时间：2019-05-11 14:15
地点：西南交通大学九里校区国际会议厅
报告人：Jian Chen博士
讲座内容简介：Computer vision provides general and abundant information for the environment and task description. Multiple view geometry can be used for the unified geometric modeling of visual perception and control tasks. In this talk, visual perception and control results of intelligent vehicles and robotics will be presented.
Visual perception provides the necessary feedback, such as the vehicle’s motion states and drivable road regions, for control systems. Since the 3D information might be lost and image noises exist in the imaging process, the effective pose estimation and motion identification of vehicles are challenging. Besides, intelligent vehicles are generally involved in complex scenarios. Therefore, it is difficult to robustly detect the drivable road space for safe vehicle maneuvers. Optimization and observer theories are applied to reconstruct the geometric information of the scene based on multiple view geometry. Then, real-time vehicle states and drivable road region can be identified effectively based on the reconstructed geometric information.
Visual control exploits the visual information for task descriptions and for controlling intelligent vehicles and robotics through appropriate visual feedback control laws. Since the depth information is lost in the imaging process of monocular cameras, there exist model uncertainties for the controller design. Moreover, the limited field of view of the camera and the physical non-holonomic constraints of intelligent vehicles also have great influences on the stability and robustness of the closed-loop system. Multiple view geometry is used for the geometric modeling and scaled pose estimation. Then, Lyapunov methods are applied to design stabilizing control laws in the presence of model uncertainties and multiple constraints.
主讲人简介：Dr. Jian Chen received the B.E. and M.E. degrees from Zhejiang University, Hangzhou, China, in 1998 and 2001, respectively, and the Ph.D. degree from Clemson University, Clemson, SC, USA, in 2005. He was a Research Fellow with the University of Michigan, Ann Arbor, MI, USA, from 2006 to 2008, where he was involved in fuel cell modeling and control. He joined IdaTech LLC, Bend, OR, USA, in 2008, where he was involved in the development of fuel cell back power systems, and Proterra Inc., Greenville, SC, USA, in 2012, where he was involved in the National Fuel Cell Bus Program. In 2013, he joined the Department of Control Science and Engineering, Zhejiang University, Hangzhou, China, where he is currently a Professor.
His research interests include visual servo techniques, modeling and control of fuel cell vehicles, and battery management. In these areas, he has published one book and more than 100 papers in peer refereed journals/conferences. He has been supported by the Chinese Recruitment Program of Global Youth Experts since 2013, and the Key Program of National Natural Science Foundation of China on Modeling and Control of Fuel Cell vehicles since 2015.
主办：研究生院
承办：机械工程学院
