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检索条件"任意字段=2023 International Conference on Robotics, Control and Vision Engineering, RCVE 2023"

共 1304 条记录，以下是261-270 订阅

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Experimental Trials with a Shared Autonomy controller Framework and the da Vinci Research Kit: Pattern Cutting Tasks using Thin Elastic Materials

Experimental Trials with a Shared Autonomy Controller Framew...

引用

international Symposium on Medical robotics (ISMR)

作者： Baweja, Paramjit Singh Gondokaryono, Radian Kahrs, Lueder A. Manipal Inst Technol Manipal Karnataka India Univ Toronto Med Comp Vision & Robot Lab Toronto ON Canada Univ Toronto Dept Comp Sci Toronto ON Canada SickKids Wilfred & Joyce Posluns CIGITI Toronto ON Canada Univ Toronto Mississauga Dept Math & Computat Sci Toronto ON Canada Univ Toronto Inst Biomed Engn Toronto ON Canada

ISBN: (纸本)9798350301625

A technical challenge in robotic soft material cutting is to avoid large local deformations that result in inaccuracies or failure of the task. Additionally, reducing procedure time and human errors that occur due to fatigue and monotony are two of the most anticipated advantages of using robots in execution of repetitive subtasks for minimally invasive surgery. In our paper, we evaluate pattern cutting tasks of 2D elastic materials with shared control using the da Vinci Research Kit (dVRK). For this purpose, we developed a shared autonomy motion generator framework for pattern cutting. The framework registers user-defined Cartesian positions, creates smooth splines, interpolates the Cartesian positions, and generates a trajectory with Cartesian and joint constraints. While a pre-planned trajectory is being executed, the user may provide Cartesian offsets to modify the trajectory. We repeatedly cut shapes on 3 materials with different elasticity. Our shared control method achieved 100% success rate while performing a circular cutting task in a sheet of gauze. The user input compensated for deformations due to tearing. Task completion time of those experiments was 86 seconds (median) / 88 seconds (mean). Median and mean errors were 3.1mm and 3mm, respectively. Our work improves the success rate and time of completion of published pattern cutting tasks.

关键词： Pattern Cutting Motion Generation Shared control Surgical robotics

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An Improved YOLOv5 Model for Detecting Citrus Shoots in Complex Orchard Environments 3

An Improved YOLOv5 Model for Detecting Citrus Shoots in Comp...

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3rd international conference on robotics, Automation and Artificial Intelligence (RAAI)

作者： Xiao, Feng Wang, Haibin Huang, Tianqi Xu, Yueqin Northeast Forestry Univ Coll Mech & Elect Engn Harbin Peoples R China

ISBN: (纸本)9798350307573;9798350307566

The development of citrus shoots is of great significance for the growth, flowering, fruiting, and pest and disease control of citrus trees. In order to achieve accurate recognition of citrus shoots in complex orchard environments, an improved YOLOv5 model, named YOLOv5-RepVGG-SE, was proposed. Firstly, in order to enhance the feature extraction capability, the RepVGG modules are used to replace the Conv modules in the backbone networks of the YOLOv5 model. Second, the Squeeze-Excitation (SE) attention modules are added to the neck networks of the YOLOv5 model to improve the feature fusion capability. A dataset of citrus shoots was established to evaluate the effectiveness of the improved YOLOv5 model. The experimental results show that the improved YOLOv5 model achieves a precision (P) of 81.1%, a recall (R) of 76.8%, and a mean average precision (mAP) of 71.0% at a threshold of 0.5. These values are 0.6%, 9.2%, and 9.4% higher, respectively, than those of the YOLOv5 model. This research can serve as a reference for the development of smart devices in citrus orchards.

关键词： object detection computer vision deep learning model optimization citrus shoot

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Application of Image Weight Models to Increase Canny Contour Detector Resilience to Interference

Application of Image Weight Models to Increase Canny Contour...

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2023 international conference on Industrial engineering, Applications and Manufacturing, ICIEAM 2023

作者： Lyasheva, Stella Safina, Rimma Shleymovich, Mikhail University Named after A.N. Tupolev-KAI Department for Automated Systems for Information Processing and Control Kazan National Research Technical Kazan Russia

ISBN: (纸本)9781665475952

Article discusses the issues of creating models and methods for detecting contours in images in control systems and automation of technological processes and objects based on computer vision technologies. An approach based on the construction and analysis of image weight models is proposed. This approach involves performing a discrete wavelet transform of the image and calculating weight values based on the detailing coefficients to assess the significance of changes in the pixels of copies of various levels of decomposition. The set of weight values is a weight model. Since significant changes are characteristic of contour points, the analysis of weight models makes it possible to detect them in images. It is also shown that the application of the Canny detector to the image weight model reduces the sensitivity to noise and the complexity of selecting the lower and upper thresholds. © 2023 IEEE.

关键词： Computer vision

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Distance image piecewise adaptive weighted fusion algorithm based on TOF and binocular vision 3

Distance image piecewise adaptive weighted fusion algorithm ...

引用

3rd international Computing Imaging conference, CITA 2023

作者： Yong, Zhang Jinmeng, Zhang Manguo, Liu Wei, Yuan Zhen, Yang Dan, Jiao Jianlong, Zhang National Key Laboratory of Science and Technology on Tunable Laser Harbin Institute of Technology Harbin China Xi'an Modern Control Technology Research Institute Xi'an China Beijing Aerospace Automatic Control Institute Beijing China

ISBN: (纸本)9781510671409

3D imaging technology has wide applications in fields such as autonomous driving and engineering surveying. Among them, TOF (Time of Flight) 3D and binocular vision 3D imaging technology are the two most commonly used methods. This study investigated the influence of distance and light intensity on the ranging accuracy of TOF and binocular vision imaging methods theoretically and experimentally. An adaptive weighting-based high-precision range image generation method for the entire range was proposed. The basic idea was to assign different weights to the TOF range image and binocular vision range image at different distance intervals and use the prior weight fitting results at different light intensities and distances to guide the weighted processing of each point of the range image. And then high-precision range imaging results with higher ranging accuracy than the original TOF image and binocular vision imaging were obtained. The PSNR value increased by an average of 7.15% compared to binocular vision and increased 1.17% compared to TOF. Distance error MSE value decreased by an average of 34.76% compared to binocular vision and decreased 7.87% compared to TOF. Experimental results demonstrated the effectiveness of the proposed method, which provided a useful idea and means for further improving the ranging accuracy of existing range imaging methods. © 2023 SPIE.

关键词： Binocular vision

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Research and Application of Defect Detection Method for Electronic Wafer Based on Machine vision

Research and Application of Defect Detection Method for Elec...

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2023 international conference on Artificial Intelligence and Automation control, AIAC 2023

作者： Qin, Jieli Xiamen Institute of Technology The Higher Educ. Key Laboratory for Flexible Manufacturing Equipment Integration of Fujian Province Xiamen361021 China Xiamen Institute of Technology School of Mechanical Electrical and Information Engineering Xiamen361021 China

ISBN: (纸本)9798350383805

Wafer surface defects have a strong correlation with the manufacturing process in the production process. The accurate and efficient detection of electronic wafer diagrams will certainly improve production efficiency. Based on machine vision and combining traditional image processing with modern information technology, a scheme and framework for defect detection of electronic wafer diagram are proposed. For the Scratch with relatively low detection rate, the parameter feature measurement of Hough transform is proposed, which reduces the false detection rate to some extent. The effectiveness of the proposed model and method is proved by experiments, which has reference value for further application in the production line of IC semiconductor industry. © 2023 IEEE.

关键词： Hough transforms

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Automatic Parking for a Surgical Robotic Patient-Side Cart Using Monocular vision

Automatic Parking for a Surgical Robotic Patient-Side Cart U...

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2023 IEEE international conference on robotics and Biomimetics, ROBIO 2023

作者： Zhang, Yulin Wu, Baibo Zhou, Chang Xu, Kai School of Mechanical Engineering Shanghai Jiao Tong University State Key Laboratory of Mechanical System and Vibration Shanghai200240 China

ISBN: (纸本)9798350325706

A surgical robotic system used for minimally invasive surgery (MIS) usually includes a patient-side cart, exchangeable instruments and a few accessories. During the preoperative preparation, the patient-side cart is usually manually driven by a nurse to the desired location to connect to the trocar/sheath for docking. Aiming at improving the efficiency of manual docking, this paper, to the best of the authors' knowledge, for the first time, proposes an automatic parking solution for the patient-side cart based on both a designed headband marker that is installed on the cart and a closed-loop pose controller that utilizes the pose feedback from the headband marker under an external monocular camera. The experimental results show that the average position and orientation estimation errors for the designed headband marker at a distance (from the camera to the marker) of 1.5 m ~ 6 m are 2.21 mm and 1.08°, respectively. The final position and orientation errors of the proposed closed-loop pose controller are 3.91 mm and 1.24°, respectively, which is considered sufficient for automatic parking of the patient-side cart. © 2023 IEEE.

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Research on evaluation method of automotive infrared night vision camera

Research on evaluation method of automotive infrared night v...

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2023 international conference on Image, Signal Processing, and Pattern Recognition, ISPP 2023

作者： Hu, Yue Sun, Hang Zhang, Shiqi China Automotive Technology and Research Center Co. Ltd. No.68 East Xianfeng Road Tianjin China Co. Ltd. No.68 East Xianfeng Road Tianjin China

ISBN: (纸本)9781510666351

At present, autonomous vehicles equipped with night vision systems have been widely used, which can provide drivers with visual aids and collision warning at night or in low light conditions, so as to reduce the probability of accidents. In this paper, the image quality evaluation indicators and test methods of automotive infrared night vision camera have been studied. According to the characteristics of infrared night vision camera, NETD, MRTD, MTF and identification distance have been proposed as the evaluation indicators, the test methods and procedures have been given. A prototype was selected for verification test. The experimental results were accurate, objective and reproducible, which could be used as the test and evaluation method for automotive infrared night vision camera. © 2023 SPIE.

关键词： Quality control

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Traffic Sign Classification Using Deep and Quantum Neural Networks

Traffic Sign Classification Using Deep and Quantum Neural Ne...

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international conference on Computer vision and Graphics, ICCVG 2022

作者： Kuros, Sylwia Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9783031220241

Quantum Neural Networks (QNNs) are an emerging technology that can be used in many applications including computer vision. In this paper, we presented a traffic sign classification system implemented using a hybrid quantum-classical convolutional neural network. Experiments on the German Traffic Sign Recognition Benchmark dataset indicate that currently QNN do not outperform classical DCNN (Deep Convolutuional Neural Networks), yet still provide an accuracy of over 90% and are a definitely promising solution for advanced computer vision. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Traffic signs

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vision-Based control of Construction Robots Using Transfer Learning Approach

Vision-Based Control of Construction Robots Using Transfer L...

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ASCE international conference on Computing in Civil engineering (I3CE)

作者： Halder, Srijeet Gandra, Harshitha Afsari, Kereshmeh Virginia Tech Myers Lawson Sch Construct Blacksburg VA 24061 USA Virginia Tech Dept Comp Sci Blacksburg VA 24061 USA

ISBN: (数字)9780784485224

ISBN: (纸本)9780784485224

This study explores the potential of vision-based control of robots for construction applications using a transfer learning approach. Repetitive and arduous construction tasks cause musculoskeletal disorders in human workers which can be performed safely by robots. Unlike manufacturing processes, construction tasks are complex. Collaborative robots utilize human intelligence to adapt to the complexities of the construction site. Interaction between humans and robots is a challenge because of the limited infrastructure and computational training of construction workers. vision-based hand gesture control is implemented using transfer learning by using a pre-trained hand detection model called Mediapipe Hands and using its output as features to train another artificial neural net (ANN) to classify different hand gestures. After optimizing the model parameters, 99.43% training and 99.11% validation accuracies were achieved. The results of validation performed through experiments in a simulated environment show the potential of using hand gestures for the control of construction robots.

关键词： Human robot interaction

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vision-Based Locomotion control for Humanoid Robots: A Study on vision-Guided Walking Strategies

Vision-Based Locomotion Control for Humanoid Robots: A Study...

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2023 international conference on Computational Intelligence and Sustainable engineering Solution, CISES 2023

作者： Pandey, Saroj Kumar Kumar, Lalan Kumar, Gaurav Kumar, Ankit Singh, Kamred Udham Singh, Teekam Gla University Department of Computer Engineering & Applications UP Mathura India Gl Bajaj Institute of Technology and Management Department of Master of Computer Application India School of Computing Graphic Era Hill University Dehradun India Graphic Era Deemed to Be University Department of Computer Science and Engineering Dehradun India

ISBN: (纸本)9798350323917

Recently, there has been a lot of research on using vision to direct humanoid robots as they walk. Focusing on the major methodologies, difficulties, and prospects, this review article presents an overview of the current state of study in the vision-guided walking of humanoid robots. In the first part of the study, we introduce vision-guided walking and go through the several methods that have been developed to execute it, such as visual serving, visual odometer, and visual simultaneous localization and mapping. The difficulties of vision-guided walking are then discussed;these include, but are not limited to, the necessity for accurate and strong computer vision algorithms, the robot's need to have a solid awareness of its own body and how it moves, and the need to maintain balance while walking. This paper provides a detailed review of the research on humanoid robots that use vision to direct their gait. Deep learning for vision-guided walking, tactile and proprioceptive sensing combined with vision, and reinforcement learning for adaptive walking are only a few of the issues covered in this overview. Future directions in vision-guided walking research are discussed in this paper. These include the development of more advanced and reliable computer vision algorithms, the incorporation of other modalities like tactile and auditory sensing, and the investigation of new applications for vision-guided walking in fields like healthcare and rehabilitation. © 2023 IEEE.

关键词： Anthropomorphic robots

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