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3篇 您的检索式：作者名="Gerald Seet"

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		题名	作者	年代	出处	被引量
	1	Real-time Visual Odometry Estimation Based on Principal Direction Detection on Ceiling Vision显示文摘In this paper,we present a novel algorithm for odometry estimation based on ceiling vision.The main contribution of this algorithm is the introduction of principal direction detection that can greatly reduce error accumulation problem in most visual odometry estimation approaches.The principal direction is defned based on the fact that our ceiling is flled with artifcial vertical and horizontal lines which can be used as reference for the current robot s heading direction.The proposed approach can be operated in real-time and it performs well even with camera s disturbance.A moving low-cost RGB-D camera(Kinect),mounted on a robot,is used to continuously acquire point clouds.Iterative closest point(ICP) is the common way to estimate the current camera position by registering the currently captured point cloud to the previous one.However,its performance sufers from data association problem or it requires pre-alignment information.The performance of the proposed principal direction detection approach does not rely on data association knowledge.Using this method,two point clouds are properly pre-aligned.Hence,we can use ICP to fne-tune the transformation parameters and minimize registration error.Experimental results demonstrate the performance and stability of the proposed system under disturbance in real-time.Several indoor tests are carried out to show that the proposed visual odometry estimation method can help to signifcantly improve the accuracy of simultaneous localization and mapping(SLAM).	Han Wang Wei Mou Gerald Seet Mao-Hai Li M.W.S.Lau Dan-Wei Wang	2013	International Journal of Automation and computing2013，10，5：	2
	2	Multiple-RobotSystems for USAR: Key Design Attributes and Deployment Issues 显示文摘	Choon Yue Wong Gerald Seet Siang Kok Sim	2011	International Journal of Advanced Robotic Systems2011，8，1：	1
	3	A novel application of range - gated underwater laser imaging system (ULIS) in near -target turbid medium显示文摘	ChingSeong Tan Gerald Seet Andrzej Sluzek DuoMin He	2005	Optics and Lasers in Engineering2005，43，：	1

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