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Mulit-Robot Simultaneous Localization, Mapping and Moving Object Tracking (多機器人同時定位、建地圖及移動物體追蹤) NSC, Taiwan (#96-2628-E-002-251-MY3) 8.01.2007~07.31.2010 Intelligent Recreation/Entertainment Robots for the Elderly (家庭全方位之多樣性群組型娛樂/休閒機器人-子計畫二：銀髮族智慧型休閒娛樂機器人) NSC, Taiwan (#96-2218-E-002-035-)(#97-2218-E-002-017-) 8.01.2007~07.31.2010 智慧型機器人前瞻技術開發 TDPA, DoIT, Taiwan 經濟部學界科專 9.01.2006~8.31.2009 智慧型手機與智慧型家用機器人研發 CCI, Taiwan 04.01.2008~03.31.2009 清晰影像擷取技術之研究 III, Taiwan 01.01.2008~12.31.2008 Pedestrian Tracking (行人追蹤預測演算法) III, Taiwan 01.01.2008~12.31.2008 智慧載具環境認知技術研究 ITRI, Taiwan 04.01.2008~11.30.2008 機器人人機互動技術研究 ITRI, Taiwan 04.01.2008~11.30.2008 Human-Centric Robot-Assisted Recovery Environment NSC, Taiwan (#94-2218-E-002-075, #95-2218-E-002-039, #96-2218-E-002-008) 11.01.2005~10.31.2008

Intel Digital Health Center Intel, Taiwan 08.01.2005~07.31.2007 Human Robot Coordination in both our Daily Life and Emergency Response NSC, Taiwan (#95-2221-E-002-433) 08.01.2006~09.30.2007 智慧運載定位控制器研究 ITRI, Taiwan 05.20.2007~11.20.2007 感測器整合之機器人同時定位與 建地圖 ITRI, Taiwan 07.06.2007~08.31.2007 線上機器人同時定位及建地圖 ITRI, Taiwan 011.01.2006~12.31.2006 行 動型機器人之避障與路徑規劃系統 ITRI, Taiwan 011.01.2006~12.31.2006 Progressive Structure From Motion without Correspondence ITRI, Taiwan 01.01.2006~12.31.2006 The Ladar-based DATMO System to Intelligent Transportation Systems  CSIRO Manufacturing & Infrastructure Technology, Australia 01.01.2006~09.30.2006 Robot Perception: From Simultaneous Localization, Mapping and Moving Object Tracking to High Level Scene Understanding  NSC, Taiwan (#94-2218-E-002-075) 11.01.2005~07.31.2006 Camera Array for Video Conferencing Quanta, Taiwan 11.01.2005~07.31.2006