Research

Active Perception for Foreground Segmentation An RGB-D Data Based Background Modeling Method

• Yuxiang Sun, Ming Liu and Max Q.-H. Meng, Active Perception for Foreground Segmentation: An RGB-D Data-based Background Modelling Method, IEEE Transactions on Automation Science and Engineering (TASE), 2019, accepted pdf bibtex

Multi-agent warehouse simulation and task allocation

• Yandong Liu, Lujia Wang, Cheng-zhong Xu, Ming Liu, A Novel Swarm Robot Simulation Platform for Warehousing Logistics, ROBIO 2017

Robotic engineering-aided neural engineering

We built and validated a high-speed high-precision tracking system for mouse test subjects, which aids neural engineering experiments on animals. The result is published recently on Biomaterials   link

Omnidirectional Camera Calibration Toolbox

Author:Jonas Eichenberger
This is a calibration toolbox for omnidirectional cameras which can be used with MATLAB. The most common omnidirectional camera models can be used for calibration and the toolbox has good corner extraction capabilities even for quite distorted omnidirectional images.

The toolbox is based on LIBOMNICAL.

This toolbox fixes some bugs, adds some additional features and was mainly used and tested with the Mei model. Therefore the other model implementations need probably some bug fixes too and everybody is welcome to contribute!

The idea is to have a general omnidirectional camera calibration toolbox for all the common models and a platform for future model implementations.

More Information see our GitHub

Tango-based application (on-going)

Multi-robot 3D SLAM based on LSD-SLAM (collaboration with ETH - ongoing)

The individual maps generated by LSD-SLAM over multiple robots are fused.

Multi-robot 2D SLAM without known initialization

Multiple robots will move across unknown environments, so that a complete map will be constructed once the co-localization can be achieved.

Internet-of-things control of a flowerpot

Point-cloud analysis for semantic labelling using Tensor Voting

Ming Liu, Francois Pomerleau, Francis Colas and Roland Siegwart, Normal Estimation for Pointcloud using GPU based Sparse Tensor Voting, IEEE International Conference on Robotics and Biomimetics (ROBIO), 2012,

Ming Liu, Efficient Segmentation and Plane Modeling of point-cloud for structured environment by Normal Clustering and Tensor Voting, in Proceedings of the IEEE International Conference on Robotics and Biomimetics, (ROBIO) 2014

Ming Liu, Roland Siegwart, Information Theory based Validation for Point-cloud Segmentation aided by Tensor Voting, Best Paper in Information IEEE International Conference on Information and Automation (ICIA), 2013

Incremental regional topological segmentation for environment surveillance

Ming Liu, Luc Oth, Francis Colas, Roland Siegwart, Incremental Topological Segmentation for Semi-structured Environments, Autonomous Robots (AURO), Vol. 37, Issue 3, Aug. 2014.

Color-based description of environment and topological scene recognition

Ming Liu, Roland Siegwart, Topological mapping and scene recognition with lightweight color descriptors for omnidirectional camera, IEEE Transactions on Robotics (TRO), Vol. 30, Issue 2, pp. 310- 324, April. 2014.

Resource allocation among networked robots using real-time wireless communication

Matthew Tan, Ming Liu and Roland Siegwart, An Experimental Evaluation of the RT-WMP Routing Protocol in an Indoor Environment, Best Paper Finalist IEEE International Conference on Information and Automation (ICIA), 2013