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A Lifted Semi-Direct Monocular Visual Odometry

A Lifted Semi-Direct Monocular Visual Odometry

引用

ieee International symposium on Parallel and Distributed processing with Applications and ieee International Conference on Ubiquitous Computing and Communications (ISPA/IUCC)

作者： Hongjian Li Luoying Hao Qieshi Zhang Xiping Hu Jun Cheng Shenzhen College of Advanced Technology University of Chinese Academy of Sciences Beijing China CAS Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China The Chinese University of Hong Kong Hong Kong China

ISBN: (纸本)9781728152103

In this paper, we proposed a practical and efficient algorithm based on conventional semi-direct monocular visual odometry (SVO) algorithm, which mainly aims at the future application of the Simultaneous Localization and Mapping (SLAM) for embedded or mobile platforms such as robots and wearable devices. By applying the velocity momentum during the initial pose estimation, we present a novel algorithm for obtaining the initial pose, which is closer to the true value and more effective to solving the limitation of non-convergence in most existing approaches. A sparse image alignment module is also proposed to rectify the pose offset occurred at the corner, by elaborately resetting the relative pose at the location with large photometric error. The proposed lifted semi-direct monocular visual odometry has been extensively evaluated on benchmark dataset. The experimental result demonstrates that our method can explicitly generate the accurate initial poses without reducing the speed.

关键词： distance measurement pose estimation robot vision SLAM (robots) pose estimation robot vision distance measurement odometry moving platform lift true value simultaneous localization and mapping Visualization efficient algorithm

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Improvement of Accuracy of Well-Known Convoluational Neural Networks by Efficient Hybrid Strategy 15

Improvement of Accuracy of Well-Known Convoluational Neural ...

引用

15th International symposium on Pervasive Systems, Algorithms and Networks (I-SPAN)

作者： Yan, Ren-You Hung, Che-Lun Lin, Chun-Yuan Wang, Hsiao-Hsi Providence Univ Dept Comp Sci & Inforamt Engn Taichung Taiwan Chang Gung Univ Dept Comp Sci & Informat Engn Taoyuan Taiwan Providence Univ Dept Comp Sci & Informat Management Taichung Taiwan

ISBN: (纸本)9781538685341

Convolutional neural networks have existed for many years, but recently they have been developed to a greater depth and width than ever before with the increase in the computing power of graphics processing units. Convolutional neural networks are widely used in a variety of artificial intelligence applications, including in manufacturing, agriculture, and medicine. The use of artificial intelligence in various industrial fields is expected to increase. However, improvements in network training efficiency have not resulted in a reciprocal improvement in computational power for identification applications. This paper proposes several types of neural networks that are based on well-known networks such as AlexNet, GoogleNet, and ResNet, whose characteristics have been captured and implemented in lower layer neural networks. From the experimental results, using these hybrid neural networks can bring improved accuracy, with well optimized computational time costs compared to networks that require a large amount of computation.

关键词： Deep learning Convolutional Neural Network image Classification Artificial intelligence

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A SLAM with Simultaneous Construction of 2D and 3D maps Based on Rao-Blackwellized Particle Filters 10

A SLAM with Simultaneous Construction of 2D and 3D maps Base...

引用

10th International Conference on Advanced computational intelligence (ICACI)

作者： Yao Li Fan Zhun Zhu Guijie Li Wenji Li Chong Wang Yupeng Xie Honghui Shantou Univ Dept Elect Engn Shantou Guangdong Peoples R China

ISBN: (纸本)9781538643624

This paper presents a SLAM (Simultaneous Localization and Mapping) method which builds 2D grid maps and generates the OctoMap based on Rao-Blackwellized particle filters. This work combines wheeled odometry and laser scan with particle filter algorithm to get the pose of the robot, and at the same time fuses the data of depth camera to generate OctoMap, OctoMap is an integrated open source framework based on octree, which is well known for its memory efficiency for the representation of 3D environments. The traditional 3D point cloud map cannot be applied in robot navigation. But OctoMap is a 3D occupancy grid mapping, which can be applied to 3D path planning of flying robots and other robots that are equipped with manipulators. In short, the experimental results demonstrate that the proposed methods can make a robot to synchronize building 2D and 3D maps very efficiently.

关键词： SLAM rao-blackwellized particle filters gmapping 2D grid map octoMap

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ADVANCED processing OF REMOTELY SENSED BIG DATA FOR CULTURAL HERITAGE CONSERVATION

ADVANCED PROCESSING OF REMOTELY SENSED BIG DATA FOR CULTURAL...

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ieee International Geoscience and Remote Sensing symposium

作者： M. Shimoni T. Croonenborghs P. -Y Declercq A. Drougkas E. Verstrynge F-P. Hocquet R. Hayen K. Van Balen Signal and Image Centre Belgian Royal military Academy (SIC-RMA) Brussels Belgium Geological Survey of Belgium Royal Belgian Institute of Natural Sciences (RBINS) Brussels Belgium Civil Engineering Dept. KU Building Materials and Building Technology Division Leuven Belgium Royal Institute for Cultural Heritage (KIK-IRPA) Brussels Belgium

Damage assessment, protection and preservation of built patrimony are a priority at national and local levels due to their importance to many cultural and economic aspects. This paper presents a methodology to estimate the potential damage caused by ground settlement for cultural heritage buildings using remotely sensed big data. Specifically, it presents a framework to assess the potential damage caused by ground settlement for masonry, infilled and bare frames structures using Persistent Scatterer Interferometric (PSI) measurements. The proposed solution advances the state-of-the-art by integrating big Earth observation (EO), environmental, architectural and historical data, for estimating the settlement induced damage to hundreds thousands of buildings. The fully automatic scheme was created within cloud computing environment for accelerating data transfer, processing and modeling and for improving the visualization of image-derived products.

关键词： Buildings Cultural differences Remote sensing Big Data Cloud computing computational modeling Data models

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Visual Counseling Agent and its Evaluation 8

Visual Counseling Agent and its Evaluation

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8th ieee symposium Series on computational intelligence (ieee SSCI)

作者： Sakurai, Yoshitaka Ikegami, Yukino Sakai, Motoki Fujikawa, Hiroshi Tsuruta, Setsuo Gonzalez, Avelino J. Sakurai, Eriko Damiani, Ernesto Kutics, Andrea Knauf, Rainer Meiji Univ Sch Interdisciplinary Math Sci Nakano Japan IO Inc Tokyo Japan Tokyo Denki Univ Sch Informat Environm Inzai Japan Univ Cent Florida Sch Engn & Comp Sci Orlando FL 32816 USA Bunri Univ Hospitality Fac Serv Management Sayama Osaka Japan Univ Milan Dept Comp Sci Milan Italy Int Christian Univ Dept Nat Sci Tokyo Japan Tech Univ Ilmenau Dept Comp Sci & Automat Ilmenau Germany

ISBN: (纸本)9781538692769

There are significantly many people including IT workers, old persons, job seekers, etc., who suffer from (psychological) distress in their work or life. Compared with this, there are only a limited number of human counselors who can provide mental care to such many distress persons. Initially for psychologically distressed IT workers, we developed a counseling agent (CA) called a context respectful counseling agent (CRECA), which serves IT workers just like a human counsellor. In a context respectful/ preserving way to provide unconditional positive regard, CRECA replies prompting to dig or clarify problems as well as paraphrases or processes mirroring. In this paper, to save more persons including even elderly people other than IT workers, CRECA is enhanced to realize Virtual Counseling Agent (VCA) as follows: 1) making more human-friendly by an image avatar with voice conversation, 2) letting confirmation replies such as the relationship among wishes, obstacles, etc. as well as with past sayings in client's utterances, especially for the forgetful/ elderly persons. For successful voice conversation, Google cloud speech API is not only exploited but its error processing is elaborated in our VCA system. The evaluation by 14 subjects showed the effect of this new VCA as follows: 1) the dialogue continuation length became twice as long as that of ELIZA, 2) positive feeling by self-awareness became high score 5 orb in 7 stages of Liked scale for all the elderly 7 persons.

关键词： context respectful counseling agent visual counseling agent image avatar voice conversation dialogue continuation positive feeling

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Comparative Study of Heart Rate Extraction Methods for a Novel Intelligent Mattress 9

Comparative Study of Heart Rate Extraction Methods for a Nov...

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9th International symposium on signal, image, Video and Communications (ISIVC)

作者： Otis, Samuel Mezghani, Neila Abdulrazak, Bessam Ecole Technol Super Ctr Rech CHUM Lab Rech Imagerie & Orthopedie Montreal PQ Canada Univ TELUQ Ctr Rech LICEF Montreal PQ Canada Sherbrooke Univ Dept Comp Sci Sherbrooke PQ Canada

ISBN: (纸本)9781538681732

Unobtrusive monitoring of the heart rate (HR) is essential for improving medical intervention. A new generation of mattress-based fiber optic sensor (FOS) is emerging for HR monitoring. The use of this FOS mattress for medical diagnosis requires appropriate advanced signal processing algorithms. In our study, we aim to weigh the performances of a novel and cheaper microbend FOS mattress by applying ballistocardiogram and HR extraction algorithms. Therefore, our study targets comparing four types of HR extraction algorithms on the FOS mattress, namely MODWT, CEEMDAN, cepstrum and clustering. The goal is to select, based on their accuracy and computational speed, the most suitable one for online or offline application purposes. Results of applying these four chosen algorithms on the FOS mattress show that the cepstrum is the most accurate algorithm with a mean absolute error (MAE) of 4.62 +/- 1.68 BPM. However, the cepstrum is more appropriate for offline monitoring with a runtime of 662.9 ms for a 10-second signal segment. The results also show that the Maximal Overlap Direct Wavelet Transform (MODWT) is more efficient with a runtime of 4.1 milliseconds for online purposes, but with a slightly bigger MAE (6.87 +/- 1.94 BPM). Both methods proved to be as efficient on the new mattress technology as past intelligent mattresses.

关键词： Biomedical monitoring Biomedical transducers Error analysis Performance analysis Estimation signal processing algorithms Heart rate

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Two methods of determining target orientation by robot visual principle

Two methods of determining target orientation by robot visua...

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作者： Liu, Gang School of Mechanical Engineering Tianjin University of Technology Tianjin Key Laboratory of Advanced Mechanical and Electrical System Design and Intelligent Control Tianjin300384 China

ISBN: (纸本)9781538636749

By analyzing the imaging principle of the fish-eye lens in the robot vision, two methods of determination of the target orientation based on the fish-eye lens are summarized. One method uses the distortion correction to determine the target orientation, and the other uses the relationship between the target in the actual orientation and its correspondence in the imaging coordinates to determine the target orientation, both methods all use image processing technology, fast and efficiently determine the orientation of the target in the fish eye image. In this paper, the theoretical basis and experimental process of the two methods are introduced respectively. By comparing the data after the experiment, the more accurate method is analyzed and applied to the target azimuth determination of the fish-eye lens. © 2017 ieee.

关键词： Fish-eye lens image processing Robot vision Target orientation

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BREAST LESION SEGMENTATION SOFTWARE FOR DCE-MRI: AN OPEN SOURCE GPGPU BASED OPTIMIZATION 15

BREAST LESION SEGMENTATION SOFTWARE FOR DCE-MRI: AN OPEN SOU...

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15th ieee International symposium on Biomedical Imaging (ISBI)

作者： Zavala-Romero, Olmo Meyer-Baese, Anke Lobbes, Marc B. I. Univ Nacl Autonoma Mexico Ctr Atmospher Sci Mexico City DF Mexico Florida State Univ Dept Sci Comp 600 W Coll Ave Tallahassee FL 32306 USA Maastricht Univ Med Ctr Dept Radiol & Nucl Med Maastricht Netherlands

ISBN: (纸本)9781538636367

Efficient algorithms for segmentation are a key step in medical imaging and of fundamental importance in computer aided diagnosis of breast cancer for: diagnostics, evaluation of neoadjuvant therapy, or surgery. With the advance of high resolution images, as 3D dynamic contrast enhanced magnetic resonance imaging (DCE-MRI) images, the computational cost of segmentation methods has become more expensive as the amount of data has grown. In this work, a segmentation method for breast cancer lesions in DCE-MRI images based on the active contour without edges (ACWE) algorithm and using parallel programming with general purpose computing on graphics processing units (GPGPUs) is presented. The performance of the segmentation algorithm is evaluated on a set of 32 breast DCE-MRI cases in terms of speedup, and compared to non-GPU based approaches. A high speedup (40 or more) is obtained for high resolution images, providing real-time outputs.

关键词： OpenCL Active Contours Breast image segmentation

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Design of a sEMG signal acquisition instrument for physical rehabilitation training

Design of a sEMG signal acquisition instrument for physical ...

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作者： Zhou, Rong Wang, Kang Li, Min School of Information Engineering Wuhan University of Technology Wuhan430070 China Key Laboratory of Fiber Optic Sensing Technology and Information Processing Wuhan University of Technology Ministry of Education Wuhan430070 China

ISBN: (纸本)9781538636749

The sEMG signal can directly reflect a variety of information about the activity of specific muscle and nerve. By extracting and studying the characteristics of sEMG signal, the body movements, diagnosis of muscle disease and medical rehabilitation can be effectively identified. Based on these features, a sEMG signal acquisition instrument was designed for body rehabilitation training. The low-pass filter circuit and signal acquisition circuit were designed by ADS1294 physiological signal processing chip, and the acquisition of sEMG signal from 1Hz ~ 500Hz was completed. In order to read and send signals, the software based STM32 master control circuit was designed. The test results show that the SEMG signal acquisition device can collect real-time data of 4-channel EMG signal, and accurately reflect the release of sEMG signal. Therefore, it has great real-time and reliability. © 2017 ieee.

关键词： ADS1294 Rehabilitation sEMG signal acquisition STM32

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A novel image defogging algorithm based on improved bilateral filtering

A novel image defogging algorithm based on improved bilatera...

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作者： Li, Aimin Li, Xiaocong School of Information Qilu University of Technology Jinan China

ISBN: (纸本)9781538636749

As we all know, haze and fog lead to decreasing of differentiation degree and definition in outdoor environment and reduce image processing performance. To recover image with fog, we propose a novel fast defogging approach from a gray or color image. First, we use dark channel statistics prior to illustrate the similar relationship between the dark channel and image with fog. Then, to conquer the shortcomings of the estimation methods of fog concentration, we put forward a new filter algorithm. Smoothing the concentration of mist with bilateral filtering can immensely keep the edge of a sudden mutation in the depth of the image. Using partial median filters to smooth the corners can avoid keeping a certain amount of fog around small objects and keep the edge of the corner of the building, which makes the result more robust. © 2017 ieee.

关键词： Bilateral filter Dark channel prior Defogging

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