Real-time Drivable Region Planning Based on 3D LiDAR

Ultrafast ranging lidar based on real-time Fourier transformation.

Real-time Fourier-transformation-based ranging lidar using a mode-locked femtosecond fiber laser is demonstrated. The object signal and the reference signal are guided from a fiber Mach-Zehnder interferometer into a dispersive element. The two optical pulses extend and overlap with each other temporally, which yields a microwave pulse on the photodetector with its frequency proportional to the ...

Fast Real-Time LIDAR Processing on FPGAs

Light Detection and Ranging (LIDAR) plays an important role in remote sensing because of its ability to provide high-resolution measurements of 3D structure. For time-sensitive airborne missions, fast onboard processing of LIDAR data is desired and yet difficult to achieve with traditional embedded CPU solutions due to the computational requirements. FPGAs have the potential to speed up process...

Detection of Congenital Mullerian Anomalies Using Real-Time 3D Sonography

Region-Based vs. Edge-Based Registration for 3D Motion Capture by Real Time Monoscopic Vision

3D human motion capture by real-time monocular vision without using markers can be achieved by registering a 3D articulated model on a video. Registration consists in iteratively optimizing thematch between primitives extracted from the model and the images with respect to the model position and joint angles. We extend a previous color-based registration algorithm with a more precise edge-based...

Real-time Walking Path Planning with 3D Collision Avoidance

We illustrate an original real-time replanning scheme experimentally for humanoid robot reactive walking. Footsteps are planned as a sequence of “half-steps” that can be easily integrated with randomized planning methods such as RRT. Combined with an approximation of the volume swept by the robot legs during dynamic walking, our method is able to cope with the collision avoidance for 3D obstacl...