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4th International conference on computer vision, Application, and Algorithm, CVAA 2024

作者： Pan, Yaohui Wang, Gang Yu, Jun Jilin Institute of Chemical Technology Jilin China Jilin Communications Polytechnic Jilin China

ISBN: (数字)9781510687622

ISBN: (纸本)9781510687615

At present, the YOLO algorithm has become an indispensable core real-time object detection technology in aspects such as unmanned driving, face detection, and robot applications, and its versions are constantly being updated and upgraded. Herein, we deeply analyze the evolution process of the YOLO algorithm and carefully investigate the innovations and contributions arising from the algorithm iterations from YOLOv1 to YOLOv5. We make vivid and inspiring prospects for the future development direction and point out the feasibility and necessity of the research on the YOLO algorithm. © 2025 SPIE.

关键词： robot applications

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Research on improvement strategy of detr real time object detection algorithm for small devices 4

Research on improvement strategy of detr real time object de...

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4th International conference on computer vision, Application, and Algorithm, CVAA 2024

作者： Gao, Chao Gao, Jing Cao, Lili Zhao, Long Gao, Shaojie School of Information Engineering East University of Heilongjiang Harbin China School of Computer and Information Engineering Heilongjiang University of Science and Technology Harbin China Gannan County Second Middle School Qiqihar China Wuxi Vocational Institute of Commerce Wuxi China

ISBN: (数字)9781510687622

ISBN: (纸本)9781510687615

With the rapid development of deep learning technology, object detection, as an important task in the field of computer vision, has also been widely applied in the ROS[1](robot Operating System) robot field. ROS, as an open-source robot operating platform[1], provides a favorable operating environment for object detection algorithms. this article studies the improvement strategy of real-time object detection algorithm (RT-DETR) [2] for small devices, which provides a better solution for the field of robotics. through the application analysis of the RT-DETR[2] algorithm, we found that there are certain issues with detection accuracy and efficiency, as well as the ability to detect small objects, when the performance of small devices is limited. Especially when the camera is not in focus or the image is ghosted, the issues of detection accuracy and efficiency are particularly prominent. For this purpose, we propose a dynamic and irregular deformable convolution kernel strategy to address the performance issues of small edge devices in terms of detection accuracy. In response to efficiency concerns, we propose an enhanced non-linear network structure to achieve greater non-linear capability with fewer parameters applied during the operation process. Finally, we combine the two methods to form a DenNet network (Deformable and Enhanced Nonlinear Convolutional Kernel Networks). through experimental verification, our improvement strategy can greatly improve the detection accuracy and efficiency of small devices, solve the efficiency problem of insufficient performance of small devices, and has important practical application value. © 2025 SPIE.

关键词： robot Operating System

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Affordance Perception by a Knowledge-Guided vision-Language Model with Efficient Error Correction 4th

Affordance Perception by a Knowledge-Guided Vision-Languag...

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4th International conference on Pattern Recognition and Artificial Intelligence, ICPRAI 2024

作者： Burghouts, Gertjan J. Schaaphok, Marianne van Bekkum, Michael Meijer, Wouter Hillerstrüm, Fieke van Mil, Jell TNO The Hague2597 AK Netherlands

ISBN: (纸本)9789819787043

Mobile robot platforms will increasingly be tasked with activities that involve grasping and manipulating objects in open world environments. Affordance understanding provides a robot with means to realise its goals and execute its tasks, e.g. to achieve autonomous navigation in unknown buildings where it has to find doors and ways to open these. In order to get actionable suggestions, robots need to be able to distinguish subtle differences between objects, as they may result in different action sequences: doorknobs require grasp and twist, while handlebars require grasp and push. In this paper, we improve affordance perception for a robot in an open-world setting. Our contribution is threefold: (1) We provide an affordance representation with precise, actionable affordances;(2) We connect this knowledge base to a foundational vision-language models (VLM) and prompt the VLM for a wider variety of new and unseen objects;(3) We apply a human-in-the-loop for corrections on the output of the VLM. the mix of affordance representation, image detection and a human-in-the-loop is effective for a robot to search for objects to achieve its goals. We have demonstrated this in a scenario of finding various doors and the many different ways to open them. © the Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Visual languages

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A Novel Elderly Care robot Control System Based on computer vision Algorithm 25

A Novel Elderly Care Robot Control System Based on Computer ...

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Proceedings of the 4th International conference on computer, Artificial Intelligence and Control Engineering

作者： Chengda Wang Yanzhao Duan Yiyue Guo School of Artificial Intelligence Anhui University Hefei Anhui China

ISBN: (纸本)9798400712647

With the aging of the population, the traditional elderly care model faces many challenges. the existing elderly care robots have problems such as single function, low work efficiency and poor stability. In view of these shortcomings, this paper proposes a robot control system for elderly care based on machine vision. the system integrates multiple important functional modules, including: safety protection module, which builds the elderly body posture model based on Mediapipe to analyze and monitor the safety status of the elderly; domestic garbage cleaning module, which integrates yolov8 and MoveIt technology to control the robot to grab and clean up while detecting garbage in the indoor environment; human-computer interaction module, which is used for simple voice interaction with the elderly. the robot designed in this paper realizes the integration of multi-functions such as detection of elderly falls, daily garbage removal, real-time monitoring and voice emotional interaction, which greatly improves the work efficiency of the robot while taking into account stability, and can better provide services for the elderly. through experimental tests on a modularly constructed robot car, this paper verifies the feasibility of the robot control system.

关键词： Elderly care robot

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A dynamically reconfigurable stereoscopic/panoramic vision mobile robot head controlled from a virtual environment

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VISUAL computer 2008年第11期24卷 941-946页

作者： Aprile, Walter A. Ruffaldi, Emanuele Sotgiu, Edoardo Frisoli, Antonio Bergamasco, Massimo Scuola Super Sant Anna Pisa Italy Delft Univ Technol Delft Netherlands

We have built a mobile robotic platform that features an Active robotic Head (ARH) with two high-resolution cameras that can be switched during robot operation between two configurations that produce respectively panoramic and stereoscopic images. Image disparity is used for improving the quality of the texture. the robot head switches dynamically, based on robot operation between the stereoscopic configuration and the panoramic configuration.

关键词： Panoramic computer vision Stereoscopic computer vision robot head Mobile robot Telerobotics Spherical mirror

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Dense stereo range sensing with marching pseudo-random patterns

Dense stereo range sensing with marching pseudo-random patte...

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4th canadian conference on computer and robot vision

作者： Desjardins, Danick Payeur, Pierre Univ Ottawa Sch Informat Technol & Engn Ottawa ON Canada

ISBN: (纸本)9780769527864

As an extension to classical structured lighting techniques, the use of bi-dimensional pseudo-random color codes is explored to perform range sensing with variable density from a stereo calibrated rig and a projector. Pseudo-random codes are used to create artificial textures on a scene which are extracted and grouped in a confidence map to ensure reliable feature matching between pairs of images taken from two cameras. Depth estimation is performed on corresponding points with progressive refinement as the pseudo-random pattern projection is marched over the scene to increase the density of matched features, and achieve dense 3D reconstruction. the potential of hi-dimensional pseudo-random color patterns for structured lighting is demonstrated in terms of patterns computation, ease of extraction, matching confidence level, as well as density of depth estimation for 3D reconstruction.

关键词： Image reconstruction Reflective binary codes Layout Cameras Pattern matching Surface reconstruction Calibration robot vision systems Surface texture Gray-scale

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A non-myopic approach to visual search

A non-myopic approach to visual search

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4th canadian conference on computer and robot vision

作者： Vogel, Julia Murphy, Kevin Univ British Columbia Dept Comp Sci Vancouver BC V6T 1W5 Canada

ISBN: (纸本)9780769527864

We show how a greedy approach to visual search - i.e., directly moving to the most likely location of the target - can be suboptimal, if the target object is hard to detect. Instead it is more efficient and leads to higher detection accuracy to first look for other related objects, that are easier to detect. these provide contextual priors for the target that make it easier to find. We demonstrate this in simulation using POMDP models, focussing on two special cases: where the target object is contained within the related object, and where the target object is spatially adjacent to the related object.

关键词： computer vision

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Corridor navigation and obstacle avoidance using visual potential for mobile robot

Corridor navigation and obstacle avoidance using visual pote...

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4th canadian conference on computer and robot vision

作者： Ohnishi, Naoya Imiya, Atsushi Chiba Univ Sch Sci & Technol Inage Ku Yayoi Cho 1-33 Chiba Japan Chiba Univ Inst Media & Informat Technol Inage Ku Chiba Japan

ISBN: (纸本)9780769527864

In this paper we develop an algorithm for corridor navigation and obstacle avoidance using visual potential for visual navigation by an autonomous mobile robot. the robot is equipped with a camera system which dynamically captures the environment. the visual potential is computed from an image sequence and optical flow computed from successive images captured by the camera mounted on the robot. Our robot selects a local pathway using the visual potential observed through its vision system. Our algorithm enables mobile robots to avoid obstacles without any knowledge of a robot workspace. We demonstrate experimental results using image sequences observed with a moving camera in a simulated environment and a real environment. Our algorithm is robust against the fluctuation of displacement caused by mechanical error of the mobile robot, and the fluctuation of planar-region detection caused by a numerical error in the computation of optical flow.

关键词： Mobile robots

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Fourier tags:Smoothly degradable fiducial markers for use in human-robot interaction

Fourier tags:Smoothly degradable fiducial markers for use in...

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4th canadian conference on computer and robot vision

作者： Sattar, Junaed Bourque, Eric Giguere, Philippe Dudek, Gregory McGill Univ Comp Sci Montreal PQ Canada Univ Montreal DIRO Montreal PQ Canada

ISBN: (纸本)9780769527864

In this paper we introduce the Fourier tag, a synthetic fiducial marker used to visually encode information and provide controllable positioning. the Fourier tag is a synthetic target akin to a bar-code that specifies multi-bit information which can be efficiently and robustly detected in an image. Moreover the Fourier tag has the beneficial property that the bit string it encodes has variable length as a function of the distance between the camera and the target. this follows from the fact that the effective resolution decreases as an effect of perspective. this paper introduces the Fourier tag, describes its design, and illustrates its properties experimentally

关键词： Human computer interaction

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Energy efficient robot rendezvous

Energy efficient robot rendezvous

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4th canadian conference on computer and robot vision

作者： Zebrowski, Pawel Litus, Yaroslav Vaughan, Richard T. Simon Fraser Univ Sch Comp Sci Auton Lab Burnaby BC V5A 1S6 Canada

ISBN: (纸本)9780769527864

We examine the problem of finding a single meeting location for a group of heterogeneous autonomous mobile robots, such that the total system cost of traveling to the rendezvous is minimized. We propose two algorithms that solve this problem. the first method computes an approximate globally optimal meeting point using numerical simplex minimization. the second method is a computationally cheap heuristic that computes a local heading for each robot: by iterating this method, all robots arrive at the globally optimal location. We compare the performance of both methods to a naive algorithm (center of mass). Finally, we show how to extend the methods with inter-robot communication to adapt to new environmental information.

关键词： Mobile robots

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