检索结果-内蒙古大学图书馆

What's in the Black Box? The False Negative Mechanisms Inside Object Detectors

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Miller, Dimity Moghadam, Peyman Cox, Mark Wildie, Matt Jurdak, Raja Brisbane Australia The Robotics and Autonomous Systems DATA61 CSIRO BrisbaneQLD Australia

In object detection, false negatives arise when a detector fails to detect a target object. To understand why object detectors produce false negatives, we identify five 'false negative mechanisms', where each mechanism describes how a specific component inside the detector architecture failed. Focusing on two-stage and one-stage anchor-box object detector architectures, we introduce a framework for quantifying these false negative mechanisms. Using this framework, we investigate why Faster R-CNN and RetinaNet fail to detect objects in benchmark vision datasets and robotics datasets. We show that a detector's false negative mechanisms differ significantly between computer vision benchmark datasets and robotics deployment scenarios. This has implications for the translation of object detectors developed for benchmark datasets to robotics applications. Copyright © 2022, The Authors. All rights reserved.

关键词： robotics

Uncertainty-Aware Lidar Place Recognition in Novel Environments

学校读者我要写书评

暂无评论

Uncertainty-Aware Lidar Place Recognition in Novel Environme...

IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Keita Mason Joshua Knights Milad Ramezani Peyman Moghadam Dimity Miller Robotics and Autonomous Systems DATA61 CSIRO Brisbane QLD Australia School of Electrical Engineering Queensland University of Technology (QUT) Brisbane Australia

State-of-the-art lidar place recognition models exhibit unreliable performance when tested on environments different from their training dataset, which limits their use in complex and evolving environments. To address this issue, we investigate the task of uncertainty-aware lidar place recognition, where each predicted place must have an associated uncertainty that can be used to identify and reject incorrect predictions. We introduce a novel evaluation protocol and present the first comprehensive benchmark for this task, testing across five uncertainty estimation techniques and three large-scale datasets. Our results show that an Ensembles approach is the highest performing technique, consistently improving the performance of lidar place recognition and uncertainty estimation in novel environments, though it incurs a computational cost. Code is publicly available at https://***/csiro-robotics/Uncertainty-LPR.

关键词：

InCloud: Incremental Learning for Point Cloud Place Recognition

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Knights, Joshua Moghadam, Peyman Ramezani, Milad Sridharan, Sridha Fookes, Clinton The Robotics and Autonomous Systems DATA61 CSIRO BrisbaneQLD4069 Australia Brisbane Australia

Place recognition is a fundamental component of robotics, and has seen tremendous improvements through the use of deep learning models in recent years. Networks can experience significant drops in performance when deployed in unseen or highly dynamic environments, and require additional training on the collected data. However naively fine-tuning on new training distributions can cause severe degradation of performance on previously visited domains, a phenomenon known as catastrophic forgetting. In this paper we address the problem of incremental learning for point cloud place recognition and introduce InCloud, a structure-aware distillation-based approach which preserves the higher-order structure of the network's embedding space. We introduce several challenging new benchmarks on four popular and large-scale LiDAR datasets (Oxford, MulRan, In-house and KITTI) showing broad improvements in point cloud place recognition performance over a variety of network architectures. To the best of our knowledge, this work is the first to effectively apply incremental learning for point cloud place recognition. data pre-processing, training and evaluation code for this paper can be found at https://***/csiro-robotics/InCloud. Copyright © 2022, The Authors. All rights reserved.

关键词： Network architecture

Uncertainty-Aware Lidar Place Recognition in Novel Environments

学校读者我要写书评

暂无评论

arXiv 2022年

作者： Mason, Keita Knights, Joshua Ramezani, Milad Moghadam, Peyman Miller, Dimity The Robotics and Autonomous Systems DATA61 CSIRO BrisbaneQLD4069 Australia Brisbane Australia

关键词： Optical radar

Towards the automation of methane flux estimation and leak detection using a multirotor

学校读者我要写书评

暂无评论

Towards the automation of methane flux estimation and leak d...

2020 Australasian Conference on robotics and Automation, ACRA 2020

作者： Hernández, Emili Day, Stuart Brett, James Robotics and Autonomous Systems Group Data61 CSIRO Australia Energy CSIRO Australia

This interdisciplinary paper combines field robotics with atmospheric gas sensing. We designed and developed a methane sensing payload based on an industrial grade Tunable Laser Diode Absorption Spectroscopy (TLDAS) detector to automate methane flux estimation and leak detection. The payload can be mounted on any Unmanned Aerial Vehicle (UAV) with a payload capacity exceeding 1.5kg. We tested the payload on a multirotor, performing several missions in a remote location that is very active from the methane release perspective. Results were validated against measurements concurrently taken by a ground team using atmospheric sensors. © 2020 Australasian robotics and Automation Association. All rights reserved.

关键词： Leak detection

Jammkle: Fibre jamming 3D printed multi-material tendons and their application in a robotic ankle

学校读者我要写书评

暂无评论

arXiv 2021年

作者： Brett, James Surdo, Katrina Lo Hanson, Lauren Pinskier, Joshua Howard, David Robotics and Autonomous Systems Group Data61 CSIRO Australia

Fibre jamming is a relatively new and understudied soft robotic mechanism that has previously found success when used in stiffness-tuneable arms and fingers. However, to date researchers have not fully taken advantage of the freedom offered by contemporary fabrication techniques including multi-material 3D printing in the creation of fibre jamming structures. In this research, we present a novel, modular, multi-material, 3D printed, fibre jamming tendon unit for use in a stiffness-tuneable compliant robotic ankle, or Jammkle. We describe the design and fabrication of the Jammkle and highlight its advantages compared to examples from modern literature. We develop a multiphysics model of the tendon unit, showing good agreement with experimental data. Finally, we demonstrate a practical application by integrating multiple tendon units into a robotic ankle and perform extensive testing and characterisation. We show that the Jammkle outperforms comparative leg structures in terms of compliance, damping, and slip prevention. Copyright © 2021, The Authors. All rights reserved.

关键词： Structural dynamics

TOPOLOGY OPTIMIZATION OF FLUIDIC PRESSURE-DRIVEN MULTI-MATERIAL COMPLIANT MECHANISMS

学校读者我要写书评

暂无评论

arXiv 2023年

作者： Kumar, Prabhat Pinskier, Josh Howard, David Langelaar, Matthijs Mechanical and Aerospace Engineering IIT Telangana Hyderabad502285 India Robotics and Autonomous Systems Group CSIRO Data61 Brisbane Australia Department of Precision and Microsystems Engineering TU Delft Netherlands

Compliant mechanisms actuated by pneumatic loads are receiving increasing attention due to their direct applicability as soft robots that perform tasks using their flexible bodies. Using multiple materials to build them can further improve their performance and efficiency. Due to developments in additive manufacturing, the fabrication of multi-material soft robots is becoming a real possibility. To exploit this opportunity, there is a need for a dedicated design approach. This paper offers a systematic approach to developing such mechanisms using topology optimization. The extended SIMP scheme is employed for multi-material modeling. The design-dependent nature of the pressure load is modeled using the Darcy law with a volumetric drainage term. Flow coefficient of each element is interpolated using a smoothed Heaviside function. The obtained pressure field is converted to consistent nodal loads. The adjoint-variable approach is employed to determine the sensitivities. A robust formulation is employed, wherein a min-max optimization problem is formulated using the output displacements of the eroded and blueprint designs. Volume constraints are applied to the blueprint design, whereas the strain energy constraint is formulated with respect to the eroded design. The efficacy and success of the approach are demonstrated by designing pneumatically actuated multi-material gripper and contractor mechanisms. A numerical study confirms that multiple-material mechanisms perform relatively better than their single-material counterparts. Copyright © 2023, The Authors. All rights reserved.

关键词： Pneumatics

Multi-Agent 3D Map Reconstruction and Change Detection in Microgravity with Free-Flying Robots 74

学校读者我要写书评

暂无评论

Multi-Agent 3D Map Reconstruction and Change Detection in Mi...

74th International Astronautical Congress, IAC 2023

作者： Dinkel, Holly Di, Julia Santos, Jamie Albee, Keenan Borges, Paulo Moreira, Marina Alexandrov, Oleg Coltin, Brian Smith, Trey Department of Aerospace Engineering The University of Illinois Urbana-Champaign UrbanaIL United States Department of Mechanical Engineering Stanford University StanfordCA United States Department of Physics Chalmers University of Technology Gothenburg Sweden Maritime and Multi-Agent Autonomy Group The Jet Propulsion Laboratory California Institute of Technology PasadenaCA United States Robotics and Autonomous Systems Group CSIRO Data61 BrisbaneQLD Australia Intelligent Robotics Group The NASA Ames Research Center Moffett FieldCA United States

Assistive free-flyer robots autonomously caring for future crewed outposts-such as NASA's Astrobee robots on the International Space Station (ISS)-must be able to detect day-to-day interior changes to track inventory, detect and diagnose faults, and monitor the outpost status. This work presents a framework for multi-agent cooperative mapping and change detection to enable robotic maintenance of space outposts. One agent is used to reconstruct a 3D model of the environment from sequences of images and corresponding depth information. Another agent is used to periodically scan the environment for inconsistencies against the 3D model. Change detection is validated after completing the surveys using real image and pose data collected by Astrobee robots in a ground testing environment and from microgravity aboard the ISS. This work outlines the objectives, requirements, and algorithmic modules for the multi-agent reconstruction system, including recommendations for its use by assistive free-flyers aboard future microgravity outposts. Copyright © 2023 by the International Astronautical Federation (IAF). All rights reserved.

关键词： 3D Reconstruction Artemis Change Detection Mapping Microgravity robotics

Automated design of pneumatic soft grippers through design-dependent multi-material topology optimization

学校读者我要写书评

暂无评论

Automated design of pneumatic soft grippers through design-d...

IEEE International Conference on Soft robotics (RoboSoft)

作者： Josh Pinskier Prabhat Kumar Matthijs Langelaar David Howard CSIRO Data61 Robotics and Autonomous Systems Group Brisbane Australia Department of Mechanical and Aerospace Engineering Indian Institute of Technology Hyderabad Telangana India Department of Precision and Microsystems Engineering TU Delft Delft Netherlands

Soft robotic grasping has rapidly spread through the academic robotics community in recent years and pushed into industrial applications. At the same time, multimaterial 3D printing has become widely available, enabling the monolithic manufacture of devices containing rigid and elastic sections. We propose a novel design technique that leverages both technologies and can automatically design bespoke soft robotic grippers for fruit-picking and similar applications. We demonstrate the novel topology optimisation formulation that generates multi-material soft grippers, can solve internal and external pressure boundaries, and investigate methods to produce air-tight designs. Compared to existing methods, it vastly expands the searchable design space while increasing simulation accuracy.

关键词： Service robots Atmospheric modeling Fingers Optimization methods Grasping Soft robotics Three-dimensional printing