Author

Liang Zhao

3 papers indexed here

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Preprint Oct 2026

MR-MPCC: Model Predictive Contouring Control for Robotic Manipulator Tracking under Moving Reference Frames

Maintaining small path-tracking errors under moving reference frames is essential for robotic manipulation tasks with tight execution tolerances, such as machining and surgical automation. Conventional time-indexed controllers, including tracking Model Predictive Control (MPC), rely on a fixed temporal correspondence w...

Chong Cheng, Tian-Cheng Li, Jon Woolfrey et al. · 0 citations

Preprint Sep 2026

Colon3R: Cross-Domain 3D Reconstruction from Monocular Colonoscopic Video

Monocular colonoscopic 3D reconstruction is important for surgical robotic colonoscopy, but remains challenging due to weak texture, specular reflections, limited view overlap, and non-rigid tissue motion. Conventional multi-view 3D reconstruction methods rely on stable correspondences and approximate rigidity, which a...

Zhi-Hao Xing, Ying-Yu Wang, Liang Zhao et al. · 0 citations

Preprint Sep 2026

Adaptive Depth-Map-Guided Bundle Adjustment for Correspondence-Free Multi-View Point Cloud Registration

Experiments on self-collected industrial datasets show that the proposed method achieves consistently competitive reconstruction accuracy while maintaining robustness and low computational cost in challenging industrial scenarios.

Yiran Zhou, Ying-Yu Wang, Shou-Dong Huang et al. · 0 citations