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Contact Dr. Cang Ye

Phone:(804) 828-0346

Google Voice: (501) 237-1818

Fax: (804) 828-2771   

Email: cye@vcu.edu

Laboratory

Dept. of Computer Science

Virginia Commonwealth University

70 S. Madison Street, RM 2339

Richmond, VA 23284

Office

Dept. of Computer Science

Virginia Commonwealth University

70 S. Madison Street, RM 2329

Richmond, VA 23284


Robotics Laboratory

Department of Computer Science, College of Engineering

Virginia Commonwealth University

© 2016 Dr. Ye's  LAB. ALL RIGHTS RESERVED.

Publications & Patents

Chapters in Book

  1. C. Ye, “Data processing in current 3D robotic perception systems,” chapter in Contemporary Issues in System Science and Engineering, IEEE/Wiley, 2015, pp. 767-796.
  2. C. Ye and D. W. Wang, “Behavior learning and behavior fusion in autonomous navigation of mobile robots,” chapter in Mobile Robots: New Research, Nova Science Publishers, Inc., New York, 2005, pp. 221-258.

Selected Journal Papers

  1. H. Zhang, L. Jin, C. Ye, “An RGB-D Camera based Visual Positioning System for Assistive Navigation by a Robotic Navigation Aid,” IEEE/CAA Journal of Automatica Sinica, vol. 8, no. 8, pp. 1389-1400, 2021.
  2. T. Shen, M R. Afsar, H. Zhang, C. Ye, X. Shen, “A 3D Computer Vision-Guided Robotic Companion for Non-Contact Human Assistance and Rehabilitation,” Journal of Intelligent & Robotics Systems, 2020. https://doi.org/10.1007/s10846-020-01258-1
  3. L. Jin, H. Zhang, C. Ye, “Camera Intrinsic Parameters Estimation by Visual Inertial Odometry for a Mobile Phone with Application to Assisted Navigation,” IEEE/ASME Transactions on Mechatronics, 2020. DOI: 10.1109/TMECH.2020.2997606
  4. H. Zhang and C. Ye, “Plane-Aided Visual-Inertial Odometry for 6-DOF Pose Estimation of a Robotic Navigation Aid,” IEEE Access, 2020. DOI: 10.1109/ACCESS.2020.2994299
  5. F. Han , S. Beleidy, H. Wang,  C. Ye , and H. Zhang, “Learning of Holism-Landmark Graph Embedding for Place Recognition in Long-Term Autonomy,” IEEE Robotics and Automation Letter, vol. 3, no. 4, pp. 3669-3676, 2018.
  6. C. Ye and Xiangfei Qian, “3D Object Recognition of a Robotic Navigation Aid for the Visually Impaired,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 26, no. 2, pp. 441-450, 2017.
  7. H. Zhang and C. Ye, “An Indoor Wayfinding System based on Geometric Features Aided Graph SLAM for the Visually Impaired,” IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 25, no. 9, pp. 1592-1604, 2017.
  8. H. Zhang and C. Ye, “RGB-D Camera Based Walking Pattern Recognition by Support Vector Machines for a Smart Rollator,” International Journal of Intelligent Robotics and Applications, vol. 1, no. 1, pp. 32-42, 2017.
  9. C. Ye, S. Hong, and A. Tamjidi, “6-DOF Pose Estimation of a Robotic Navigation Aid by Tracking Visual and Geometric Features,” IEEE Transactions on Automation Science and Engineering, vol. 12, no. 4, pp. 1169-1180, 2015.
  10. X. Qian and C. Ye, "NCC-RANSAC: A Fast Plane Extraction Method for 3D Range Data Segmentation," IEEE Transactions on Cybernetics, vol. 44, no. 12, pp. 2771-2783, 2014.
  11. G. M. Hegde, C. Ye, C. J. Robinson, A. Stroupe, and E. Tunstel, "Computer-Vision-Based Wheel Sinkage Estimation for Robot Navigation on Lunar Terrain," IEEE/ASME Transactions on Mechatronics, vol. 18, no. 4, pp. 1346-1356, 2013.
  12. C. Ye and G. M. Hegde, "Robust Edge Extraction of Swissranger SR-3000 Range Images by Singular Value Decomposition Filtering and Hough Transform," International Journal of Intelligent Control and Systems, vol. 15, no. 4, pp. 41-48, 2010.
  13. C. Ye, "Navigating a mobile robot by a traversability field histogram," IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics, vol. 37, no. 2, pp. 361-372, 2007.
  14. C. Ye and J. Borenstein, "A novel filter for terrain mapping with laser rangefinders," IEEE Transactions on Robotics, vol. 20, no. 5, pp. 913-921, 2004.
  15. C. Ye, N. H. C. Yung, and D. W. Wang, "A fuzzy controller with supervised learning assisted reinforcement learning algorithm for obstacle avoidance,"  IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics, vol. 33, no. 1, pp. 17-27, 2003.
  16. C. Ye and D. W. Wang, "A novel navigation method for autonomous mobile vehicles," Journal of Intelligent and Robotic Systems, vol. 32, no. 4, pp.361-388, 2001.
  17. N. H. C. Yung and C. Ye, "An intelligent mobile vehicle navigator based on fuzzy logic and reinforcement learning," IEEE Transactions on Systems, Man, and Cybernetics-Part B: Cybernetics, vol. 29, no. 2, pp. 314-321, 1999.

Selected Conference Papers

  1. H. Zhang and C. Ye, “Sampson Distance: A New Approach to Improving Visual-Inertial Odometry’s Accuracy,” Proceedings of 2021 IEEE International Conference on Robotics and Automation.
  2. L. Jin, H. Zhang, C. Ye, “W-ROMA: A Wearable Robotic Device for Assistive Navigation and Object Manipulation,” Proceedings of 2021 IEEE International Conference on Robotics and Automation.
  3. H. Zhang and C. Ye, “DUI-VIO: Depth Uncertainty Incorporated Visual Inertial Odometry based on an RGB-D Camera,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020.
  4. H. Zhang, L. Jin, C. Ye, “The VCU-RVI Benchmark: Evaluating Visual Inertial Odometry for Indoor Navigation Applications with an RGB-D Camera,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020.
  5. L. Jin, H. Zhang, C. Ye, “Camera Intrinsic Parameters Estimation by Visual Inertial Odometry for a Mobile Phone with Application to Assisted Navigation,” Proceedings of IEEE International Conference on Advanced Intelligent Mechatronics, 2020.
  6. H. Zhang and C. Ye, “A Visual Positioning System for Indoor Blind Navigation,” Proceedings of IEEE International Conference on Robotics and Automation, 2020.
  7. L. Jin, H. Zhang, Y. Shen, C. Ye, “Human-Robot Interaction for Assisted Object Grasping by a Wearable Robotic Object Manipulation Aid for the Blind,” Proceedings of IEEE IEEE International Conference on Human-Machine Systems, 2020
  8. H. Zhang, L. Jin and C. Ye, "A Depth-Enhanced Visual Inertial Odometry for a Robotic Navigation Aid for Blind People," IROS 2019 Workshop on Visual-Inertial Navigation: Challenges and Applications, 2019. (received LORD Best Paper Award)
  9. M. Rahimi, F. Jiang, C. Ye, Yantao Shen, “Dynamic Spatiotemporal Pattern Identification and Analysis Using a Fingertip-based Electro-Tactile Display Array,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019, pp. 8132-8137.
  10. H. Zhang, L. Jin and C. Ye, "A Comparative Analysis of Visual-Inertial SLAM for Assisted Wayfinding of the Visually Impaired," IEEE Winter Conference on Applications of Computer Vision, pp. 210-217, 2019.
  11. H. Zhang and C. Ye, “Wayfinding and Human Intent Detection for Blind Navigation,” in Proc. IEEE Conference on Human System Interaction (HSI), Richmond, 2019. (received Best Paper Award)
  12. X. Liu, H. Zhang, L. Jin and C. Ye, “A Wearable Robotic Object Manipulation Aid for the Visually Impaired,” in 1st IEEE International Conference on Micro/Nano Sensors for AI, Healthcare, and Robotics (NSENS), Shenzhen, China, Dec. 5-7, 2018.
  13. T. Shen, M. R. Afsar, H. Zhang, C. Ye and X. Shen, “Development of a Motorized Robotic Walker Guided by an Image Processing System for Human Walking Assistance and Rehabilitation,” Proceedings of the ASME Dynamic Systems and Control Conference (DSCC), Atlanta, Georgia, September 30-October 3, 2018  
  14. H. Zhang and C. Ye, “Plane-Aided Visual-Inertial Odometry for Pose Estimation of a 3D Camera based Indoor Blind Navigation,” in Proceedings of 2017 British Machine Vision Conference.
  15. X. Qian, X. Liu, and C. Ye, “A Gaussian-Mixture-Model-based Visual Feature Matching Scheme for Small-Object Detection from RGB-D Data,” Proceedings of IEEE International Conference on Real-time Computing and Robotics, 2017, pp. 91-96. (Finalist of Best Conference Paper Award)
  16. M. R. Afsar1, M. Wadsworth, T. Shen, H. Zhang, C. Ye, X. Shen, "A Motorized Robotic Walker for Human Walking Assistance," Proceedings of  2017 Design of Medical Devices Conference.
  17. H. Zhang and C. Ye, “An Indoor navigation aid for the visually impaired,” in IEEE International Conference on Robotics and and Biomimetics (ROBIO), Qingdao, China, 2016. (received Finalist of Best Conference Paper Award)
  18. C. Ye and Y. Zhao, "An EKF-SLAM Method with Filter Consistency Test for Mobile Robots using a 3D Camera,"  Proceedings of IEEE International Conference on Robotics and Biomimetics, 2015.
  19. H. Zhang and C. Ye, "An RGB-D Camera based Walking Pattern Detection Method for Smart Rollators," Proceedings of the 11th International Symposium on Visual Computing, 2015.
  20. C. Ye, S. Hong, and X. Qian, "A Co-Robotic Cane for Blind Navigation," Proceedings of IEEE International Conference on Systems, Man, and Cybernetics, San Diego, CA, 2014.
  21. S. Hong and C. Ye, "A Pose Graph based Visual SLAM Algorithm for Robot Pose Estimation," Proceedings of World Automation Congress, Big Island, HI, 2014.
  22. X. Qian and C. Ye, "3D Object Recognition by Geometric Context and Gaussian-Mixture-Model-Based Plane Classification," Proceedings of IEEE International Conference on Robotics and Automation, Hong Kong, China, 2014, pp. 3910-3915.
  23. S. Hong and C. Ye, "A Fast Egomotion Estimation Method based on Visual Feature Tracking and Iterative Closest Point," Proceedings of IEEE International Conference on Networking, Sensing and Control, 2014. (received Best Student Paper Finalist Award)
  24. A. Tamjidi, C. Ye, and S. Hong, "6-DOF pose estimation of a portable navigation aid for the visually impaired," Proceedings of the IEEE International Symposium on Robotic and Sensors Environments, 2013, pp. 178-183. (received Best Student Paper Award)
  25. X. Qian and C. Ye, "NCC-RANSAC: A Fast Plane Extraction Method for Navigating a Smart Cane for the Visually Impaired," Proceedings of the IEEE International Conference on Automation Science and Engineering, 2013, pp. 267-273.
  26. S. Hong, C. Ye, M. Bruch, and R. Halterman, "Performance evaluation of a pose estimation method based on the Swissranger SR4000," Proceedings of the IEEE International Conference on Mechatronics and Automation, 2012, pp. 499-504.
  27. A. Tamjidi and C. Ye, "A pose estimation algorithm for UGVs in GPS denied environments," Proceedings of the SPIE Defense, Security, and Sensing Symposium, Unmanned Systems Technology XIV, Baltimore, MD, 2012.
  28. G. M. Hegde and C. Ye, "A recursive planar feature extraction method for 3D range data segmentation," Proceedings of IEEE International Conference on Systems, Man, and Cybernetics, Anchorage, AK, 2011.
  29. C. Ye, "Navigating a Portable Robotic Device by a 3D Imaging Sensor," Proceedings of the IEEE Sensors Conference, Big Island, HI, 2010, pp. 1005-1010.
  30. G. M. Hegde, C. J. Robinson, C. Ye, A. Stroupe, and E. Tunstel, "Computer Vision Based Wheel Sinkage Detection for Robotic Lunar Exploration Tasks," Proceedings of the IEEE International Conference on Mechatronics and Automation, Xi'an, China, 2010, pp. 1777-1782. (received Toshio Fukuda Best Paper Award in Mechatronics)
  31. G. M. Hegde, C. Ye, and G. T. Anderson, "Robust planar feature extraction from swissranger SR-30000 range images by an extended normalized cuts method," Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Taipei, China, 2010, pp. 1190-1195.
  32. C. Ye and M Bruch, "A visual odometry method based on the SwissRanger SR-4000,"  Proceedings of the Unmanned Systems Technology XII Conference at the 2012 SPIE Defense, Security, and Sensing Symposium, Orlando, FL.
  33. G. M. Hegde and C. Ye, "Extraction of planar features from Swissranger SR-3000 range images by a clustering method using normalized cuts," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, St. Louis, MO, 2009, pp. 4034-4039.
  34. C. Ye and G. M. Hegde, "Robust edge extraction for SwissRanger SR-3000 range images," Proceedings of the IEEE International Conference on Robotics and Automation, Kobe, Japan, 2009, pp. 2437-2442.
  35. Y. Okubo1, C. Ye, and J. Borenstein, "Characterization of the Hokuyo 2-D laser rangefinder for mobile robot obstacle negotiation," Proceedings of the SPIE Defense and Security Symposium, Unmanned Systems Technology IX, Orlando, FL, 2009.
  36. C. Ye, "Mixed pixels removal of a laser rangefinder for mobile robot 3-D terrain mapping," Proceedings of the IEEE International Conference on Information and Automation, Zhangjiajie, China, 2008, pp. 1153-1158.
  37. G. M. Hegde and C. Ye "SwissRanger SR-3000 range images enhancement by a singular value decomposition filter," Proceedings of the IEEE International Conference on Information and Automation, Zhangjiajie, China, 2008, pp. 1626-1631.
  38. C. Ye, "Toward safe navigation in urban environments," Proceedings the SPIE Defense and Security Symposium, Unmanned Systems Technology IX, Orlando, FL, 2007.
  39. C. Ye, "Polar Traversability Index: A Measure of Terrain Traversal Property for Mobile Robot Navigation in Urban Environments," Proceedings of IEEE International Conference on Systems, Man, and Cybernetics, Montreal, Canada, 2007, pp. 2342-2347.
  40. H. Yao, W. F. Xie, and C. Ye, "A Composite Approach to Adaptive Neural Networks Control of Unknown Flexible Joint Robots", Proceedings of the International Conference on Dynamics, Instrumentation and Control, Queretaro, Mexico, August 13-16, 2006.
  41. A. Chodos, J. Herr, J. Irrer, S. McKee, H. A. Neal, and C. Ye, "A web lecture capture system with robotic speaker tracking,"  Proceedings of the International Conference on Computing in High Energy and Nuclear Physics, Mumbai, India, 2006.
  42. C. Ye and J. Borenstein, "A method for mobile robot navigation on rough terrain," Proceedings of the IEEE International Conference on Robotics and Automation, New Orleans, LA, 2004, pp. 3863-3869.
  43. C. Ye and J. Borenstein, "T-transformation: a new traversability analysis method for terrain navigation,"  Proceedings of the SPIE Defense and Security Symposium, Unmanned Ground Vehicle Technology VI, Orlando, FL, 2004.
  44. C. Ye and J. Borenstein, "Obstacle avoidance for the segway robotic mobility platform," Proceedings of the American Nuclear Society International Conference on Robotics and Remote Systems for Hazardous Environments, Gainesville, FL, March 28-31, 2004, pp. 107-114.
  45. C. Ye and J. Borenstein, "A new terrain mapping method for mobile robots obstacle negotiation," Proceedings of the SPIE International Symposium on Aerospace/Defense Sensing, Simulation, and Controls, Orlando, FL, 2003.
  46. C. Ye and J. Borenstein, "Characterization of a 2-D laser scanner for mobile robot obstacle negotiation," Proceedings of the IEEE International Conference on Robotics and Automation, Washington DC, 2002, pp. 2512-2518.
  47. C. Ye and D. W. Wang, "Novel behavior fusion method for the navigation of mobile robots," Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, Nashville, TN, 2001, pp. 3526-3531.
  48. N. H. C. Yung and C. Ye, "Avoidance of moving obstacles through behavior fusion and motion prediction," Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, San Diego, CA, 1998, pp. 3424-3429.
  49. N. H. C. Yung and C. Ye, "An adaptive fuzzy approach to obstacle avoidance," Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, San Diego, CA, 1998, pp. 3418-3423.

Patents

  1. H. Neal, C. Ye, J. Herr, and J. Irrer, "Position tracking system," US Patent (8,031,227). The patented technology has been licensed to Vaddio and resulted in its Auto Track camera tracking systems.
  2. C. Ye, "Portable Robotic Device," US Patent (9,155,675).
  3. X. Shen, T. Shen, M. R. Afsar, C. Ye, “Motorized robotic walker guided by an image processing system for human walking assistance,” US Patent (10,667,980).