of a constrained robotic endoscope holder. The system's modelling and the control synthesis are realised under the port-Hamiltonian formulation. Where a desired form of the closed-loop energy is enforced such that its local equilibrium implies the application of the desired force to the environment (patient's nostril), while regulating the endoscope unconstrained position and orientation inside the nasal cavity. This allows to set a specific energetic relation between the controlled robot and the environment, which in turn means a safer interaction with the tissue. Simulation and experimental results are presented to validate the theoretical concepts.
{"title":"Stable force/position control of a robotic endoscope holder for constrained tasks in nasal surgery","authors":"D. Navarro-Alarcon, Yunhui Liu, Peng Li","doi":"10.1109/WCICA.2011.5970705","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970705","url":null,"abstract":"In this paper we employ passivity-based control techniques to guarantee the stable manipulation of a constrained robotic endoscope holder. The system's modelling and the control synthesis are realised under the port-Hamiltonian formulation. Where a desired form of the closed-loop energy is enforced such that its local equilibrium implies the application of the desired force to the environment (patient's nostril), while regulating the endoscope unconstrained position and orientation inside the nasal cavity. This allows to set a specific energetic relation between the controlled robot and the environment, which in turn means a safer interaction with the tissue. Simulation and experimental results are presented to validate the theoretical concepts.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127718373","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-21DOI: 10.1109/WCICA.2011.5970553
Jzau-Sheng Lin, P. Liu, Yu-Yi Liao, S. Tai
We present the novel method for automatic illumination compensation of color photos. Firstly, we suppose the photo has its own reference luminance level to get the characteristic luminance of each pixel by subtracting reference luminance level from original luminance. Next, the calibrated luminance is obtained by adjusting the characteristic luminance according to expected target luminance. The straight lines or oblique lines in photo are causing the HALO artifact. Therefore, the proposed method also reduces the HALO artifact using applying alpha blending original luminance and reference luminance level. Finally, we also provide the different resulted photos that are based on human perception by applying various proportions of alpha blending original image and fix layer.
{"title":"Automatic illumination compensation of color photos","authors":"Jzau-Sheng Lin, P. Liu, Yu-Yi Liao, S. Tai","doi":"10.1109/WCICA.2011.5970553","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970553","url":null,"abstract":"We present the novel method for automatic illumination compensation of color photos. Firstly, we suppose the photo has its own reference luminance level to get the characteristic luminance of each pixel by subtracting reference luminance level from original luminance. Next, the calibrated luminance is obtained by adjusting the characteristic luminance according to expected target luminance. The straight lines or oblique lines in photo are causing the HALO artifact. Therefore, the proposed method also reduces the HALO artifact using applying alpha blending original luminance and reference luminance level. Finally, we also provide the different resulted photos that are based on human perception by applying various proportions of alpha blending original image and fix layer.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132787453","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-21DOI: 10.1109/WCICA.2011.5970609
Kao-Shing Hwang, Yu-Jen Chen, Wei-Cheng Jiang
Reinforcement learning is one of the more prominent machine learning technologies due to its unsupervised learning structure and ability to continually learn, even in a dynamic operating environment. Applying this learning to cooperative multi-agent systems not only allows each individual agent to learn from its own experience, but also offers the opportunity for the individual agents to learn from the other agents in the system to increase the speed of learning can be accelerated. In the proposed learning algorithm, an agent store its experience in terms of state aggregation implemented with a decision tree, such that policy sharing between multi-agent is eventually accomplished by merging different decision trees between peers. Unlike lookup tables which have homogeneous structure for state aggregations, decision trees carried in agents are with heterogeneous structure. This work executes policy sharing between cooperative agents by means of forming a hyper structure from their trees instead of merging whole trees violently. The proposed scheme initially translates the whole decision tree from an agent to others. Based on the evidence, only partial leaf nodes hold helpful experience for policy sharing. The proposed method inducts a hyper decision tree by a great mount of samples which are sampled from the shared nodes. Results from simulations in multi-agent cooperative domain illustrate that the proposed algorithms perform better than the one without sharing.
{"title":"Learning acceleration by policy sharing","authors":"Kao-Shing Hwang, Yu-Jen Chen, Wei-Cheng Jiang","doi":"10.1109/WCICA.2011.5970609","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970609","url":null,"abstract":"Reinforcement learning is one of the more prominent machine learning technologies due to its unsupervised learning structure and ability to continually learn, even in a dynamic operating environment. Applying this learning to cooperative multi-agent systems not only allows each individual agent to learn from its own experience, but also offers the opportunity for the individual agents to learn from the other agents in the system to increase the speed of learning can be accelerated. In the proposed learning algorithm, an agent store its experience in terms of state aggregation implemented with a decision tree, such that policy sharing between multi-agent is eventually accomplished by merging different decision trees between peers. Unlike lookup tables which have homogeneous structure for state aggregations, decision trees carried in agents are with heterogeneous structure. This work executes policy sharing between cooperative agents by means of forming a hyper structure from their trees instead of merging whole trees violently. The proposed scheme initially translates the whole decision tree from an agent to others. Based on the evidence, only partial leaf nodes hold helpful experience for policy sharing. The proposed method inducts a hyper decision tree by a great mount of samples which are sampled from the shared nodes. Results from simulations in multi-agent cooperative domain illustrate that the proposed algorithms perform better than the one without sharing.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131919177","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-21DOI: 10.1109/WCICA.2011.5970646
Jianguo Tao, Fei Yang, Z. Deng, Haitao Fang
A six-wheeled robotic rover with passive/active suspensions was designed considering the uneven terrain. The rover suspension consists of two 3-DOF articulated frames, and each joint of the suspensions can rotate passively or be driven by a motor. So the rover is capable of locomotion in a passive mode or an active mode according to terrain. Based on the rover mechanical characteristics, reference frames for describing the rover locomotion are set up and a closed chain coordinate transformation graph is given. A kinematics modeling method of the rover for passive locomotion mode and active locomotion mode is presented. Kinematics models of the rover in passive locomotion mode and wheel-walking locomotion mode on rough terrain are constructed considering some key factors such as terrain characteristics, joint movement of suspensions, wheel slippage and so on. Some calculation results show validity of the kinematics models of the rover.
{"title":"Kinematic modeling of a six-wheeled robotic rover with a passive/active suspension","authors":"Jianguo Tao, Fei Yang, Z. Deng, Haitao Fang","doi":"10.1109/WCICA.2011.5970646","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970646","url":null,"abstract":"A six-wheeled robotic rover with passive/active suspensions was designed considering the uneven terrain. The rover suspension consists of two 3-DOF articulated frames, and each joint of the suspensions can rotate passively or be driven by a motor. So the rover is capable of locomotion in a passive mode or an active mode according to terrain. Based on the rover mechanical characteristics, reference frames for describing the rover locomotion are set up and a closed chain coordinate transformation graph is given. A kinematics modeling method of the rover for passive locomotion mode and active locomotion mode is presented. Kinematics models of the rover in passive locomotion mode and wheel-walking locomotion mode on rough terrain are constructed considering some key factors such as terrain characteristics, joint movement of suspensions, wheel slippage and so on. Some calculation results show validity of the kinematics models of the rover.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115617754","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-21DOI: 10.1109/WCICA.2011.5970723
Qi Zhang, Niu Wang, Zushu Li
For the model time varying during point stabilization control of two-wheel robot with nonholonomic constraint, velocity, and acceleration limit, this paper proposes a multi-mode proportion control approach based on neural network. The point stabilization intelligence control is achieved by optimizing the multi-mode human simulated intelligence control(HSIC) controller with BP neural network online learning. With the performance variation of robot motion execution system, the simulation results compare the approach we proposed with the proportion controller and proportion cosine controller. The validity of the approach is confirmed in the simulation.
{"title":"Point stabilization control for two-wheel robot with online parameters settings","authors":"Qi Zhang, Niu Wang, Zushu Li","doi":"10.1109/WCICA.2011.5970723","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970723","url":null,"abstract":"For the model time varying during point stabilization control of two-wheel robot with nonholonomic constraint, velocity, and acceleration limit, this paper proposes a multi-mode proportion control approach based on neural network. The point stabilization intelligence control is achieved by optimizing the multi-mode human simulated intelligence control(HSIC) controller with BP neural network online learning. With the performance variation of robot motion execution system, the simulation results compare the approach we proposed with the proportion controller and proportion cosine controller. The validity of the approach is confirmed in the simulation.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115969881","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-21DOI: 10.1109/WCICA.2011.5970565
Zhong Zhao, Min Cui
Due to the lack of suitable on-line polymer property measurements, the control of multi-grade product quality in industrial polymerization reactors is difficult. In this article, a predictive model of polymer properties is deduced for industrial polyethylene process by combining the first principle model and the feature modeling scheme. Combining the extended Kalman filtering, a method of design the particle filtering joint estimation is proposed to update the estimation of polymer properties based on the off-line lab analysis data in this article. The application results of the proposed method to an industrial gas-phase polyethylene plant have verified its effectiveness and feasibility. With the proposed method, multi-grade polymer properties of industrial gas-phase polyethylene process can be online estimated and make it possible for achieving the advanced on-line multi-grade product quality control.
{"title":"Polymer properties on-line estimation for gas-phase polyethylene based on particle filtering joint estimation","authors":"Zhong Zhao, Min Cui","doi":"10.1109/WCICA.2011.5970565","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970565","url":null,"abstract":"Due to the lack of suitable on-line polymer property measurements, the control of multi-grade product quality in industrial polymerization reactors is difficult. In this article, a predictive model of polymer properties is deduced for industrial polyethylene process by combining the first principle model and the feature modeling scheme. Combining the extended Kalman filtering, a method of design the particle filtering joint estimation is proposed to update the estimation of polymer properties based on the off-line lab analysis data in this article. The application results of the proposed method to an industrial gas-phase polyethylene plant have verified its effectiveness and feasibility. With the proposed method, multi-grade polymer properties of industrial gas-phase polyethylene process can be online estimated and make it possible for achieving the advanced on-line multi-grade product quality control.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115067307","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-21DOI: 10.1109/WCICA.2011.5970530
Wenhao He, Kui Yuan
Hough Transform is a powerful and robust global image processing tool for line detection in picture. However, the traditional Hough Transform is complex because of the calculation of trigonometric functions and multiplication. To overcome this disadvantage, a novel algorithm using simple shift and addition will be discussed in this thesis to replace the complex trigonometric functions and multiplication. Meanwhile, a deep pipelined and parallel realization of this new algorithm on FPGA is also designed. In addition, a new threshold method based on the peak extraction is proposed to eliminate the fake lines produced by the traditional Hough Transform. Experiment results are also presented to prove the efficiency of the proposed method.
{"title":"An improved Hough Transform and its realization on FPGA","authors":"Wenhao He, Kui Yuan","doi":"10.1109/WCICA.2011.5970530","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970530","url":null,"abstract":"Hough Transform is a powerful and robust global image processing tool for line detection in picture. However, the traditional Hough Transform is complex because of the calculation of trigonometric functions and multiplication. To overcome this disadvantage, a novel algorithm using simple shift and addition will be discussed in this thesis to replace the complex trigonometric functions and multiplication. Meanwhile, a deep pipelined and parallel realization of this new algorithm on FPGA is also designed. In addition, a new threshold method based on the peak extraction is proposed to eliminate the fake lines produced by the traditional Hough Transform. Experiment results are also presented to prove the efficiency of the proposed method.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124698221","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-21DOI: 10.1109/WCICA.2011.5970750
Yan Zhang, T. Tang, Qing Huang, Wei Zheng, Tianhua Xu
Train control systems are important to ensure the high efficiency and safety of train, and the test of it is the key factor which determines whether the system is successful or not. The model checkers of Cad SMV, NuSMV, NuBMC and SPIN have been used to generate test sequence, but the high abstracted model of these tools can not keep all the detail informations to construct the test sequence. Colored Petri Net (CPN) models can reserve all the key details used to generate the test sequence directly. To the best of our knowledge, CPN have not been used in this area, one main reason is that the latest version of the CPN model checking tool can only determine the correctness of temporal logic formulas, and not counterexample is available. In this study, how to generate test sequence for train control system using CPN Tools is introduced. The environment models were used to close the model by the means of reading its script file and getting the input messages set of System Under Test (SUT). Radio Block Center (RBC) is chosen as the SUT and the scenario of Start of Mission is chosen as the example scenario. The result shows that the state space size is related with the environment script files when the SUT CPN model is fixed.
列车控制系统是保证列车高效、安全运行的重要手段，而列车控制系统的测试是决定系统成败的关键因素。Cad SMV、NuSMV、NuBMC和SPIN等模型检查器已被用于生成测试序列，但这些工具的高度抽象模型不能保留构建测试序列所需的全部细节信息。彩色Petri网(CPN)模型可以保留所有用于直接生成测试序列的关键细节。据我们所知，CPN尚未在这一领域得到应用，一个主要原因是最新版本的CPN模型检查工具只能确定时间逻辑公式的正确性，而没有反例可用。本文介绍了如何利用CPN工具生成列车控制系统的测试序列。使用环境模型通过读取其脚本文件和获取System Under Test (SUT)的输入消息集来关闭模型。选择无线电块中心(RBC)作为SUT，选择任务开始场景作为示例场景。结果表明，当SUT CPN模型固定时，状态空间大小与环境脚本文件有关。
{"title":"The test of train control system based on Colored Petri Net","authors":"Yan Zhang, T. Tang, Qing Huang, Wei Zheng, Tianhua Xu","doi":"10.1109/WCICA.2011.5970750","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970750","url":null,"abstract":"Train control systems are important to ensure the high efficiency and safety of train, and the test of it is the key factor which determines whether the system is successful or not. The model checkers of Cad SMV, NuSMV, NuBMC and SPIN have been used to generate test sequence, but the high abstracted model of these tools can not keep all the detail informations to construct the test sequence. Colored Petri Net (CPN) models can reserve all the key details used to generate the test sequence directly. To the best of our knowledge, CPN have not been used in this area, one main reason is that the latest version of the CPN model checking tool can only determine the correctness of temporal logic formulas, and not counterexample is available. In this study, how to generate test sequence for train control system using CPN Tools is introduced. The environment models were used to close the model by the means of reading its script file and getting the input messages set of System Under Test (SUT). Radio Block Center (RBC) is chosen as the SUT and the scenario of Start of Mission is chosen as the example scenario. The result shows that the state space size is related with the environment script files when the SUT CPN model is fixed.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124765404","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-21DOI: 10.1109/WCICA.2011.5970703
D. Tian, Z. Deng, Rongqiang Liu, Hongwei Guo
Analysis on dynamic response is one of the important parts of structure analysis for space deployable antenna. To study the dynamic response characteristics of truss structure for deployable truss antenna, according to the structure characteristics of truss structure, the finite element model is built by using ANSYS software. And the harmonic response analysis and transient dynamic analysis are carried out by full method and reduced method respectively, then many response curves of observation nodes are obtained. The results show that the amplitude becomes larger when the frequency of external load is close to or up to the natural frequency of structure, and when the structure hasn't other external damping the amplitude attenuation is relatively slow under impact load. So the damping can be improved by choosing the proper materials and designing the reasonable structure. The results can provide the important reference data to the vibration research of truss structure and theoretical basis of structural optimization design.
{"title":"Analysis on dynamic response of truss structure for deployable truss antenna","authors":"D. Tian, Z. Deng, Rongqiang Liu, Hongwei Guo","doi":"10.1109/WCICA.2011.5970703","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970703","url":null,"abstract":"Analysis on dynamic response is one of the important parts of structure analysis for space deployable antenna. To study the dynamic response characteristics of truss structure for deployable truss antenna, according to the structure characteristics of truss structure, the finite element model is built by using ANSYS software. And the harmonic response analysis and transient dynamic analysis are carried out by full method and reduced method respectively, then many response curves of observation nodes are obtained. The results show that the amplitude becomes larger when the frequency of external load is close to or up to the natural frequency of structure, and when the structure hasn't other external damping the amplitude attenuation is relatively slow under impact load. So the damping can be improved by choosing the proper materials and designing the reasonable structure. The results can provide the important reference data to the vibration research of truss structure and theoretical basis of structural optimization design.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124829347","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-06-21DOI: 10.1109/WCICA.2011.5970717
Qing He, W. Liu, Ningfeng Wei, Yang Yang, Chao Hu, M. Meng
With increasing use of multi-vision system which has more than two cameras, 3D-Point Reconstruction in multi-vision become a basic issue in computer vision. This paper proposes a method for solving this problem. It takes the Perpendicular Foot of two Back-Projection Lines as the estimation of a 3D-Point, and then it sets the weights by analyzing error to find a better estimation. This method has a clear physical meaning and is relatively easy to be implemented in multi-vision systems, the simulation show, when the optical axes of cameras are roughly parallel, the accuracy and computational cost of this approach is better than traditional optimization algorithms.
{"title":"A method for 3D-Point Reconstruction in multi-vision based on Perpendicular Foot","authors":"Qing He, W. Liu, Ningfeng Wei, Yang Yang, Chao Hu, M. Meng","doi":"10.1109/WCICA.2011.5970717","DOIUrl":"https://doi.org/10.1109/WCICA.2011.5970717","url":null,"abstract":"With increasing use of multi-vision system which has more than two cameras, 3D-Point Reconstruction in multi-vision become a basic issue in computer vision. This paper proposes a method for solving this problem. It takes the Perpendicular Foot of two Back-Projection Lines as the estimation of a 3D-Point, and then it sets the weights by analyzing error to find a better estimation. This method has a clear physical meaning and is relatively easy to be implemented in multi-vision systems, the simulation show, when the optical axes of cameras are roughly parallel, the accuracy and computational cost of this approach is better than traditional optimization algorithms.","PeriodicalId":211049,"journal":{"name":"2011 9th World Congress on Intelligent Control and Automation","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2011-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124902636","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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