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

共 1305 条记录，以下是21-30 订阅

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A Monocular Biological Simultaneous Localization and Mapping Method Based on a Bionic vision Model

A Monocular Biological Simultaneous Localization and Mapping...

引用

2023 international conference on Frontiers of robotics and Software engineering, FRSE 2023

作者： Guo, Sitong Zhang, Yu Zhejiang University Key Laboratory of Collaborative Sensing and Autonomous Unmanned Systems of Zhejiang Province State Key Laboratory of Industrial Control Technology College of Control Science and Engineering Hangzhou China

ISBN: (纸本)9798350301113

Animals can navigate robustly through large unknown environments, utilizing inaccurate sensor and egomotion cues. Inspired by the mechanism of the human visual system, this paper presents a biological simultaneous localization and mapping (SLAM) system based on a monocular vision sensor to perform navigation tasks in complex environments. Specifically, our contributions are two folds: an improved monocular visual odometry with a scale recovery algorithm to calibrate the estimated robot pose, and a bionic vision model based on image enhancement algorithm and feature extraction approach to detect closed-loop. Experiments on public datasets demonstrate that our proposed method performs competitively in illumination-varying scenarios indoors and outdoors, which achieve a trade-off to maintain performances in terms of accuracy, execution time, and robustness. © 2023 IEEE.

关键词： vision

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Modelling and Sliding Mode control of a Stereo vision Augmented 6 DoF Quadrotor System 21

Modelling and Sliding Mode Control of a Stereo Vision Augmen...

引用

21st international conference on Advanced robotics (ICAR)

作者： Kamath, Archit Krishna Dam, Tanmoy Maurya, Heera Lal Singh, Padmini Nair, Ranjith Ravindranathan Nahavandi, Saeid Nanyang Technol Univ Sch Mech & Aerosp Engn Singapore Singapore IIT Kanpur Dept Elect Engn Kanpur Uttar Pradesh India VNIT Nagpur Dept Elect Engn Nagpur Maharashtra India NIT Calicut Dept Elect Engn Calicut Kerala India Swinburne Univ Technol VC Res & Def Innovat Hawthorn Vic Australia

ISBN: (纸本)9798350342291

This study introduces an innovative visual servoing approach for quadrotors equipped with stereo cameras. The approach utilizes stacked Jacobians without requiring inversion, effectively resolving issues related to singularities and reducing computational complexity. Additionally, it improves the robustness of the visual servoing process against image noise. The paper commences by describing the technique of appropriately stacking monocular Jacobians to achieve stereo vision. Subsequently, the acceleration image dynamics are derived from the stereo vision perspective. These dynamics are then utilized to establish a mapping with the quadrotor's 6 degrees of freedom (6 DoF) dynamical model. To control the developed system, a fast terminal sliding mode controller with a power rate proportional reaching law is designed. Numerical simulations are employed to demonstrate the effectiveness of the proposed approach, highlighting the advantages of this innovative method.

关键词： Stereo vision Unmanned Aerial Vehicles Sliding Mode control Visual Servoing vision Augmented control Lyapunov's stability theory.

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Monocular Object Detection & Localization on a 2D Plane Adapted to 360° Images without Retraining 8

Monocular Object Detection & Localization on a 2D Plane Adap...

引用

8th international conference on control and robotics engineering (ICCRE)

作者： Farid, Ahmed Yoshie, Osamu Waseda Univ Grad Sch Informat Prod & Syst Kitakyushu Japan

ISBN: (纸本)9798350345650

Equirectangular 360 degrees images have the property of encompassing the omnidirectional field-of-vision in a single oneshot image, which have benefits and interesting use-cases as a form of perception for robots and autonomous vehicles. It is thus reasonable to implement object detection and localization on such images to enrich the perception of the surroundings of a given robot. Even though object detection models that were trained by deep learning have seen massive developments over the years, they do not adequately address the spherical semantics of an equirectangular image without special modification;a single image represents an observation (a color sphere with an assumed constant radius) in the form of a 2D image that does not semantically connect the side edges that are in fact the same in the real physical world. As a result, objects that lie on those vertical edges are not correctly detected. In this paper, we address this main problem by describing a methodology that adapts to any pretrained object detection model without any retraining necessary. This is achieved by first applying the calibration parameters of the utilized camera to obtain a spherically corrected equirectangular image, then inferencing bounding box locations based on a batch of one image and its horizontally shifted version. Afterwards, we select the correct bounding boxes based on positional criteria. Additionally, we utilize calibration to correctly map between image pixel positions and real-world spherical coordinates. This allows us to utilize the spherical coordinates to create an image-toworld homography (assumption a flat-surface topology), thus achieving object localization.

关键词： computer vision equirectangular imagery object detection robot perception

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Robot autonomous calibration method based on machine vision 3

Robot autonomous calibration method based on machine vision

引用

3rd international conference on control and Intelligent robotics, ICCIR 2023

作者： Wang, Enguo Feng, Xin Su, Chengzhi Ma, Chengshuai School of Mechanical and Electrical Engineering Changchun University of Technology Changchun Jilin130022 China Changchun University of Technology Artificial Intelligence Institute Changchun Jilin130022 China

ISBN: (纸本)9781510671867

All input data are collected manually, which will not only bring a heavy workload to the operator, but also consume a lot of time. In order to quickly and accurately complete the robot calibration task, it is necessary to automatically complete the calibration of the entire system, so this paper studies a robot autonomous calibration method based on machine vision. By using the calibration board to establish the spherical coordinates and the camera field of view to plan the camera pose, you only need to place the calibration board within the measurable range of the camera to perform autonomous calibration. In the end, data collection time was reduced from over 10 minutes to less than 1 minute. © 2023 SPIE.

关键词： Calibration

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"LEVER" - LOW-COST ELECTRIC VEHICLE CHARGING ROBOT: DEVELOPMENT AND TESTING

"LEVER" - LOW-COST ELECTRIC VEHICLE CHARGING ROBOT: DEVELOPM...

引用

ASME international Design engineering Technical conferences / 43rd Annual Computers and Information in engineering conference (IDETC-CIE) / 19th IEEE/ASME international conference on Mechatronic and Embedded Systems and Applications (MESA)

作者： Cochran, Bryan Zaidi, Zulfiqar Bras, Bert Georgia Inst Technol Atlanta GA 30332 USA

ISBN: (纸本)9780791887356

This article describes the design and development of an autonomous Electric Vehicle (EV) charging system. An autonomous EV charger can extend the effective range of autonomous EVs by enabling them to recharge without human intervention. The motivation behind the development of the system was to reduce costs compared to other autonomous EV chargers. As such, the system was developed using consumer grade IoT hardware instead of commercial robotic systems and controllers. The system employs a decentralized control architecture with Robot Operation System (ROS) as its backbone. This control architecture utilizes a Raspberry Pi single-board computer as the primary controller, a series of Arduino microcontrollers to interface with motion control, and a Nvidia Jetson vision processors to execute the necessary computation to allow the entire system to operate without the need of a dedicated computer or PLC. The control algorithm utilizes vision feedback and compliant mechanisms to compensate for the limited computational capabilities of the individual microcontrollers. The system was developed in a laboratory environment and once the system operated as intended, the system was tested on a production Plug-in Hybrid Electric Vehicle (PHEV). Experiments were conducted to improve the control algorithm accuracy and decrease operating time. Overall, the system demonstrates the feasibility of using low-cost IoT hardware to develop an autonomous EV charging system, reducing the barrier to entry for the widespread adoption of autonomous EVs. The system represents an important step towards the goal of achieving sustainable and efficient transportation and opens up new possibilities for the future of electric vehicles.

关键词： electric vehicles autonomous car charging robotics design machine vision vision system automation

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Development of Automotive Components Detection Experiment System Based on Machine vision 5

Development of Automotive Components Detection Experiment Sy...

引用

5th international conference on robotics, Intelligent control and Artificial Intelligence, RICAI 2023

作者： Li, XueJun Li, LiYan Zhang, LiYing Pan, Dong Yu, ShuYou Wang, JiYu Changchun Humanities and Science College ChangChun China Key Laboratory of Industrial Internet of Things and Networked Control China Jilin University ChangChun China Changchun Up Optotech Co. Ltd ChangChun China

ISBN: (纸本)9798350357950

Automatic detection technology based on machine vision is one of the key technologies in intelligent manufacturing. To meet the demand of the online automatic detection of automotive components, a machine vision-based detection system is designed. The system is composed of machine vision, PLC control, and component transfer and control etc module. The system integrates typical enterprise engineering projects such as automotive components detection based on machine vision into practical teaching, and enables practical projects such as PLC comprehensive training, machine vision and digital image processing algorithms. The system integrates automatic detection technology based on both PLC and machine vision technology, effectively meeting the demand for automatic online detection of automotive components. © 2023 IEEE.

关键词： Automotive components Experimental platform Machine vision PLC control

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Enforcing safety for vision-based controllers via control Barrier Functions and Neural Radiance Fields

Enforcing safety for vision-based controllers via Control Ba...

引用

IEEE international conference on robotics and Automation (ICRA)

作者： Tong, Mukun Dawson, Charles Fan, Chuchu Tsinghua Univ Dept Automat Beijing Peoples R China MIT Dept Aeronaut & Astronaut Cambridge MA 02139 USA

ISBN: (纸本)9798350323658

To navigate complex environments, robots must increasingly use high-dimensional visual feedback (e.g. images) for control. However, relying on high-dimensional image data to make control decisions raises important questions;particularly, how might we prove the safety of a visual-feedback controller? control barrier functions (CBFs) are powerful tools for certifying the safety of feedback controllers in the state-feedback setting, but CBFs have traditionally been poorly-suited to visual feedback control due to the need to predict future observations in order to evaluate the barrier function. In this work, we solve this issue by leveraging recent advances in neural radiance fields (NeRFs), which learn implicit representations of 3D scenes and can render images from previously-unseen camera perspectives, to provide single-step visual foresight for a CBF-based controller, where the CBFs possess a discrete-time nature. This novel combination is able to filter out unsafe actions and intervene to preserve safety. We demonstrate the effect of our controller in real-time simulation experiments where it successfully prevents the robot from taking dangerous actions.

关键词： safe vision-based control control barrier functions neural radiance fields

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3D Scanning vision System Design and Implementation in Large Shipbuilding Environments 8

3D Scanning Vision System Design and Implementation in Large...

引用

8th international conference on Automation, control and robotics engineering, CACRE 2023

作者： Yu, Hang Zhao, Yixi Zhang, Ran Guo, Haiping Ni, Chongben Ding, Jinhong Shanghai Jiao Tong University Shipbuilding Technology Research Institute School of Mechanical Engineering Shanghai China Shanghai Jiao Tong University School of Mechanical Engineering Shanghai China Shipbuilding Technology Research Institute Shanghai China Shipbuilding Technology Research Instituteline Shanghai China Shanghai Jiao Tong University School of Naval Architecture Ocean and Civil Engineering Shanghai China

ISBN: (纸本)9798350302776

To achieve efficient and intelligent welding of common workpieces such as subassemblies without relying on models, and to adapt to the unique large manufacturing scenes of the shipbuilding industry, 3D area-array cameras were used in this study instead of traditional line laser scanning sensors. Based on 3D vision processing technologies such as multisensor data calibration and point cloud registration, the 3D reconstruction and weld reconstruction vision system was designed for large scenes in shipbuilding, and the algorithm was optimized from the perspective of improving scanning efficiency and scanning accuracy. Through 3D scanning reconstruction and weld reconstruction tests on typical ship workpieces in large scenes, it was verified that the vision system in this paper can markedly improve scanning efficiency and scanning accuracy in large scenes, and provide efficient and accurate visual data support for intelligent welding of common workpieces such as subassemblies. © 2023 IEEE.

关键词： Shipbuilding

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Autonomous Driving Peripheral And Central vision Region Selection For Semantic Segmentation 9

Autonomous Driving Peripheral And Central Vision Region Sele...

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9th international conference on Mechatronics and robotics engineering (ICMRE)

作者： Abdelkader, Ahmed Abdelwahab, Mohamed Ibrahim, Fady Abdelaziz, Mohamed Ain Shams Univ Fac Engn Cairo Egypt

ISBN: (纸本)9781665463263

There has been a lot of development in autonomous cars recently and it's anticipated that fully autonomous vehicles will be on the road soon. Autonomous vehicle understanding of the surrounding environment is one of the most important autonomous driving tasks and this task is done by using deep CNN-based segmentation which imposes a remarkably high computational load. This paper proposes a novel method to reduce the computation time by mimicking the human eye vision in terms of dividing the wide field of view into two zones the peripheral vision and the central vision. The peripheral vision included the entire field of view of the camera while the central vision was selected based on the path and lateral acceleration of the vehicle whether it is moving to the right, left or straight ahead. The results showed a great improvement in the computational time.

关键词： autonomous systems autonomous driving transportation systems machine vision

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Design of an Automatic Locking Nut Tightening control System for a vision Guided Robot 8

Design of an Automatic Locking Nut Tightening Control System...

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8th international conference on Automation, control and robotics engineering, CACRE 2023

作者： Chang, Kai Lu, Bolin Yin, Jian Tan, Guangchao Chinese Academy of Sciences Key Laboratory on Intelligent Detection Equipment Technology of Liaoning Province Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Shenyang China

ISBN: (纸本)9798350302776

A set of automatic locking nut tightening control system for a vision guided robot is designed and implemented. Through hand-eye calibration, the coordinate system is unified. By the designed tool plate and tapered tooling, the calibrated reference location for the tightening tool is realized. According to the position and orientation of the reference screw, the vision system detects the offset of the current screw position, and guides the robot to adjust the pose of the tightening tool. By setting up the network topology of the control system, the data interaction of each subsystem is completed, and the automatic workflow is realized. The application of the system can avoid the relative movement between the tool and screw during the tightening process, and improve the tightening quality. © 2023 IEEE.

关键词： Calibration

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