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DAFDeTr: Deformable Attention Fusion Based 3D Detection Transformer 1

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4th International conference on robotics, computer vision and Intelligent Systems (ROBOVIS)

作者： Erabati, Gopi Krishna Araujo, Helder Univ Coimbra Inst Syst & Robot P-3030290 Coimbra Portugal

ISBN: (数字)9783031590573

ISBN: (纸本)9783031590566;9783031590573

Existing approaches fuse the LiDAR points and image pixels by hard association relying on highly accurate calibration matrices. We propose Deformable Attention Fusion based 3D Detection Transformer (DAFDeTr) to attentively and adaptively fuse the image features to the LiDAR features with soft association using deformable attention mechanism. Specifically, our detection head consists of two decoders for sequential fusion: LiDAR and image decoder powered by deformable cross-attention to link the multi-modal features to the 3D object predictions leveraging a sparse set of object queries. the refined object queries from the LiDAR decoder attentively fuse with the corresponding and required image features establishing a soft association, thereby making our model robust for any camera malfunction. We conduct extensive experiments and analysis on nuScenes and Waymo datasets. Our DAFDeTr-L achieves 63.4 mAP and outperforms well established networks on the nuScenes dataset and obtains competitive performance on the Waymo dataset. Our fusion model DAFDeTr achieves 64.6 mAP on the nuScenes dataset. We also extend our model to the 3D tracking task and our model outperforms state-of-the-art methods on 3D tracking.

关键词： 3D Object detection Transformer Attention LiDAR Fusion

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PC-Yolo: Enhanced YOLOv5-Based Defect Detection System with Improved Partial Convolution for Ham Sausage Inspection 4

PC-Yolo: Enhanced YOLOv5-Based Defect Detection System with ...

引用

4th International conference on computer vision and Pattern Analysis, ICCPA 2024

作者： Cai, Hexue Shangguan, Haonan Wang, Lulin Faculty of Robot Science and Engineering Northeastern University Liaoning Shenyang110167 China School of Computer Science and Engineering Northeastern University Liaoning Shenyang110167 China School of Metallurgy Northeastern University Liaoning Shenyang110819 China

ISBN: (纸本)9781510682528

Advances in automation for the packaging industry necessitate robust quality control measures, particularly in food appearance inspection. this paper introduces PC-Yolo, an advanced defect detection system based on an enhanced version of the YOLOv5 algorithm, tailored for the inspection of ham sausage products. PC-Yolo incorporates Partial Convolution (PConv) to improve the defect detection process, offering substantial gains in speed and accuracy over traditional methods. A custom dataset comprising high-resolution images of ham sausages, with and without defects, was used to train and validate the model. the proposed system efficiently handles variations in defect size through optimal prior box dimensionality and employs a combination of Feature Pyramid Network (FPN) and Path Aggregation Network (PAN) for effective feature fusion. the resultant PC-Yolo model demonstrates superior real-time detection capabilities, with robust performance in complex scenarios, thereby addressing the industry's zero-defect challenge. © 2024 SPIE.

关键词： Inspection

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Collaborative Decision-Making Models for Flexible Manufacturing robotic System 4

Collaborative Decision-Making Models for Flexible Manufactur...

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4th IEEE International conference on Modern Electrical and Energy System, MEES 2022

作者： Tsymbal, Oleksandr Bronnikov, Artem Kharkiv National University of Radio Electronics Department of Computer-Integrated Technologies Automation and Mechatronics Kharkiv Ukraine

ISBN: (纸本)9798350346831

the proposed paper analyses the modern approaches to collaborative robotics. there is proposed a new model of collaborative decision-making, based on predicate logics. the developed models use descriptions for group of robots, for workspace objects (monitored by distributed computer vision system), for problem-solving procedures, goals, specifications of robots and their sensor systems. While decision-making engine for single robot includes the problem- solver and operator schemes for actions, the decision-making for two robots will be defined by decision-making possibilities of each robot and role of robot in group. Here, the behavior of robot in a group will depend on technical specifications and ability to execute tasks of robotic team, of subordination and relations inside group, of workspace states specifications. Execution of tasks inside workspace of Flexible Manufacturing System is monitored by distributed computer vision system, which supplies additional feedbacks in general control system. Collaboration Decision-making Model is implemented by problem-solving software. © 2022 IEEE.

关键词： Decision making

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2023 4th IEEE Global conference for Advancement in Technology, GCAT 2023

2023 4th IEEE Global Conference for Advancement in Technolog...

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4th IEEE Global conference for Advancement in Technology, GCAT 2023

ISBN: (纸本)9798350305258

the proceedings contain 307 papers. the topics discussed include: optimizing resource allocation using proactive predictive analytics and ML-driven dynamic VM placement;enhancing the performance of facial recognition technology;reduction in error-rate using BIOFDM technique and power comparison for M-QAM system under various fading channel environments;cryptography, code, consensus and currencies exploring the technological evolution of blockchain networks;dual-band microstrip fork shaped terahertz antenna for short range wireless application;improving tumor diagnosis accuracy with CNN based image segmentation and Arduino decision support;design and deployment of computer vision based smart patrolling robot using up squared board;implementation of a modified SHA-3 hash function on FPGA;enhancing diagnostic accuracy for lung disease in medical images: a transfer-learning approach;and enhancing real estate market insights through machine learning: predicting property prices with advanced data analytics.

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Visual Scheme Design of Intelligent Assembly of Lithium Battery Using robot 4

Visual Scheme Design of Intelligent Assembly of Lithium Batt...

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4th International conference on Intelligent Control, Measurement and Signal Processing, ICMSP 2022

作者： Yuan, Fei Li, Dawei Jiang, Xianzhong Wang, Lihui College of Electromechanical Technology Wuxi Vocational Institute of Commerce Wuxi China School of Electrical and Control Engineering North University of China Taiyuan China School of Instrument Science and Engineering Southeast University Nanjing China

ISBN: (数字)9781665486583

ISBN: (纸本)9781665486583

关键词： computer vision

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vision-Enhanced System For Human-robot Disassembly Factory Cells: Introducing A New Screw Dataset 4

Vision-Enhanced System For Human-Robot Disassembly Factory C...

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4th International conference on robotics and computer vision, ICRCV 2022

作者： Kalitsios, Georgios Lazaridis, Lazaros Psaltis, Athanasios Axenopoulos, Apostolos Daras, Petros Certh Information Technologies Institute Thessaloniki Greece

ISBN: (数字)9781665481700

ISBN: (纸本)9781665481700

Waste from electrical and electronic equipment is exacerbating the global environmental crisis. there is an urgent need to build a robust infrastructure capable of providing effective e-waste disposal options. In this work, a novel hybrid human-robot and system-agnostic application for relevant waste disassembly and recycling has been developed. Working on cells, collaborative robots, enhanced with state-of-the-art computer vision capabilities, can achieve near-real-time performance and high precision in the disassembly process. Additionally, a new screw dataset suitable for three separate computer vision tasks, namely instance segmentation, object detection, and semantic segmentation, is introduced to facilitate future research, which can be utilized almost for any screwing/unscrewing application beyond the current disassembly topic. Experiments demonstrating the robustness of the visual object detection and robotic 3D deprojection modules, which are the core aspects of the proposed architecture, have been conducted. © 2022 IEEE.

关键词： Recycling

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A walking assistance robot based on bionic traction characteristics 4

A walking assistance robot based on bionic traction characte...

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2023 4th International conference on computer Engineering and Intelligent Control, ICCEIC 2023

作者： Yu, Yang Zhang, Rui Tang, Ziyan Wang, Han Zhuang, Xiaona Zhao, Ruofan Ma, Yusen Gao, Peilin Gong, Zhanzhi Chen, Haibo Tianjin University of Science and Technology Thirteenth Avenue Binhai New District Tianjin300457 China

ISBN: (纸本)9798350308877

With the continuous development of social modernization, the research of various types of mobility aids is in full swing. However, most of the assistive devices on the market at present have the characteristics of single function, weak adaptability and low reliability, which makes it impossible for people to establish a trusting relationship with assistive devices and break through psychological barriers when traveling. the wearable walker uses the principles of ergonomics, kinematics, dynamics, bionics and other principles to design a walker for use in families and communities to help the elderly with lower limb movement and walking dysfunction caused by neurological diseases. Our research interests mainly include assisted exoskeletons, rehabilitation assistive devices, human softening belt design, fall protection system, rehabilitation evaluation system, and provide a complete rehabilitation diagnosis and treatment plan to help the elderly help rehabilitate walkers and gradually recover their walking ability. the implementation of the project involves computer vision, natural language processing, and multi-module collaborative analysis, which will help drive further research and development of walk-assist robots. © 2023 IEEE.

关键词： Walking aids

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4th International conference on Innovative Manufacturing, Mechatronics and Materials Forum, iM3F2023

4th International conference on Innovative Manufacturing, Me...

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4th International conference on Innovative Manufacturing, Mechatronics and Materials Forum, iM3F2023

ISBN: (纸本)9789819988181

the proceedings contain 50 papers. the special focus in this conference is on Innovative Manufacturing, Mechatronics and Materials Forum. the topics include: Effect of Crack Length, Depth, and Location on Natural Frequencies of Railway Track;imputation Analysis of Time-Series Data Using a Random Forest Algorithm;harnessing Machine Learning, Blockchain, and Digital Twin Technology for Advanced robotics in Manufacturing: Challenges and Future Directions;humanizing Humanoids: An Extensive Review on the Potential of Prosthetic robotic Arm with Integrated Monitoring System for Disabled People;intelligent Machining Systems for robotic End-Effectors: State-of-the-Art and Toward Future Directions;artificial Neural Network Analysis in Road Crash Data: A Review on Its Potential Application in Autonomous Vehicles;the Role and Impact of robotics Integration in Precision Machining and Manufacturing: A Comprehensive Review;nanomaterial in robotics: Bridging the Gap Between Current Applications and Future Possibilities;Optimized-ELM Based on Geometric Mean Optimizer for Bearing Fault Diagnosis;detection of Fault Features in Remanufacturing of Automotive Components Using Image Processing and computer vision Techniques;the Significance of the thoracic Spinal Multiple Segments During Different Pick-Object Approaches;Vibration Suppression of the Flexible Beam Structure Using PID Controller Tuned by Advanced Firefly Algorithm;Bearing Fault Diagnosis Based on Prominence Peak-Picking IMFs Selection and PSO-SSAE;investigation of Wheel robot Grouser Width Parameter Effect on robot Mobility in Soft Sand Terrain Using Sand Test Bed;automated Harmonic Signal Removal-Based Image Feature Extraction Technique: A Comparative Study Using Online Databases;Human Mental Stage Interpretation Based on the Analysis of Electroencephalogram (EEG) Signals.

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Design and Implementation of ROS-based 5G Operation and Maintenance Center Inspection robot Navigation System 4

Design and Implementation of ROS-based 5G Operation and Main...

引用

4th International conference on robotics and computer vision, ICRCV 2022

作者： Lv, Canjiong Xu, Wenxia Yu, Baocheng Luo, Liwei Liao, Chuyuan Yin, Shuyuan Wuhan Institute of Technology School of Computer Science and Engineering Wuhan China Wuhan FiberHome Technology Service Co. Ltd Wuhan China

ISBN: (数字)9781665481700

ISBN: (纸本)9781665481700

To realize the intelligent navigation and safe obstacle avoidance of the intelligent inspection robot in the complex environment of the 5G operation and maintenance centers, and build an accurate environment map, this paper designs an autonomous navigation system for 5G operation and maintenance center inspection robots based on the robot operating system ROS. During the navigation process of the inspection robot in a known environment, the A∗ algorithm with a new heuristic function is used for global path planning, and the improved DWA algorithm is used for local path planning. Based on the traditional DWA algorithm, a new distance evaluation function is added to optimize the obstacle avoidance effect of the inspection robot. It enables the robot to reach the target point faster and safer, and conduct related simulation experiments and real-environment experiments. the experimental results show that the method can realize the real-time dynamic obstacle avoidance of the robot in complex environments and reach the endpoint, and it can be closer to the global path planned by the A∗ algorithm. Guarantee the global optimal route. © 2022 IEEE.

关键词： Motion planning

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Modeling of Technical vision System of robots Based on Elbrus Microprocessors 4

Modeling of Technical Vision System of Robots Based on Elbru...

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4th International conference on Control Systems, Mathematical Modeling, Automation and Energy Efficiency, SUMMA 2022

作者： Bocharov, Nikita Slavin, Oleg Suminov, Konstantin Paramonov, Nikolay Control Computers Rtu Mirea Base Departement №234 Moscow Russia Federal Research Center 'Computer Sciences and Control' Russian Academy of Sciences Moscow Russia PJSC 'Brook INEUM' 'Information Security' Departement Moscow Russia

ISBN: (数字)9781665456593

ISBN: (纸本)9781665456593

the creation of new generations of autonomous robotic complexes, recognition systems and vision systems in general is impossible without the use of modern computer technology. this article contains models of technical vision system of robots based on Elbrus microprocessors. Models of detection, classification and segmentation tasks were developed. theoretical and experimental results were obtained on actual and perspective Elbrus microprocessors. It is shown that Elbrus microprocessors can be the base for onboard technical vision system. the results obtained by the authors indicate the prospects of import substitution in the field of robotics. © 2022 IEEE.

关键词： robot vision

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