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检索条件"主题词=Iterative Closest Point algorithm"

共 1674 条记录，以下是121-130 订阅

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H∞ Control for Industrial Cyber-Physical Systems Encountering Reactive DoS Jamming Attacks

H∞ Control for Industrial Cyber-Physical Systems Encounteri...

引用

Chinese Control Conference (CCC)

作者： Mufeng Wang Ke Liu Jingpei Wang Mengzhi Wang Zhijun Zhao Chen Xu College of Control Science and Engineering Zhejiang University Hangzhou P. R. China State Grid Zhejiang Electric Power Co. LTD Hangzhou P. R. China

ISBN: (数字)9789881563903

ISBN: (纸本)9781728165233

In this paper, a kind of H ∞ control problem is studied for an Industrial Cyber-Physical System (ICPS) which employs the event-triggered mechanism (ETM) in the measurement wireless channel encountering a stealthy and reactive DoS jammer. For the ETM in the measurement channel, the DoS jammer keeps sensing the measurement channel and launches jamming attacks when there is packet transmission and launches DoS jamming attacks to decrease the quality of wireless communication. In order to guarantee the availability of ICPS and consider that the ICPS does not know the DoS jammers' attack strategy, a H ∞ observer-based control method is designed by establishing an attack-tolerant mechanism to achieve the desired H ∞ disturbance attenuation level, and the controller design problem is transformed to an auxiliary convex optimization problem. Numerical simulation is presented to demonstrate the effectiveness of the proposed H ∞ control method finally.

关键词： Jamming iterative closest point algorithm Security Closed loop systems Cyber-physical systems Signal to noise ratio Observers

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Particle Defect Reduction Through YF3 Coated Remote Plasma Source for High Throughput Dry Cleaning Process

Particle Defect Reduction Through YF3 Coated Remote Plasma S...

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IEEE/SEMI Conference and Workshop on Advanced Semiconductor Manufacturing

作者： Hyojeong Seo Jeonghye Yang Young Jae Ma Jongwoo Park Mi Kyoung Kim David H. Seo Sung Jin Yoon Sang Jong Park TD Center PSK Inc. Hwaseong South Korea

ISBN: (数字)9781728158761

ISBN: (纸本)9781728158778

We present the reduction in number of post process particles by use of YF 3 coatings on an alumina plasma reactor for fluorine chemistry based dry cleaning. With the introduction of highly reactive gases such as fluorine in semiconductor dry cleaning processes, especially within highly energetic plasmas, physical and chemical reactions between equipment parts and process gases continues to become an issue. Unaccounted for compounds and microstructures on tools leads to increasing particle defects on product wafers. The plasma density and ion energy is especially high at the dielectric walls of the remote plasma source (RPS). By utilizing a 150 micron YF 3 layer to coat the plasma dielectric walls of our high selectivity oxide removal tool, we were able to eliminate the formation of AlO x F y microstructures on the ceramic reactor surface, which in turn led to a greater than 85% reduction of “spark”-like particle contaminants near the centers of product wafer surface. Meanwhile electrical properties, etch rates, and selectivity were largely unaffected when compared to uncoated reactors. Surface profiler measurements showed an increase in surface roughness after coating, however a large reduction in reactor surface etch depth was shown after several hundred hours of processing. Furthermore, AlO x F y particles were not detected by Energy Dispersive X-Ray Spectroscopy (EDS) on wafers processed with the YF 3 coated RPS, in contrast to results from uncoated sources.

关键词： Inductors Plasmas Coatings Surface treatment Rough surfaces Surface roughness iterative closest point algorithm

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Quasi-Newton Solver for Robust Non-Rigid Registration

Quasi-Newton Solver for Robust Non-Rigid Registration

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Yuxin Yao Bailin Deng Weiwei Xu Juyong Zhang University of Science and Technology of China Cardiff University Zhejiang University

ISBN: (数字)9781728171685

ISBN: (纸本)9781728171692

Imperfect data (noise, outliers and partial overlap) and high degrees of freedom make non-rigid registration a classical challenging problem in computer vision. Existing methods typically adopt the l_p type robust estimator to regularize the fitting and smoothness, and the proximal operator is used to solve the resulting non-smooth problem. However, the slow convergence of these algorithms limits its wide applications. In this paper, we propose a formulation for robust non-rigid registration based on a globally smooth robust estimator for data fitting and regularization, which can handle outliers and partial overlaps. We apply the majorization-minimization algorithm to the problem, which reduces each iteration to solving a simple least-squares problem with L-BFGS. Extensive experiments demonstrate the effectiveness of our method for non-rigid alignment between two shapes with outliers and partial overlap. with quantitative evaluation showing that it outperforms state-of-the-art methods in terms of registration accuracy and computational speed. The source code is available at https://***/Juyong/Fast_RNRR.

关键词： Robustness Strain Three-dimensional displays Optimization iterative closest point algorithm Measurement Convergence

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Minimal Solvers for 3D Scan Alignment With Pairs of Intersecting Lines

Minimal Solvers for 3D Scan Alignment With Pairs of Intersec...

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Conference on Computer Vision and Pattern Recognition (CVPR)

作者： André Mateus Srikumar Ramalingam Pedro Miraldo Instituto Superior Técnico Lisboa Google

ISBN: (数字)9781728171685

ISBN: (纸本)9781728171692

We explore the possibility of using line intersection constraints for 3D scan registration. Typical 3D registration algorithms exploit point and plane correspondences, while line intersection constraints have not been used in the context of 3D scan registration before. Constraints from a match of pairs of intersecting lines in two 3D scans can be seen as two 3D line intersections, a plane correspondence, and a point correspondence. In this paper, we present minimal solvers that combine these different type of constraints: 1) three line intersections and one point match; 2) one line intersection and two point matches; 3) three line intersections and one plane match; 4) one line intersection and two plane matches; and 5) one line intersection, one point match, and one plane match. To use all the available solvers, we present a hybrid RANSAC loop. We propose a non-linear refinement technique using all the inliers obtained from the RANSAC. Vast experiments with simulated data and two real-data data-sets show that the use of these features and the combined solvers improve the accuracy. The code is available.

关键词： Three-dimensional displays iterative closest point algorithm Robustness Computer vision Cameras Computational modeling Sensors

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Plateau Waves of Intracranial Pressure and Autonomic Stress Analysis

Plateau Waves of Intracranial Pressure and Autonomic Stress ...

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Conference of the European Study Group on Cardiovascular Oscillations

作者： Celestino Amado Celeste Dias Rute Almeida Ana Paula Rocha Faculdade de Ciências Universidade do Porto & CMUP Portugal Centro Hospitalar de São Joao Faculdade de Medicina Universidade do Porto Portugal CINTESIS & MEDCIDS Faculdade de Medicina Universidade do Porto & CMUP Portugal

ISBN: (数字)9781728157511

ISBN: (纸本)9781728157528

The onset of intracranial hypertension in patients with Traumatic Brain Injury (TBI) is a serious complication that can lead to brain death. The increased intracranial pressure (ICP) during the Plateau Waves (PW) triggers decreased cerebral perfusion pressure (CPP), brain blood flow and tissue oxygenation. This phenomenon is associated with intense systemic stress response evidenced by Heart Rate Variability (HRV) as a surrogate of autonomic nervous system dysfunction. HRV data show long memory and dynamical complexity herein evaluated by autoregressive fractionally integrated (ARFI) models and multiscale entropy (ARFI-MSE). The incorporation of short-term dynamics and long-range correlations (LRC) allows an enhanced description of HRV during the PW.

关键词： Heart rate variability iterative closest point algorithm Complexity theory Analytical models Stress Entropy

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Online LiDAR-SLAM for Legged Robots with Robust Registration and Deep-Learned Loop Closure

Online LiDAR-SLAM for Legged Robots with Robust Registration...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Milad Ramezani Georgi Tinchev Egor Iuganov Maurice Fallon Oxford Robotics Institute (ORI) University of Oxford UK

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

In this paper, we present a 3D factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial environments. point clouds are accumulated using an inertial-kinematic state estimator before being aligned using ICP registration. To close loops we use a loop proposal mechanism which matches individual segments between clouds. We trained a descriptor offline to match these segments. The efficiency of our method comes from carefully designing the network architecture to minimize the number of parameters such that this deep learning method can be deployed in real-time using only the CPU of a legged robot, a major contribution of this work. The set of odometry and loop closure factors are updated using pose graph optimization. Finally we present an efficient risk alignment prediction method which verifies the reliability of the registrations. Experimental results at an industrial facility demonstrated the robustness and flexibility of our system, including autonomous following paths derived from the SLAM map.

关键词： Laser radar Legged locomotion Three-dimensional displays Simultaneous localization and mapping iterative closest point algorithm

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Evaluation of ICP Sputter Etch with Reducing Atmosphere for the Improvement of Rc in UBM/RDL Applications

Evaluation of ICP Sputter Etch with Reducing Atmosphere for ...

引用

Electronic Components and Technology Conference (ECTC)

作者： Patrik Carazzetti Jürgen Weichart Andreas Erhart Mohamed Elghazzali Ewald Strolz Evatec AG Trübbach Switzerland

ISBN: (数字)9781728161808

ISBN: (纸本)9781728161815

In UBM/RDL manufacturing, the process challenge to keep low contact resistance in high-density interconnects increases with the ongoing scaling towards miniaturization of the critical design dimensions. Moreover, the ubiquitous use of organic passivation layers and the increasingly popular polymer-based substrates require advanced wafer pre-treatment processes prior the sputter deposition of adhesion/seed layers. Typically, a dedicated strategy combining Degas and Sputter Etch is mandatory to keep Rc low and stable in high-volume manufacturing. In this paper, beside the well-established ICP-Etch BKM based on physical sputtering in a pure Ar plasma, we investigate the impact of a reducing Ar/H2 atmosphere on the Rc of contacts ranging from 5.0 μm to 30.0μm. A very sensitive Rc test vehicle with Kelvin structures was built. The results have shown that Ar/H2 atmosphere can be beneficial in certain conditions to improve Rc in 5.0 μm and 10.0 μm opening; whereas, no benefit compared to the BKM process is seen for larger contacts.

关键词： Kelvin Plasma temperature iterative closest point algorithm Contact resistance Sputtering Atmosphere

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Vehicle Localization Based on Visual Lane Marking and Topological Map Matching

Vehicle Localization Based on Visual Lane Marking and Topolo...

引用

IEEE International Conference on Robotics and Automation (ICRA)

作者： Rabbia Asghar Mario Garzón Jérôme Lussereau Christian Laugier Inria Univ. Grenoble Alpes Grenoble France Inria Grenoble INP Univ. Grenoble Alpes Grenoble France

ISBN: (数字)9781728173955

ISBN: (纸本)9781728173962

Accurate and reliable localization is crucial to autonomous vehicle navigation and driver assistance systems. This paper presents a novel approach for online vehicle localization in a digital map. Two distinct map matching algorithms are proposed: i) iterative closest point (ICP) based lane level map matching is performed with visual lane tracker and grid map ii) decision-rule based approach is used to perform topological map matching. Results of both the map matching algorithms are fused together with GPS and dead reckoning using Extended Kalman Filter to estimate vehicle's pose relative to the map. The proposed approach has been validated on real life conditions on an equipped vehicle. Detailed analysis of the experimental results show improved localization using the two aforementioned map matching algorithms.

关键词： Roads iterative closest point algorithm Global Positioning System Dead reckoning Sensors Visualization Cameras

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A Study on Efficient LiDAR-based Localization with Initial Pose Estimation

A Study on Efficient LiDAR-based Localization with Initial P...

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IEEE/SICE International Symposium on System Integration

作者： Yoji Takayama Takateru Urakubo Hisashi Tamaki Department of Information Science Kobe University Kobe JAPAN

ISBN: (数字)9781728166674

ISBN: (纸本)9781728166681

In this paper, we propose a method of obtaining an initial pose estimate in a simple and computationally efficient manner for LiDAR scan matching such as ICP and NDT. When two scans are obtained at largely different two LiDAR poses, numerical optimization for scan matching tends to fall into a local minimum, and consequently we often suffer from incorrect matching. By using the proposed method, we can start to search for the relative pose between two scans with a sufficiently accurate initial pose estimate, and obtain correct matching through numerical optimization. The proposed method is derived theoretically under some assumptions, and its effectiveness in actual indoor environments is examined by experiments.

关键词： Laser radar Optimization iterative closest point algorithm Indoor environments Sensors Estimation Rotation measurement

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3D Object Reconstruction with Kinect Based on QR Code Calibration

3D Object Reconstruction with Kinect Based on QR Code Calibr...

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IEEE International Conference on Artificial Intelligence and Computer Applications (ICAICA)

作者： Shidong Chen Jianjun Yi Hongkai Ding Zhuoran Wang Jinyang Min Hailei Wu Shuqing Cao Jinzhen Mu East China University of Science and Technology Shanghai China Shanghai Aerospace Control Technology Institute Shanghai P. R. China

ISBN: (数字)9781728170053

ISBN: (纸本)9781728170060

We propose a method of 3D reconstruction of small-sized object based on Kinect V2 RGB-D camera and turntable, which eliminates the need of costly feature extraction and robust matching techniques for motion estimation. Identification and detection of a QR code are used to calibrate the system, and on this basis, point cloud coordinate conversion and background removal are realized. Our coarse registration algorithm uses the fixed rotation angle of the turntable to construct the rotation matrix between frames. Combined with ICP (iterative closest point) algorithm for precise registration, the object point cloud model is obtained. We achieve a cost-effective, convenient and practical 3D reconstruction process for small-sized objects. Experimental results show that the method can stably and effectively obtain 3D models of objects that are small and difficult to extract features, which has certain application value in product display.

关键词： Three-dimensional displays Cameras Image reconstruction Calibration iterative closest point algorithm Solid modeling Data models

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