Socially Aware Motion Planning for Service Robots Using LiDAR and RGB-D Camera Duc Phu Nguyen, Thanh Long Nguyen, Minh Dang Tu, Cong Hoang Quach, Xuan Tung Truong, et al. Proceedings 2024 International Conference on Control Robotics and Informatics Iccri 2024, 2024 Service robots that work alongside humans in a shared environment need a navigation system that takes into account not only physical safety but also social norms for mutual cooperation. In this paper, we introduce a motion planning system that includes human states such as positions and velocities and their personal space for social-aware navigation. The system first extracts human positions from the LiDAR and the RGB-D camera. It then uses the Kalman filter to fuse that information for human state estimation. An asymmetric Gaussian function is then employed to model human personal space based on their states. This model is used as the input to the dynamic window approach algorithm to generate trajectories for the robot. Experiments show that the robot is able to navigate alongside humans in a dynamic environment while respecting their physical and psychological comfort.
Multisensor Data Fusion for Reliable Obstacle Avoidance Thanh Nguyen Canh, Truong Son Nguyen, Cong Hoang Quach, Xiem HoangVan, Manh Duong Phung 2022 11th International Conference on Control Automation and Information Sciences Iccais 2022, 2022 In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot and a 2D slide around it. To fuse the data from these sensors, we first use an external camera as a reference to combine data from two depth cameras. A projection technique is then introduced to convert the 3D point cloud data of the cameras to its 2D correspondence. An obstacle avoidance algorithm is then developed based on the dynamic window approach. A number of experiments have been conducted to evaluate our proposed approach. The results show that the robot can effectively avoid static and dynamic obstacles of different shapes and sizes in different environments.
Real-time Agriculture Field Monitoring Using IoT-based Sensors and Unmanned Aerial Vehicles Cong Hoang Quach, Minh Trien Pham, Truong Son Nguyen, Manh Duong Phung Proceedings 2021 8th Nafosted Conference on Information and Computer Science Nics 2021, 2021 This paper introduces a system to monitor agriculture fields in real time. It includes a sensor network for in situ data collection and an unmanned aerial vehicle (UAV)) system for remote sensing. The sensor network uses a number of sensor nodes to measure different parameters of the plants and environment such as temperature, humidity, and nitrogen composition. For data communication, the sensor network uses LoRa, a low-power wide-area network modulation technique, that allows receiving signals from sensor nodes at a distance of up to 450 m for a single receiver. The UAV includes visual and near infrared cameras to collect photos of the field. The data collection is carried out automatically via a path planning process that takes into account the overlapping ratio and resolution of the photos. The data collected is then handled by a cloud server that allows users to access in real time via a web-based application and an application on smartphones. A number of experiments have been conducted with the system being tested in several agricultural sites to evaluate its practical applicability.
SupSLAM: A Robust Visual Inertial SLAM System Using SuperPoint for Unmanned Aerial Vehicles Cong Hoang Quach, Manh Duong Phung, Ha Vu Le, Stuart Perry Proceedings 2021 8th Nafosted Conference on Information and Computer Science Nics 2021, 2021 Simultaneous localization and mapping (SLAM) is essential for unmanned aerial vehicle (UAV) applications since it allows the UAV to estimate not only its position and orientation but also the map of its working environment. We propose in this study a new SLAM system for UAVs named SupSLAM that works with a stereo camera and an inertial measurement unit (IMU). The system includes a front-end that provides an initial estimate of the UAV position and working environment and a back-end that compensates for the drift caused by the initial estimation. To improve the accuracy and robustness of the system, we use a new feature extraction method named SuperPoint, which includes a pretrained deep neural network to detect key points for estimation. This method is not only accurate in feature extraction but also efficient in computation so that it is relevant to implement on UAVs. We have conducted a number of experiments and comparisons to evaluate the performance of the proposed system. The results show that the system is feasible for UAV SLAM with the performance comparable to state-of-art methods in most datasets and better in some challenging conditions.
Video Smoke Detection for Surveillance Cameras Based on Deep Learning in Indoor Environment Viet Thang Nguyen, Cong Hoang Quach, Minh Trien Pham Proceedings 2020 4th International Conference on Recent Advances in Signal Processing Telecommunications and Computing Sigtelcom 2020, 2020 An early fire detection in indoor environment is essential for people’s safety. During the past few years, many approaches using image processing and computer vision techniques were proposed. However, it is still a challenging task for application of video smoke detection in indoor environment, because the limitations of data for training and lack of efficient algorithms. The purpose of this paper is to present a new smoke detection method by using surveillance cameras. The proposed method is composed of two stages. In the first stage, motion regions between consecutive frames are located by using optical flow. In the second stage, a deep convolutional neural network is used to detect smoke in motion regions. Besides, to overcome the problem of lacking data, simulated smoke images are used to enrich the dataset. The proposed method is tested on our data set and real video sequences. Experiments show that the new method is successfully applied to various indoor smoke videos and significant for improving the accuracy of fire smoke detection. Source code and the dataset have been made available online.
Real-time lane marker detection using template matching with RGB-D camera Cong Hoang Quach, Van Lien Tran, Duy Hung Nguyen, Viet Thang Nguyen, Minh Trien Pham, et al. Proceedings 2018 2nd International Conference on Recent Advances in Signal Processing Telecommunications and Computing Sigtelcom 2018, 2018 This paper addresses the problem of lane detection which is fundamental for self-driving vehicles. Our approach exploits both colour and depth information recorded by a single RGB-D camera to better deal with negative factors such as lighting conditions and lane-like objects. In the approach, colour and depth images are first converted to a half-binary format and a 2D matrix of 3D points. They are then used as the inputs of template matching and geometric feature extraction processes to form a response map so that its values represent the probability of pixels being lane markers. To further improve the results, the template and lane surfaces are finally refined by principal component analysis and lane model fitting techniques. A number of experiments have been conducted on both synthetic and real datasets. The result shows that the proposed approach can effectively eliminate unwanted noise to accurately detect lane markers in various scenarios. Moreover, the processing speed of 20 frames per second under hardware configuration of a popular laptop computer allows the proposed algorithm to be implemented for real-time autonomous driving applications.
Automatic interpretation of unordered point cloud data for UAV navigation in construction M. D. Phung, C. H. Quach, D. T. Chu, N. Q. Nguyen, T. H. Dinh, et al. 2016 14th International Conference on Control Automation Robotics and Vision Icarcv 2016, 2016 The objective of this work is to develop a data processing system that can automatically generate waypoints for navigation of an unmanned aerial vehicle (UAV) to inspect surfaces of structures like buildings and bridges. The input includes data recorded by two 2D laser scanners, orthogonally mounted on the UAV, and an inertial measurement unit (IMU). To achieve the goal, algorithms are developed to process the data collected. They are separated into three major groups: (i) the data registration and filtering to generate a 3D model of the structure and control the density of point clouds for data completeness enhancement; (ii) the surface and obstacle detection to assist the UAV in monitoring tasks; and (iii) the waypoint generation to set the flight path. Experiments on different data sets show that the developed system is able to reconstruct a 3D point cloud of the structure, extract its surfaces and objects, and generate waypoints for the UAV to accomplish inspection tasks.
Development of a tele-guidance system with fuzzy-based secondary controller Manh Duong Phung, Thanh Van Thi Nguyen, Cong Hoang Quach, Quang Vinh Tran 11th International Conference on Control Automation Robotics and Vision Icarcv 2010, 2010 Dealing with the uncertainties of Internet characteristics is an important issue that needs being taken into account in developing Internet-based real-time systems. In this paper, we present our approach in applying fuzzy logic to develop back-up mechanisms for an Internet-based mobile robot to deal with unwanted network problems such as long delays or network interruptions. A tele-guidance application involving the remote control of a mobile robot via the Internet is set up as the context to verify the effectiveness and applicability of the proposed approach.
RECENT SCHOLAR PUBLICATIONS
Robust and Low-Complexity Feature Matching for UAV SLAM in Repetitive Environments CH Quach, S Perry, HV Le, T Pham, TH Tran, MD Phung Results in Engineering, 110864 , 2026 2026
Smoothing Filter Impact on the Classification Accuracy of EEG Signals QHN Cong, SN Khanh, MD Nguyen, HN Luu, HT Nguyen, CH Quach, ... Results in Engineering, 106243 , 2025 2025 Citations: 1
Socially aware motion planning for service robots using lidar and RGB-d camera DP Nguyen, TL Nguyen, MD Tu, CH Quach, XT Truong, MD Phung 2024 International Conference on Control, Robotics and Informatics (ICCRI … , 2024 2024 Citations: 3
Multisensor data fusion for reliable obstacle avoidance TN Canh, TS Nguyen, CH Quach, X HoangVan, MD Phung 2022 11th International Conference on Control, Automation and Information … , 2022 2022 Citations: 13
SupSLAM: A robust visual inertial SLAM system using SuperPoint for unmanned aerial vehicles CH Quach, MD Phung, HV Le, S Perry 2021 8th NAFOSTED Conference on Information and Computer Science (NICS), 507-512 , 2021 2021 Citations: 19
Real-time Agriculture Field Monitoring Using IoT-based Sensors and Unmanned Aerial Vehicles CH Quach, MT Pham, TS Nguyen, MD Phung 2021 8th NAFOSTED Conference on Information and Computer Science (NICS), 492-497 , 2021 2021 Citations: 20
Development of a Fast and Robust Gaze Tracking System for Game Applications MD Phung, CH Quach, QV Tran arXiv preprint arXiv:2105.02460 , 2021 2021 Citations: 2
Thiết bị trồng nấm thông minh tại nhà-Giải pháp mới cho các hộ gia đình trồng nấm tươi sạch. CH Quách, TS Nguyễn 2021
Design and implement UAV for low-altitude data collection in precision agriculture MT Vu, TS Nguyen, CH Quach, MT Pham 2021 Citations: 1
Design of UAV system and workflow for weed image segmentation by using deep learning in Precision Agriculture DA Dao, TS Nguyen, CH Quach, DT Nguyen, MT Pham 2021
Video smoke detection for surveillance cameras based on deep learning in indoor environment VT Nguyen, CH Quach, MT Pham 2020 4th International Conference on Recent Advances in Signal Processing … , 2020 2020 Citations: 17
Thiết kế, chế tạo hệ thống cảnh báo sớm cháy trong tòa nhà cao tầng sử dụng công nghệ học máy NP Pham, TH Nguyen, VT Nguyen, TS Nguyen, CH Quach, MT Pham Journal of SCIENCE & TECHNOLOGY 56 (2), 49-55 , 2020 2020
Design and Implement Low-cost UAV for Agriculture Monitoring MT Vu, QH Vuong, VT Nguyen, CH Quach, NT Truong, MT Pham 2019 Citations: 1
HỆ THỐNG ĐÈN THÔNG MINH BÀN PHÁT HIỆN TƯ THẾ NGỒI VÀ PHÁT TÍN HIỆU CẢNH BÁO KHI NGỒI SAI TƯ THẾ MT Pham, CH Quach, VT Nguyen 2019
Real-time lane marker detection using template matching with RGB-D camera CH Quach, DH Nguyen, VT Nguyen, MT Pham, MD Phung 2018 2nd International Conference on Recent Advances in Signal Processing … , 2018 2018 Citations: 28
Depth camera based navigation algorithms for indoor mobile robot VL Tran, VT Nguyen, CH Quach, XH Phan, MT Pham VNU-UET , 2018 2018
Enhanced discrete particle swarm optimization path planning for UAV vision-based surface inspection MD Phung, CH Quach, TH Dinh, Q Ha Automation in Construction 81, 25-33 , 2017 2017 Citations: 325
Automatic interpretation of unordered point cloud data for UAV navigation in construction MD Phung, CH Quach, DT Chu, NQ Nguyen, TH Dinh, QP Ha 2016 14th International Conference on Control, Automation, Robotics and … , 2016 2016 Citations: 12
Điều khiển dẫn đường hành vi cho robot di động hai bánh vi sai TTV Nguyen, MD Phung, AV Dang, CH Quach, QV Tran 2015
Detection of 26 DOF of Hand using Model-based Method with Color-Depth Image CH Quach, MT Pham, AV Dang, DT Pham, TH Tran 2014 Citations: 1
MOST CITED SCHOLAR PUBLICATIONS
Enhanced discrete particle swarm optimization path planning for UAV vision-based surface inspection MD Phung, CH Quach, TH Dinh, Q Ha Automation in Construction 81, 25-33 , 2017 2017 Citations: 325
Real-time lane marker detection using template matching with RGB-D camera CH Quach, DH Nguyen, VT Nguyen, MT Pham, MD Phung 2018 2nd International Conference on Recent Advances in Signal Processing … , 2018 2018 Citations: 28
Real-time Agriculture Field Monitoring Using IoT-based Sensors and Unmanned Aerial Vehicles CH Quach, MT Pham, TS Nguyen, MD Phung 2021 8th NAFOSTED Conference on Information and Computer Science (NICS), 492-497 , 2021 2021 Citations: 20
SupSLAM: A robust visual inertial SLAM system using SuperPoint for unmanned aerial vehicles CH Quach, MD Phung, HV Le, S Perry 2021 8th NAFOSTED Conference on Information and Computer Science (NICS), 507-512 , 2021 2021 Citations: 19
Video smoke detection for surveillance cameras based on deep learning in indoor environment VT Nguyen, CH Quach, MT Pham 2020 4th International Conference on Recent Advances in Signal Processing … , 2020 2020 Citations: 17
Multisensor data fusion for reliable obstacle avoidance TN Canh, TS Nguyen, CH Quach, X HoangVan, MD Phung 2022 11th International Conference on Control, Automation and Information … , 2022 2022 Citations: 13
Automatic interpretation of unordered point cloud data for UAV navigation in construction MD Phung, CH Quach, DT Chu, NQ Nguyen, TH Dinh, QP Ha 2016 14th International Conference on Control, Automation, Robotics and … , 2016 2016 Citations: 12
Development of a tele-guidance system with fuzzy-based secondary controller MD Phung, TVT Nguyen, CH Quach, QV Tran 2010 11th International Conference on Control Automation Robotics & Vision … , 2010 2010 Citations: 7
Socially aware motion planning for service robots using lidar and RGB-d camera DP Nguyen, TL Nguyen, MD Tu, CH Quach, XT Truong, MD Phung 2024 International Conference on Control, Robotics and Informatics (ICCRI … , 2024 2024 Citations: 3
Development of a Fast and Robust Gaze Tracking System for Game Applications MD Phung, CH Quach, QV Tran arXiv preprint arXiv:2105.02460 , 2021 2021 Citations: 2
Smoothing Filter Impact on the Classification Accuracy of EEG Signals QHN Cong, SN Khanh, MD Nguyen, HN Luu, HT Nguyen, CH Quach, ... Results in Engineering, 106243 , 2025 2025 Citations: 1
Design and implement UAV for low-altitude data collection in precision agriculture MT Vu, TS Nguyen, CH Quach, MT Pham 2021 Citations: 1
Design and Implement Low-cost UAV for Agriculture Monitoring MT Vu, QH Vuong, VT Nguyen, CH Quach, NT Truong, MT Pham 2019 Citations: 1
Detection of 26 DOF of Hand using Model-based Method with Color-Depth Image CH Quach, MT Pham, AV Dang, DT Pham, TH Tran 2014 Citations: 1
Control of a Mobile Robot over the Internet Using CORBA as Communication Architecture MD Phung, CH Quach, XQ Vu, QV Tran 2010 Citations: 1
Robust and Low-Complexity Feature Matching for UAV SLAM in Repetitive Environments CH Quach, S Perry, HV Le, T Pham, TH Tran, MD Phung Results in Engineering, 110864 , 2026 2026
Thiết bị trồng nấm thông minh tại nhà-Giải pháp mới cho các hộ gia đình trồng nấm tươi sạch. CH Quách, TS Nguyễn 2021
Design of UAV system and workflow for weed image segmentation by using deep learning in Precision Agriculture DA Dao, TS Nguyen, CH Quach, DT Nguyen, MT Pham 2021
Thiết kế, chế tạo hệ thống cảnh báo sớm cháy trong tòa nhà cao tầng sử dụng công nghệ học máy NP Pham, TH Nguyen, VT Nguyen, TS Nguyen, CH Quach, MT Pham Journal of SCIENCE & TECHNOLOGY 56 (2), 49-55 , 2020 2020
HỆ THỐNG ĐÈN THÔNG MINH BÀN PHÁT HIỆN TƯ THẾ NGỒI VÀ PHÁT TÍN HIỆU CẢNH BÁO KHI NGỒI SAI TƯ THẾ MT Pham, CH Quach, VT Nguyen 2019
