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检索条件"任意字段=18th International Conference on Control Automation Robotics and Vision"

共 5311 条记录，以下是411-420 订阅

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Intelligent Object Sorting Truck System Based on Machine vision 7

Intelligent Object Sorting Truck System Based on Machine Vis...

引用

7th international conference on control and robotics Engineering, ICCRE 2022

作者： Wu, Jiangchen Hu, Yi Zheng, Runqi Xu, Yishen Soochow University School of Optoelectronic Science and Engineering Suzhou China

ISBN: (纸本)9781665468404

In this article, combined with the current development trend of machine vision, a set of intelligent object sorting system based on photoelectric visual sensor is designed. the main structure of the system is RGB-D binocular camera and six-axis manipulator. through a series of image processing, model training and feature matching correlation algorithm, the system realizes the detection, recognition and classification of different objects in a given scene. On this basis, the relevant application design is carried out, and the mechanical arm is driven to achieve the function of grabbing and sorting items. the prototype test results show that the success rate of object recognition and classification and the success rate of grasping reach the ideal level, which meet the functional requirements of the system. © 2022 IEEE.

关键词： Computer vision

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Biomimetic Convergence-Based High Resolution Depth Estimation

Biomimetic Convergence-Based High Resolution Depth Estimatio...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Achintya Harsha Prashanth Jonna Nitheezkant R Madhav Rao IIIT Bangalore

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Accurate depth estimation is a fundamental challenge in robotics and computer vision, crucial for applications ranging from autonomous navigation to complex object manipulation. While traditional techniques such as RGBD cameras and 3D Lidar systems provide high precision, their high costs and computational demands restrict their use in many scenarios. Conversely, monocular depth estimation (MDE) offers a more affordable solution but often struggles with depth accuracy and real-time performance. In response, this research introduces a novel convergence-based stereo vision system that leverages two independently movable cameras for dynamic depth estimation. the system facilitates depth tracking of any selected object by adapting camera orientation and extrinsic matrices to achieve millimeter-level accuracy with less than 1 % error in depth estimation over 5 meters, which is significantly better than few state-of-the-art Stereo systems that offer up to 2% error over a similar range. ArUco tag-based calibration mechanism was used to improve accuracy due to precise angle calculation. Further, the system successfully tracks and localizes multiple human body joints simultaneously using the Google Mediapipe Joint Detection model, providing a 3D approximation of the subject's position concerning the system in real-time. this approach not only offers a cost-effective and precise solution for real-time depth perception but also opens new avenues for dynamic, high-resolution environmental interaction in robotics.

关键词： Meters Solid modeling Accuracy three-dimensional displays Laser radar Depth measurement Robot vision systems Cameras Real-time systems Stereo vision

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CP-RCNN: Lidar Object Detection with Feature Pooling and Abstraction

CP-RCNN: Lidar Object Detection with Feature Pooling and Abs...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Hang Zhou Yiding Ji Robotics and Autonomous Systems Thrust Systems Hub The Hong Kong University of Science and Technology (Guangzhou) Guangzhou China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

LiDAR-based object detection is a challenging task for autonomous navigation systems, especially in pedestrian-rich environments. Recently, the integration of deep learning techniques with lidar-generated point cloud data has advanced object detection and segmentation in many scenarios. However, current lidar-based methods usually struggle to accurately detect small-sized objects, such as pedestrian and cyclist, causing severe safety and reliability concerns for autonomous vehicles. this study refines structural design of lidar based neural networks to enhance precision and recall metrics for the identification of small entities. Specifically, we introduce CP-RCNN, a novel lidar object detection framework that combines state of the art voxelization and feature extraction techniques. Extensive ablation experiments demonstrate that our method has improved performance in the detection of pedestrians and cyclists. Furthermore, this paper also proposes a novel neural network structure named Centerpoint-RCNN, which not only maintains high precision in vehicle classification but also achieves an impressive inference speed of 15Hz on the NVIDIA RTX 4090 graphics processing unit.

关键词： Pedestrians Laser radar Computational modeling Neural networks Object detection Feature extraction Safety Reliability Vehicle dynamics Autonomous robots

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Prioritized Planning for Large-Scale Multiple-AGV Scheduling Problem in Smart Manufacturing

Prioritized Planning for Large-Scale Multiple-AGV Scheduling...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Yao Guo Jiarong Yao Jiangpeng Li Rong Su KV Ling School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

robotics and automation is one of crucial trend in smart manufacturing to improve production efficiency. Au-tomated guided vehicles (AGVs) are a type of mobile robot used for material handling and have become widely utilized to achieve transportation automation. the usage of multiple AGVs introduces potential risks, such as traffic conflicts and safety risk. To meet high production demands, numerous shop floors are set up for large-scale manufacturing. thus, reasonable and efficient AGV scheduling is vital for real-world operations. this paper proposes an efficient and scalable prioritized planning algorithm for large-scale multiple-AGV scheduling problem in manufacturing. the algorithm sequentially addresses two primary sub-problems: job assignment and conflict-free routing. the results of job assignment dictate the routes taken by the AGVs. In job assignment, jobs are allocated sequentially based on their pickup times. In conflict-free routing, AGV priorities are predefined, ensuring that higher priority AGVs maintain their movement while adjustments are made only to lower priority AGV plans when conflicts arise. Simulation is conducted on two real shop floor layouts and demonstrates the effectiveness and high efficiency of proposed algorithm. Even in a large-scale layout with 500 jobs and 20 AGVs, the computation time is only around 21 seconds.

关键词： Job shop scheduling automation Processor scheduling Scalability Layout Transportation Production Routing Planning Smart manufacturing

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A Distributed Multi-Robot Collaborative Hunting Method in Dynamic Cluttered Environments

A Distributed Multi-Robot Collaborative Hunting Method in Dy...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Chang Wang Jianyu Li Meng Zhou Lin Zhang College of Intelligent Systems Science and Engineering Harbin Engineering University Harbin P. R. China Beijing Aerospace Automatic Control Institute Beijing China College of Electrical and Control Engineering North China University of Technology Beijing P. R. China College of Shipping and Naval architecture Chongqing Jiaotong University Chongqing P. R. China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

the paper proposes a distributed multi-robot cooperative hunting method in cluttered environments with guaranteed collision avoidance. First, to achieve collision avoidance, a robot safety region collision avoidance method based on Buffered Voronoi Cells (BVC) is proposed. then, under the BVC collision avoidance framework, a Kalman filer is designed to estimate the evader' position. Next, a hunting cost function based on the evader's position probability density function is constructed. Furthermore, the hunting controller for the pursuers is designed inspired by Voronoi coverage control. Finally, simulation results demonstrate that under the influence of this controller, the distance between the pursuers and the evader continuously decreases until the hunting is successful.

关键词： Technological innovation Simulation Education Probability density function Cost function Safety Kalman filters Collision avoidance Robots Research and development

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Dynamic Object Removal of Static 3D Point-Cloud Map Building in Casualty Collection Point

Dynamic Object Removal of Static 3D Point-Cloud Map Building...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Haidong Wang Wanlei Li Yijie Dai Xiaogang Xiong Yunjiang Lou State Key Laboratory of Robotics and System School of Mechanical Engineering and Automation Harbin Institute of Technology ShenZhen Shenzhen China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

Understanding the environment is crucial for the autonomous navigation of vehicles. Accurately identifying and removing dynamic objects that cause occlusions and noisy pose issues is crucial to the task. the casualty collection point (CCP) is a designated location for treating casualties during disasters. these sites are commonly located in open fields to ensure that the injured receive timely and appropriate care. therefore, the construction of a 3D map in CCP may encounter additional challenges. In this paper, we introduces a novel algorithm that integrates a learning-based multi-object detection network with a Kalman Filter tracking framework to remove dynamic object traces from the 3D map building, particularly in CCP scenarios, and it redirects attention on the velocity attribute of dynamic objects at the object-level scale. Additionally, we contribute a new dataset specifically designed for the CCP scenario. Comparative experiments conducted on the SemanticKITTI dataset and CCP dataset show that our proposed method achieves the state-of-the-art performance in removing traces of dynamic objects on 3D Map. Dataset is available at https://***/haidongwang96/ccp_dataset.

关键词： Point cloud compression three-dimensional displays Simultaneous localization and mapping Heuristic algorithms Buildings Object detection Kalman filters Object recognition Noise measurement Vehicle dynamics

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Reconstruction of Human Physiological Signal in Partition Wall Based on UWB Signal Time-Frequency Graph

Reconstruction of Human Physiological Signal in Partition Wa...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Chenglin Li Xingcan Chen Fenghu Jin Yi Zou Qingyun Chi Wendong Xiao School Of Automation And Electrical Engineering of University of Science and Technology Beijing Beijing China Automatic Research Institute Co. Lid. of China South industries Group Corporation Mianyang China school of Information Science and Engineering Zaozhuang University Zaozhuang China Shunde Innovation School University of Science and Technology Beijing Foshan China

ISBN: (数字)9798331518493

ISBN: (纸本)9798331518509

through-wall physiological parameter monitoring has significant application potential in non-intrusive health surveillance for individuals living alone and in post-disaster rescue operations. To address challenges such as multipath effects and clutter interference, this paper proposes a method for through-wall physiological signal reconstruction based on ultra-wideband signal time-frequency spectrogram. the method effectively mitigates multipath effects and improves the signal-to-noise ratio using Singular Value Decom-position (SVD) and the Least Squares method. It further employs Ensemble Empirical Mode Decomposition (EEMD) and time-frequency spectrogram for signal decomposition and reconstruction, accurately estimating both respiration and heart rates. Ablation experiments demonstrate that this method enhances monitoring accuracy stability and improves signal reliability.

关键词： Time-frequency analysis Accuracy Surveillance Partitioning algorithms Biomedical monitoring Clutter Spectrogram Signal resolution Ultra wideband technology Signal to noise ratio

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Estimating the Frequency of the Sinusoidal Signal using the Parameterization based on the Delay Operators 18

Estimating the Frequency of the Sinusoidal Signal using the ...

引用

18th international conference on Informatics in control, automation and robotics (ICINCO)

作者： Tung Nguyen Khac Vlasov, Sergey Iureva, Radda ITMO Univ Fac Control Syst & Robot Kronversky Pr 49 St Petersburg 197101 Russia

ISBN: (纸本)9789897585227

the article presents an algorithm for estimating the frequency of an offset sinusoidal signal. Delay operators are applied to the measured signal, and a linear regression model is constructed containing the measured signals and the constant vector depending on unknown frequency. For the vector regression model, the method cascade reduction is used. A reduction procedure is proposed that allows the original model to be reduced to a reduced one containing a smaller number of unknown parameters. Finally, using the classical gradient method was used to compare the efficiency of the proposed method.

关键词： Estimation Parameters Identification Algorithms Frequency Sinusoidal Signal Regressor

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Target-following Robotic Platform Based on UWB Localization and Depth Camera 18

Target-following Robotic Platform Based on UWB Localization ...

引用

18th IFAC conference on Programmable Devices and Embedded Systems (PDES)

作者： Janousek, Petr Slanina, Zdenek Walendziuk, Wojciech VSB TU Ostrava Ostrava Czech Republic Bialystok Tech Univ Bialystok Poland

A mobile robot capable of following a specified target using Ultra-Wideband (UWB) technology and an RGB-D camera is presented in this paper. One of our primary objectives is to promote the use of UWB as a precise and fast real-time localization system (RTLS) in mobile robotics, specifically the target following applications using the approach of non-fixed anchors. We use the depth camera as a complementary sensor to the omnidirectional UWB, to increase the robot's awareness of its surroundings and possibly also as a way of providing human-machine interaction. this paper also describes creating a simplified mathematical model for computing the control action and the method we have used to measure the system's rotational dynamics for system identification purposes. thereafter, we combined a PD controller and proportional virtual spring regulation and selected parameters of the compound regulator to slowly pursue a non-linear movement of the followed person. Our robotic platform is originally meant to carry a toolbox and equipment. However, it might be just as well used in various applications such as material handling in industrial and manufacturing settings, as an assistive technology for load handling in warehouses, construction sites, even carrying airline baggage or military equipment. Most countries implement regulations regarding lifting and carrying loads that are even more strict in case of repetitive or long-term use. therefore, using a robotic platform in such cases might be convenient. Copyright (c) 2024 the Authors. this is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： Mobile robots following robots automatic guided vehicles and robotic vision

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Active speed and cruise control of the mobile robot based on the analysis of the position of the preceding vehicle 26

Active speed and cruise control of the mobile robot based on...

引用

26th international conference on Methods and Models in automation and robotics

作者： Kedziora, Olaf Grzejszczak, Tomasz Probierz, Eryka Bartosiak, Natalia Wojnar, Martyna Skowronski, Kamil Galuszka, Adam Silesian Tech Univ Dept Automat Control & Robot Gliwice Poland

ISBN: (数字)9781665468589

ISBN: (纸本)9781665468596;9781665468589

the aim of this study was to implement a vision system on board of a Nvidia Jetson Nano along with a camera, and to implement the Jetracer platform control. To introduce the theoretical background, literature related to image processing, active cruise control, and autonomous vehicles was reviewed. the image processing and vehicle control methods used in this paper are then described. the remainder of the paper focuses on presenting an implementation of the described algorithms. this implementation was used to conduct tests, which show that the image processing methods investigated were sufficient to control the platform. Factors affecting the quality of control have also been described, these include vehicle speed and steering control gains. Comparative time dependencies of speed and steering level were plotted for selected trials, allowing the system delays to be noted.

关键词： Active cruise control Computer vision Image segmentation Mobile robot

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