Projects

Group Projects

• Automatically tracking system using monocular vision algorithm PnP
  1. Demonstrate how to build an automatic tracking system based on vision methods. The system has successfully been used on robots made by YSU-Eagle.
  2. This system is mainly compiled by C++ programming language, including vision algorithm codes and serial communication codes.
  [report(in Chinese)] [Youtube]

• SLAM:structure from motion
  1. Estimate camera/robot motion from image sequences(TUM open-source dataset) that may be coupled with random noise.
  2. Implement Eigen and g2o optimization libraries in C++ programming environment.
  [Youtube]

Mathematical modelling

• Get out of the Louvre(2019MCM)
  1. Study on how to evacuate a large number of tourists in the Louvre safely and quickly.
  2. A multi-floor building evacuation model based on improved cellular automata theory was established.
  [report]

Computer Vision

• Train a probabilistic color model from image data to segment unseen images[report]

• Extract key features from individual's neutral expression images for reconstructions [report]

SLAM

• Particle filter SLAM using odometry, 2D laser scans and RGBD images [report]

• Visual-Inertial SLAM with EKF [report]

Others

• A wind panel control device

  This device performs PID feedback through the angle of the wind panel to control the motors on both sides. It allows the panel to be in any position while maintain or rotate it at a constant speed. [Youtube]

• A plate-ball control system

  This device recognizes the black ball with the camera above the plate and transmits the position information to the control system below. The control system then adjusts the pitch angle of the plate by two motors to move the ball across the plate according to the programmed movement trajectory.

• A single inverted pendulum system

  Based on the mechanical model of the inverted pendulum, the DC motor and speed reducer on the frame are PID controlled according to the pendulum angle. When the end of the bar is kept vertical, the rotating rod is made to rotate in uniform or variable velocity.