检索结果-内蒙古大学图书馆

光学精密工程 2022年第16期30卷 1988-2005页

作者：郝雯张雯静梁玮肖照林金海燕西安理工大学计算机科学与工程学院陕西西安710048 陕西省网络计算与安全技术重点实验室陕西西安710048

基于智能机器人代替人到各种复杂环境完成探测、防疫等大量应用的需求,场景的识别引起了研究者的广泛关注。场景识别的目的是通过提取和分析场景中的特征,获得场景的高层语义信息,从而推理出所处的具体位置,它是同步定位与建图系统(Simu... 详细信息

基于智能机器人代替人到各种复杂环境完成探测、防疫等大量应用的需求,场景的识别引起了研究者的广泛关注。场景识别的目的是通过提取和分析场景中的特征,获得场景的高层语义信息,从而推理出所处的具体位置,它是同步定位与建图系统(Simultaneous Localization and Mapping,SLAM)、自动驾驶、机器人导航、闭环检测的基础。三维扫描技术的快速发展使得人们能够利用各种扫描仪快速获取各类场景的点云数据。不论扫描时间、光照环境如何变化,点云场景所获取的几何信息都具有较好的不变性,因此,基于点云的场景识别成为计算机视觉领域的研究热点。本文首先对近年来面向点云数据的场景识别方法进行了归纳和总结;然后介绍用于场景识别的大规模室内/室外场景的数据集,以及用于算法评测的评价指标,同时总结了各类算法的识别率。最后指出面向点云的场景识别中所面临的问题和挑战,对未来的研究趋势进行展望。研究结果有助于相关领域学者快速全面地了解基于点云数据场景识别的研究现状,为进一步提升场景识别精度奠定基础。

关键词：点云场景识别特征描述符深度学习注意力机制图卷积

来源：评论

学校读者我要写书评

暂无评论

Towards vision-Based Impedance Control for the Contact Inspection of Unknown Generically-Shaped Surfaces with a Fully-Actuated UAV

Towards Vision-Based Impedance Control for the Contact Inspe...

引用

2020 IEEE/RSJ International Conference on intelligent robots and Systems (IROS)

作者： Ramy Rashad Davide Bicego Ran Jiao Santiago Sanchez-Escalonilla Stefano Stramigioli Robotics and Mechatronics group University of Twente Enschede The Netherlands School of Mechanical Engineering and Automation Beihang University Beijing China Robotics and Mechatronics group University of Twente and ITMO University Saint Petersburg Russia

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

The integration of computer vision techniques for the accomplishment of autonomous interaction tasks represents a challenging research direction in the context of aerial robotics. In this paper, we consider the problem of contact-based inspection of a textured target of unknown geometry and pose. Exploiting state of the art techniques in computer graphics, tuned and improved for the task at hand, we designed a framework for the projection of a desired trajectory for the robot end-effector on a generically-shaped surface to be inspected. Combining these results with previous work on energy-based interaction control, we are laying the basis of what we call vision-based impedance control paradigm. To demonstrate the feasibility and the effectiveness of our methodology, we present the results of both realistic ROS/Gazebo simulations and preliminary experiments with a fully-actuated hexarotor interacting with heterogeneous curved surfaces whose geometric description is not available a priori, provided that enough visual features on the target are naturally or artificially available to allow the integration of localization and mapping algorithms.

关键词： Surface impedance Inspection End effectors Trajectory Surface texture Impedance Task analysis

来源：评论

学校读者我要写书评

暂无评论

3D vision for Precision Dairy Farming 6th

3D Vision for Precision Dairy Farming

引用

6th International-Federation-of-Automatic-Control (IFAC) Conference on Sensing, Control and Automation Technologies for Agriculture (AGRICONTROL)

作者： O'Mahony, Niall Campbell, Sean Carvalho, Anderson Krpalkova, Lenka Riordan, Daniel Walsh, Joseph Inst Technol Tralee IMaR Res Ctr Tralee Co Kerry Ireland

3D vision systems will play an important role in next-generation dairy farming due to the sensing capabilities they provide in the automation of animal husbandry tasks such as the monitoring, herding, feeding, milking and bedding of animals This paper will review 3D computer vision systems and techniques that are and may be implemented in Precision Dairy Farming. This review will include evaluations of the applicability of Time of Flight and Streoscopic vision systems to agricultural applications as well as a breakdown of the categories of computer vision algorithms which are being explored in a variety of use cases. These use cases range from robotic platforms such as milking robots and autonomous vehicles which must interact closely and safely with animals to intelligent systems which can identify dairy cattle and detect deviations in health indicators such as Body Condition Score and Locomotion Score. Upon analysis of each use case, it is apparent that systems which can operate in unconstrained environments and adapt to variations in herd characteristics, weather conditions, farmyard layout and different scenarios in animal-robot interaction are required. Considering this requirement, this paper proposes the application of techniques arising from the emerging field of research in Artificial Intelligence that is Geometric Deep Learning. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Automation and Robotics in Agriculture Sensing and Automation in Animal Fanning

来源：评论

学校读者我要写书评

暂无评论

高能效视觉SLAM硬件加速器设计

引用

集成电路与嵌入式系统 2024年第11期24卷 51-59页

作者：齐修远刘野郝爽周军电子科技大学信息与通信工程学院成都611731

随着计算机视觉技术的不断迭代和发展,以计算机视觉技术为核心的智能应用和设备逐渐在人们的日常生活和工作中扮演越来越重要的角色。其中,基于视觉的同步定位与建图技术(Simultaneous Localization and Mapping,SLAM)在机器人、无人机... 详细信息

随着计算机视觉技术的不断迭代和发展,以计算机视觉技术为核心的智能应用和设备逐渐在人们的日常生活和工作中扮演越来越重要的角色。其中,基于视觉的同步定位与建图技术(Simultaneous Localization and Mapping,SLAM)在机器人、无人机、自动驾驶等领域中被广泛应用,上述领域需要视觉SLAM技术为其提供精准的定位信息,以实现其精确建图和自主导航功能。然而,由于视觉SLAM算法本身的特性,计算量极大,数据依赖性极高,导致其在传统的硬件平台(CPU或GPU)上运行时,难以满足前述边缘端应用场景对实时性和低功耗的需求,成为限制视觉SLAM技术被广泛应用的关键因素。为了解决这一问题,本文基于算法与硬件协同设计的优化策略,针对ORB特征提取和匹配算法提出了一种面向视觉SLAM的高能效专用加速器,通过多种硬件设计技术提高计算性能和能效,包括基于数据依赖关系解耦的多层次并行计算技术、基于多尺寸存储桶的数据存储技术和像素级对称-轻量化描述子生成和方向计算策略。提出的视觉SLAM加速器在Xilinx ZCU104上进行了测试和验证。与ORB SLAM2的算法精度对比,本加速器的精度在5%以内,帧率提升至108 fps,与同期其他硬件加速器相比,查找表使用降低了32.7%,FF使用降低了41.17%,同时帧率提升了1.4倍和0.74倍。

关键词：视觉SLAM 领域专用芯片硬件加速器机器人

来源：评论

学校读者我要写书评

暂无评论

Physical Human-Robot Interaction with Real active Surfaces using Haptic Rendering on Point Clouds

Physical Human-Robot Interaction with Real Active Surfaces u...

引用

2020 IEEE/RSJ International Conference on intelligent robots and Systems (IROS)

作者： Michael Sommerhalder Yves Zimmermann Burak Cizmeci Robert Riener Marco Hutter Robotic Systems Lab ETH Zurich Switzerland Sensory-Motor Systems Lab ETH Zurich Switzerland Spinal Cord Injury Center University Hospital Balgrist Zurich Switzerland

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

During robot-assisted therapy of hemiplegic patients, interaction with the patient must be intrinsically safe. Straight-forward collision avoidance solutions can provide this safety requirement with conservative margins. These margins heavily reduce the robot's workspace and make interaction with the patient's unguided body parts impossible. However, interaction with the own body is highly beneficial from a therapeutic point of view. We tackle this problem by combining haptic rendering techniques with classical computer vision methods. Our proposed solution consists of a pipeline that builds collision objects from point clouds in real-time and a controller that renders haptic interaction. The raw sensor data is processed to overcome noise and occlusion problems. Our proposed approach is validated on the 6 DoF exoskeleton ANYexo for direct impacts, sliding scenarios, and dynamic collision surfaces. The results show that this method has the potential to successfully prevent collisions and allow haptic interaction for highly dynamic environments. We believe that this work significantly adds to the usability of current exoskeletons by enabling virtual haptic interaction with the patient's body parts in human-robot therapy.

关键词： Surface reconstruction Three-dimensional displays Exoskeletons Robot vision systems Haptic interfaces Collision avoidance Surface treatment

来源：评论

学校读者我要写书评

暂无评论

机器视觉技术研究进展及展望

引用

图学学报 2020年第6期41卷 871-890页

作者：朱云凌志刚张雨强湖南大学电气与信息工程学院机器人视觉感知与控制技术国家工程实验室湖南长沙410082

机器视觉是建立在计算机视觉理论工程化基础上的一门学科,涉及到光学成像、视觉信息处理、人工智能以及机电一体化等相关技术。随着我国制造业的转型升级与相关研究的不断深入,机器视觉技术凭借其精度高、实时性强、自动化与智能化程度... 详细信息

机器视觉是建立在计算机视觉理论工程化基础上的一门学科,涉及到光学成像、视觉信息处理、人工智能以及机电一体化等相关技术。随着我国制造业的转型升级与相关研究的不断深入,机器视觉技术凭借其精度高、实时性强、自动化与智能化程度高等优点,成为了提升机器人智能化的重要驱动力之一,并被广泛应用于工业生产、农业以及军事等各个领域。在广泛查阅相关文献之后,针对近十多年来机器视觉相关技术的发展与应用进行分析与总结,旨在为研究学者与工程应用人员提供参考。首先,总结了机器视觉技术的发展历程、国内外的机器视觉发展现状;其次,重点分析了机器视觉系统的核心组成部件、常用视觉处理算法以及当前主流的机器视觉工业软件;然后,介绍了机器视觉技术在产品瑕疵检测、智能视频监控分析、自动驾驶与辅助驾驶与医疗影像诊断等4个典型领域的应用;最后分析了当前机器视觉技术所面临的挑战,并对其未来的发展趋势进行了展望,为机器视觉技术的发展和应用推广发挥积极作用。

关键词：机器视觉成像系统视觉处理算法视觉软件挑战与发展趋势

来源：评论

学校读者我要写书评

暂无评论

Indoor Scene Recognition based on Weighted Voting Schemes

Indoor Scene Recognition based on Weighted Voting Schemes

引用

European Conference on Mobile robots (ECMR)

作者： Hernandez, Alejandra C. Gomez, Clara Derner, Erik Barber, Ramon Carlos III Univ Madrid Dept Syst Engn & Automat Robot Lab Madrid Spain Czech Tech Univ Czech Inst Informat Robot & Cybernet Prague Czech Republic Czech Tech Univ Fac Elect Engn Dept Control Engn Prague Czech Republic

ISBN: (纸本)9781728136059

Scene understanding represents one of the most primary problems in computer vision. It implies the full knowledge of all the elements of the environment and the comprehension of the relationships between them. One of the major tasks in this process is the scene recognition, on which we focus in this work. Scene recognition is a relevant and helpful task in many robotic fields such as navigation, localization, manipulation, among others. The knowledge of the place (e.g. "office", "classroom" or "kitchen") can improve the performance of robots in indoor environments. This task can be difficult because of the variability, ambiguity, illumination changes, occlusions and scale variability present in this type of spaces. Commonly, this problem has been approached through the development of models based on local and global characteristics, incorporating context information and, more recently, using deep learning techniques. In this paper, we propose a multi-classifier model for scene recognition considering as priors the outcomes of independent base classifiers. We implement a weighted voting scheme based on genetic algorithms for the combination of different classifiers in order to improve the recognition performance. The results have proved the validity of our approach and how the proper combination of independent classifier models makes it possible to find a better and more efficient solution for the scene recognition problem.

关键词： Scene recognition multi-classification scene understanding mobile robots genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

3D vision for Precision Dairy Farming

引用

IFAC-PapersOnLine 2019年第30期52卷 312-317页

作者： Niall O’ Mahony Sean Campbell Anderson Carvalho Lenka Krpalkova Daniel Riordan Joseph Walsh IMaR Research Centre Institute of Technology Tralee Tralee Co. Kerry Ireland

3D vision systems will play an important role in next-generation dairy farming due to the sensing capabilities they provide in the automation of animal husbandry tasks such as the monitoring, herding, feeding, milking and bedding of animals. This paper will review 3D computer vision systems and techniques that are and may be implemented in Precision Dairy Farming. This review will include evaluations of the applicability of Time of Flight and Streoscopic vision systems to agricultural applications as well as a breakdown of the categories of computer vision algorithms which are being explored in a variety of use cases. These use cases range from robotic platforms such as milking robots and autonomous vehicles which must interact closely and safely with animals to intelligent systems which can identify dairy cattle and detect deviations in health indicators such as Body Condition Score and Locomotion Score. Upon analysis of each use case, it is apparent that systems which can operate in unconstrained environments and adapt to variations in herd characteristics, weather conditions, farmyard layout and different scenarios in animal-robot interaction are required. Considering this requirement, this paper proposes the application of techniques arising from the emerging field of research in Artificial Intelligence that is Geometric Deep Learning.

关键词： Automation Robotics in Agriculture Sensing Automation in Animal Farming

来源：评论

学校读者我要写书评

暂无评论

A Survey on intelligent Traffic Lights 23

A Survey on Intelligent Traffic Lights

引用

IEEE International Conference on Automation (ICA) / 23rd Congress of the Chilean-Association-of-Automatic-Control (ACCA)

作者： Jacome, Luis Benavides, Leonardo Jara, Diejo Riofrio, Gonzalo Alvarado, Fabricio Pesantez, Manuel Univ Nacl Loja Loja Ecuador

ISBN: (纸本)9781538655863

Transportation of people and goods has a huge impact on the economy of countries. The exponential grows of vehicles in the cities brings traffic congestion consequences like pollution, high combustible consumption and lowers the quality of life of the citizens. The development of intelligent Transportation Systems is a key component of Smart Cities;Artificial Intelligence (AI) techniques used to build intelligent Traffic Light Controllers (ITLC). This paper presents a survey of current technologies being use in the development of ITLC;many of them are experimental and tested in simulators, which show that implanting ITLC systems in real scenarios is difficult and expensive. The main objective of this survey is to find related work and algorithms to control traffic in real-time scenarios with AI. Artificial vision rises as a promising technology for building reliable intelligent Traffic Lights (ITL) as the technology evolves the error rate is decreasing, and more applications appear such as vehicle counting and classification, identifying vehicle's moving patterns and giving priority for emergency vehicles. Furthermore, ITL implementation discussed, and the algorithms and different solutions compared.

关键词： intelligent Traffic Light Controllers Artificial vision intelligent Transportation Systems Artificial Intelligence Smart Cities computer vision

来源：评论

学校读者我要写书评

暂无评论

Smart gas sensor arrays powered by artificial intelligence

引用

Journal of Semiconductors 2019年第11期40卷 3-12页

作者： Zhesi Chen Zhuo Chen Zhilong Song Wenhao Ye Zhiyong Fan HKUST-Shenzhen Research Institute Shenzhen 518057China Department of Electronic and Computer Engineering Hong Kong University of Science and Technology(HKUST)Hong KongChina

Mobile robots behaving as humans should possess multifunctional flexible sensing systems including vision,hearing,touch,smell,and taste.A gas sensor array(GSA),also known as electronic nose,is a possible solution for a robotic olfactory system that can detect and discriminate a wide variety of gas *** intelligence(AI)applied to an electronic nose involves a diverse set of machine learning algorithms which can generate a smell print by analyzing the signal pattern from the GSA.A combination of GSA and AI algorithms can empower intelligent robots with great capabilities in many areas such as environmental monitoring,gas leakage detection,food and beverage production and storage,and especially disease diagnosis through detection of different types and concentrations of target gases with the advantages of portability,low-powerconsumption and *** is exciting to envisage robots equipped with a"nose"acting as family doctor who will guard every family member's health and keep their home *** this review,we give a summary of the state-of the-art research progress in the fabrication techniques for GSAs and typical algorithms employed in artificial olfactory systems,exploring their potential applications in disease diagnosis,environmental monitoring,and explosive *** also discuss the key limitations of gas sensor units and their possible ***,we present the outlook of GSAs over the horizon of smart homes and cities.

关键词： mobile robots gas sensor array electronic nose artificial intelligence environmental monitoring disease diagnosis

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：