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

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A 974GOPS/W Multi-level Parallel Architecture for Binary Weight Network Acceleration

A 974GOPS/W Multi-level Parallel Architecture for Binary Wei...

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IEEE International Symposium on Circuits and Systems (ISCAS)

作者： Sun, Rongdi Liu, Peilin Accetti, Cecil Naqvi, Abid A. Ahmed, Haroon Qian, Jiuchao Shanghai Jiao Tong Univ Sch Elect Informat & Elect Engn Shanghai Peoples R China

ISBN: (纸本)9781538648810

Deep neural networks dominate in the machine learning field. However, deploying deep neural networks on mobile devices requires aggressive compression of models due to huge amounts of parameters. An extreme case is to restrict weights to binary values {+1/-1} without much loss of accuracy. This promising method not only reduces hardware overhead of memory and computation, but also improves the performance of network inference. In this work, a flexible architecture for binary weight network acceleration is proposed. The architecture fully exploits the inherent multi-level parallelism of neural networks, resulting in utilization of processing elements over 80% for different layers. In addition, we present efficient data placement and transmission methods in coordination with multilevel parallel processing. The accelerator is implemented using SMIC 40nm technology. It operates at 1.2V and achieves up to 974GOPS/W power efficiency.

关键词： Neurons Kernel Computer architecture Parallel processing Convolution Hardware iterative closest point algorithm

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Predicting Alignment Risk to Prevent Localization Failure

Predicting Alignment Risk to Prevent Localization Failure

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Nobili, Simona Tinchev, Georgi Fallon, Maurice Univ Edinburgh Inst Percept Act & Behav Sch Informat Edinburgh Midlothian Scotland Univ Oxford Oxford Robot Inst Oxford England

ISBN: (纸本)9781538630815

During localization and mapping the success of point cloud registration can be compromised when there is an absence of geometric features or constraints in corridors or across doorways, or when the volumes scanned only partly overlap, due to occlusions or constrictions between subsequent observations. This work proposes a strategy to predict and prevent laser-based localization failure. Our solution relies on explicit analysis of the point cloud content prior to registration. A model predicting the risk of a failed alignment is learned by analysing the degree of spatial overlap between two input point clouds and the geometric constraints available within the region of overlap. We define a novel measure of alignability for these constraints. The method is evaluated against three real-world datasets and compared to baseline approaches. The experiments demonstrate how our approach can help improve the reliability of laser-based localization during exploration of unknown and cluttered man-made environments.

关键词： Three-dimensional displays Cloud computing Robot sensing systems Measurement iterative closest point algorithm Octrees"

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IMLS-SLAM: scan-to-model matching based on 3D data

IMLS-SLAM: scan-to-model matching based on 3D data

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Deschaud, Jean-Emmanuel PSL Res Univ MINES ParisTech Ctr Robot 60 Bd St Michel F-75006 Paris France

ISBN: (纸本)9781538630815

The Simultaneous Localization And Mapping (SLAM) problem has been well studied in the robotics community, especially using mono, stereo cameras or depth sensors. 3D depth sensors, such as Velodyne LiDAR, have proved in the last 10 years to be very useful to perceive the environment in autonomous driving, but few methods exist that directly use these 3D data for odometry. We present a new low-drift SLAM algorithm based only on 3D LiDAR data. Our method relies on a scan-to-model matching framework. We first have a specific sampling strategy based on the LiDAR scans. We then define our model as the previous localized LiDAR sweeps and use the Implicit Moving Least Squares (IMLS) surface representation. We show experiments with the Velodyne HDL32 with only 0.40% drift over a 4 km acquisition without any loop closure (i.e., 16 m drift after 4 km). We tested our solution on the KITTI benchmark with a Velodyne HDL64 and ranked among the best methods (against mono, stereo and LiDAR methods) with a global drift of only 0.69%.

关键词： Three-dimensional displays Laser radar Simultaneous localization and mapping Two dimensional displays iterative closest point algorithm Observability"

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3D Registration of Curves and Surfaces using Local Differential Information 31

3D Registration of Curves and Surfaces using Local Different...

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31st IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)

作者： Raposo, Carolina Barreto, Joao P. Univ Coimbra Inst Syst & Robot Coimbra Portugal Perceive3D Coimbra Portugal

ISBN: (纸本)9781538664209

This article presents for the first time a global method for registering 3D curves with 3D surfaces without requiring an initialization. The algorithm works with 2-tuples point+vector that consist in pairs of points augmented with the information of their tangents or normals. A closed-form solution for determining the alignment transformation from a pair of matching 2-tuples is proposed. In addition, the set of necessary conditions for two 2-tuples to match is derived. This allows fast search of correspondences that are used in an hypothesise-and-test framework for accomplishing global registration. Comparative experiments demonstrate that the proposed algorithm is the first effective solution for curve vs surface registration, with the method achieving accurate alignment in situations of small overlap and large percentage of outliers in a fraction of a second. The proposed framework is extended to the cases of curve vs curve and surface vs surface registration, with the former being particularly relevant since it is also a largely unsolved problem.

关键词： Three-dimensional displays Navigation Surgery Complexity theory Transmission line matrix methods Surface reconstruction iterative closest point algorithm

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Spatially Coherent Matching for Robust Registration 24

Spatially Coherent Matching for Robust Registration

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24th International Conference on Pattern Recognition (ICPR)

作者： Wang, Gang Chen, Yufei Zhang, Haotian Shanghai Univ Finance & Econ Sch Stat & Management Inst Data Sci & Stat Shanghai 200433 Peoples R China Tongji Univ Coll Elect & Informat Engn Res Ctr CAD Shanghai 200092 Peoples R China

ISBN: (纸本)9781538637883

In order to solve the registration problem, we propose a robust method called Spatially Coherent Matching (SCM), where it can get the underlying correspondences from the given putative sets of feature points for robust matching, and estimate the transformation for robust registration. Recovering correct matches and fitting transformations between image pairs are key components in the field of pattern recognition. The proposed SCM starts with a putative correspondence set which is contaminated by degradations (e.g., occlusion, deformation, rotation, and outliers), and the main goal is to identify the true correspondences and estimate the underlying transformation. Then we formulate this challenging problem by the spatially coherent matching model with a robust exponential distance loss and a spatial constraint. Based on the regularization theory, SCM preserves the topological structure of the adjacent features. Moreover, a sparse approximation strategy is used to improve the efficiency. Finally, the experimental results reveal that the proposed method outperforms current state-of-the-art methods in most test scenarios on several real image datasets and synthesized datasets.

关键词： Annealing Kernel Spatial coherence Estimation Pattern matching iterative closest point algorithm Shape

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Fast Descriptor Extraction for Contextless 3D Registration Using a Fully Convolutional Network 24

Fast Descriptor Extraction for Contextless 3D Registration U...

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24th International Conference on Pattern Recognition (ICPR)

作者： Garrett, Timothy Radkowski, Rafael Iowa State Univ Virtual Real Applicat Ctr Ames IA 50011 USA

ISBN: (纸本)9781538637883

In recent years, numerous consumer devices have emerged that are capable of capturing 3D point data originating from depth images. Many computer vision tasks, such as object recognition, environment mapping, augmented reality, and more, rely on accurately registering 3D point sets. One method to compute this registration is to use 3D local feature descriptors for a coarse alignment, and to further refine the alignment with a variant of the iterative closest point algorithm. While robust feature descriptors work well for this approach, online computation for all points in a single depth image is typically intractable. In this work, a method to facilitate real-time 3D registration by performing descriptor extraction on depth images using a Fully Convolutional Network (FCN) is presented. The input to this method is a raw depth image and results in a 33-bin descriptor for each pixel, enabling a general-purpose 3D registration process that doesn't require future network retraining and refinement. Experimental results on consumer hardware demonstrate that the proposed method significantly outperforms the state-of-the-art in terms of computation time and approaches depth sensor frame capture times, with only a slight reduction in descriptiveness.

关键词： Three-dimensional displays Feature extraction Hardware Task analysis Object recognition iterative closest point algorithm Training

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Transfer function between intracranial pressure and aortic blood pressure and carotid blood flow 40

Transfer function between intracranial pressure and aortic b...

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40th Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society (EMBC)

作者： Lara-Hetnandez, Julio A. Kim, Mi Ok Avolio, Alberto P. Butlin, Mark Macquarie Univ Fac Med & Hlth Sci Dept Biomed Sci Sydney NSW Australia

ISBN: (纸本)9781538636466

The compliance of the intracranial space is such that the intracranial pressure (ICP) waveform is approximately the aortic blood pressure (BP) waveform minus the dominant harmonic (heart rate (HR)) of that waveform. This has been tested across species of different resting HR. Whether this filter characteristic holds true for large changes in HR, or under changed ICP, has not been examined. This study tested these changes in 11 anesthetized rats instrumented to measure and change ICP, HR, aortic BP, and carotid blood flow. The aortic BP to ICP and carotid blood flow to ICP transfer function was determined for normal ICP at paced HRs of 300, 400 and 500 bpm, and at raised ICP at HRs of 400 and 500 bpm. The aortic BP to ICP transfer function magnitude showed a dependency on HR (-0.15 +/- 0.04 x10(-3) bpm(-1), p<0.001) and mean ICP (4.4 +/- 0.6 x10(-3) mmHg(-1)). The carotid blood flow to ICP transfer function magnitude showed a dependency on mean ICP (11.1 +/- 1.8 x10(-3) mmHg/ml/min/mmHg, p<0.001) but not on HR. The changes with different HRs indicates a degree of non-linearity in the system. Though small, this may need to be accounted for in understanding the relationship between systemic BP and flow and ICP. This data is useful in understanding the relationship between cardiovascular signals and ICP, valuable in advancing the ability to estimate ICP non-invasively.

关键词： iterative closest point algorithm Heart rate Transfer functions Blood Rats Pressure measurement

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A failure detection method for 3D LiDAR based localization

A failure detection method for 3D LiDAR based localization

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Chinese Automation Congress (CAC)

作者： Huan Yin Li Tang Xiaqing Ding Yue Wang Rong Xiong Inst. of Cyber-Sys. and Control Zhejiang University Hangzhou China

3D LiDAR based localization is a very common method for robot self-positioning on prior maps. Currently, few research works str focus on the failure detection of laser localization, which is a critical part in autonomous systems for mobile robots or intelligent vehicles. In this paper, we propose a statistical learning based method for localization failure detection, formulating the problem as a binary classification task. Specifically, we first extract features to measure the align quality of point clouds, which describe the geometric properties in local and global levels. Then a logistic regression model is trained and can detect the localization failures in new environments. We employ our self-collected dataset to demonstrate the effectiveness of the proposed method. The results show that the logistic regression model can achieve high accuracy on failure detection for 3D LiDAR based localization.

关键词： Three-dimensional displays Feature extraction Logistics Laser radar Robots iterative closest point algorithm Task analysis

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Packaging Development of an Implantable Intracranial Pressure Catheter

Packaging Development of an Implantable Intracranial Pressur...

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Microelectronics Technology and Devices (SBMicro)

作者： Jeferson C. Rosario Celso Peter José Francisco S. Inácio Maicon D. Much Henri Ivanov Boudinov Willyan Hasenkamp Carreira Instituto Tecnológico de Semicondutores Universidade do Vale do Rio dos Sinos São Leopoldo Brazil Departamento de P&D Toth Lifecare Porto Alegre Brazil Programa de Pós-Graduação em Microeletrônica Universidade Federal do Rio Grande do Sul Porto Alegre Brazil

Recent studies have demonstrated the intracranial pressure (ICP) monitoring is an important tool for cerebral perfusion pressure (CPP) calculation and cerebral blood flow (CBF) assessment, reducing significantly the mortality statistics. Traumatic brain injury (TBI), several others pathologies and neurosurgery conditions have been using the ICP monitoring technique. With the waves of the microelectronics and microelectromechanical systems (MEMS) industry evolution, it was possible to put the transducer and all the electronics inside the catheter tip, allowing a less invasive monitoring and decreasing the risk of infection. The state of art catheters with micro transducer on the tip can be divided into three groups: strain-gauge, optical fiber and pneumatic. Each group has its own characteristics, however the strain-gauge based has been demonstrated to be a robust solution, reliable, cost effective and with sufficient accuracy. In the present work, it was developed a strain-gauge micro transducer implantable catheter for intracranial pressure monitoring. The packaging processes adopted were the standard used by the semiconductor industry, however considering application special requirements, several process parameters and assemblage was adapted to the geometry and materials used (i.e. biocompatible) as well as, taking in consideration low volume production of medical devices. The prototypes assembled showed variations on the zero drift test. The temperature drift was 0,63 and 0,89 cmH 2 O/°C and the accuracy, ±1 cmH 2 O.

关键词： Catheters Temperature measurement Monitoring Wires iterative closest point algorithm Cavity resonators Robot sensing systems

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Passive Implantable Wireless Intracranial Pressure Monitoring Based on Near Field Communication

Passive Implantable Wireless Intracranial Pressure Monitorin...

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IEEE Biomedical Circuits and Systems (BIOCAS)

作者： Wen Jia Hanjun Jiang Xiaofeng Yang Wan Wang Zhihua Wang James Jin Wang Youtu Wu Guangdong Engr. Research Center on ICs for Wireless Healthcare Research Inst. of Tsinghua Univ. in Shenzhen Institute of Microelectronics Tsinghua University Beijing P.R.China Beijing Tsinghua Changgung Hospital Beijing P.R.China

This work proposes a passive implantable wireless Intracranial Pressure (ICP) monitoring system based on Near Field Communication (NFC). An improved air pouch is used to convert the cerebral spinal fluid (CSF) pressure into the air pressure, which brings better biocompatibility and lower damage to brain tissues compared with the previous work. The proposed implanted wireless ICP monitoring device is battery-free, which further reduces the device size and improves the safety and truly achieves the long-term ICP monitoring. The proposed system has achieved a measurement accuracy of 0.25 mmHg and a resolution of 0.1 mmHg, which is better than Codman whose resolution is 1mmHg, and responds faster than Codman which lags about 8 seconds.

关键词： iterative closest point algorithm Wireless communication Wireless sensor networks Monitoring Pressure sensors Pressure measurement

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