In this paper, we present an inspection system for power plant environments. The system consists of two main parts: a robot system and a control platform. The control platform serves as the central hub for monitoring ...
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The environment perception technology of patrol robots within park areas faces challenges such as low accuracy in detecting small-scale targets and high false positive and false negative rates in target detection unde...
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ISBN:
(纸本)9798350367164;9798350367157
The environment perception technology of patrol robots within park areas faces challenges such as low accuracy in detecting small-scale targets and high false positive and false negative rates in target detection under low-light conditions. This paper addresses these issues by proposing several effective optimization methods. Extensive extensions and improvements are conducted on mainstream network models using the ApolloScape dataset to further enhance the accuracy of multi-target recognition within park environments. To overcome the limitations of a single sensor, a perception strategy based on the fusion of 3D and 2D detectors' image results is designed. The 3D detector adopts an improved Complex-YOLOv4 network, while the 2D detector uses an enhanced YOLOv5s network, primarily focusing on vehicles and pedestrians. Decision-level fusion of the two sensors effectively reduces false positives and false negatives in target detection under adverse environmental conditions. Experimental tests demonstrate that the proposed perception method achieves good real-time performance and accuracy in normal, adverse, and nighttime conditions, showcasing high robustness to changes in external environments.
This paper proposes an adaptive Monte Carlo location (MCL) algorithm in stages to improve the common problems existed in the traditional MCL method, such as the high computational complexity, and the hijacked circumst...
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ISBN:
(纸本)9789881563958
This paper proposes an adaptive Monte Carlo location (MCL) algorithm in stages to improve the common problems existed in the traditional MCL method, such as the high computational complexity, and the hijacked circumstance for the mobile robot. Firstly, the current positioned state, namely global localization or local localization, is judged. Secondly, different particles are assigned to conduct localization and tracking based on the different status of positioning allocation. In addition, the accuracy of the positioning system is used to detect whether the robot has been hijacked or not. The research of SLAM carried out on the robot Operating System (ros) shows that the proposed method is effective in achieving an accurate localization and reducing the computational complexity. It is suitable for indoor mobile robot SLAM.
This paper proposes an adaptive Monte Carlo location(MCL) algorithm in stages to improve the common problems existed in the traditional MCL method,such as the high computational complexity,and the hijacked circumstanc...
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This paper proposes an adaptive Monte Carlo location(MCL) algorithm in stages to improve the common problems existed in the traditional MCL method,such as the high computational complexity,and the hijacked circumstance for the mobile ***,the current positioned state,namely global localization or local localization,is ***,different particles are assigned to conduct localization and tracking based on the different status of positioning *** addition,the accuracy of the positioning system is used to detect whether the robot has been hijacked or *** research of SLAM carried out on the robot Operating System(ros) shows that the proposed method is effective in achieving an accurate localization and reducing the computational *** is suitable for indoor mobile robot SLAM.
With the development of the economy, traditional catering enterprises generally have problems of high operating costs, large labor demand, backward productivity, and low efficiency. The reform of catering enterprises ...
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With the development of the economy, traditional catering enterprises generally have problems of high operating costs, large labor demand, backward productivity, and low efficiency. The reform of catering enterprises is imminent, and a new type of unmanned restaurant system research has emerged. The system uses the WeChat applet to build a user platform, builds a server for data transfer, and the backend web interface displays order information. The robot uses the OpenCV vision library to identify the coordinate information contained in the QR code, collects the surrounding environment information through the laser radar, constructs the map through the laser slam algorithm, and the A* algorithm realizes the independent planning path and autonomously delivers the target position for the user to take the meal. After completion, the self-planning path returns to the origin standby and the meal information is transmitted back to the server.
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