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IEEE International Conference on robotics and Biomimetics

作者： Muyang Hou Zhenya Lei Haidong Hu Zhong Wang Yong Wang Le Xie Hesheng Wang Department of Automation Shanghai Jiao Tong University Shanghai China School of Information and Control Engineering China University of Mining and Technology Xuzhou China Beijing Institute of Control Engineering Beijing China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant; on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A* which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion.

关键词： Hands Trajectory tracking Trajectory planning Service robots Stability analysis Safety Mobile robots Resource management Splines (mathematics) Trajectory optimization

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Multi-Domain Image Super-Resolution Generative Adversarial Network for Low-Resolution Person Re-Identification

Multi-Domain Image Super-Resolution Generative Adversarial N...

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第40届中国控制会议

作者： Siwen Chen Huaiyu Wu Yang Chen Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

Person re-identification（ReID） is an important task in video surveillance *** address the issue that various low-resolutions and scale mismatching always exist in the real world,a multi-domain image-to-image translation network,termed Multi-Domain image Super-Resolution Generative Adversarial Network（MSRGAN）,is proposed to learn the mapping relationship between the various low-resolution domains and the high-resolution *** can ensure that the transferred image has a similar resolution as in the target *** is also able to keep the identity information of images from low-resolution domain during the *** addition,a novel ReID model,termed CSA-ReID in which channel attention and spatial attention module are introduced,is designed to learn resolution-invariant deep *** proposed method achieves 90.7% rank-1 accuracy and 96.4% rank-5 accuracy on multiple low-resolutions Market-1501 *** experimental results prove that the proposed method achieves promising generalization ability and accuracy compared with the state-of-theart methods.

关键词： person re-identification cross-resolution super-resolution attention

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Distributed Non-Fragile State Estimation for discrete nonlinear systems with parameter uncertainties

Distributed Non-Fragile State Estimation for discrete nonlin...

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第40届中国控制会议

作者： Ping Xu Huaiyu Wu Xiujuan Zheng Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

The distributed non-fragile state estimation problem is proposed for a class of discrete nonlinear systems with parameter uncertainties. Considering the parameter uncertainty of the system and the stochastic disturbance of the corresponding filter gain, a distributed non-fragile recursive state estimator is designed. Based on the strategy of linear consensus, a distributed non-fragile recursive filter is derived for each sensor node. Due to some uncertain parameters of the system, the upper bound of the filter error covariance is further derived. Then, the filter gain is obtained by minimizing the upper bound of the error covariance. Finally, an indoor localization system for mobile robots is provided to verify the proposed state estimator.

关键词： Non-fragile state estimation distributed filtering parameter uncertainties wireless sensor network

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4D unsupervised object discovery 22

4D unsupervised object discovery

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Proceedings of the 36th International Conference on Neural Information Processing Systems

作者： Yuqi Wang Yuntao Chen Zhaoxiang Zhang Center for Research on Intelligent Perception and Computing (CRIPAC) National Laboratory of Pattern Recognition (NLPR) Institute of Automation Chinese Academy of Sciences (CASIA) and School of Artificial Intelligence University of Chinese Academy of Sciences Centre for Artificial Intelligence and Robotics HKISI_CAS Center for Research on Intelligent Perception and Computing (CRIPAC) National Laboratory of Pattern Recognition (NLPR) Institute of Automation Chinese Academy of Sciences (CASIA) and School of Artificial Intelligence University of Chinese Academy of Sciences and Centre for Artificial Intelligence and Robotics HKISI_CAS

ISBN: (纸本)9781713871088

Object discovery is a core task in computer vision. While fast progresses have been made in supervised object detection, its unsupervised counterpart remains largely unexplored. With the growth of data volume, the expensive cost of annotations is the major limitation hindering further study. Therefore, discovering objects without annotations has great significance. However, this task seems impractical on still-image or point cloud alone due to the lack of discriminative information. Previous studies underlook the crucial temporal information and constraints naturally behind multi-modal inputs. In this paper, we propose 4D unsupervised object discovery, jointly discovering objects from 4D data - 3D point clouds and 2D RGB images with temporal information. We present the first practical approach for this task by proposing a ClusterNet on 3D point clouds, which is jointly it- eratively optimized with a 2D localization network. Extensive experiments on the large-scale Waymo Open Dataset suggest that the localization network and ClusterNet achieve competitive performance on both class-agnostic 2D object detection and 3D instance segmentation, bridging the gap between unsupervised methods and full supervised ones.

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Mobile Robot Automatic Aiming Method Based on Binocular Vision

Mobile Robot Automatic Aiming Method Based on Binocular Visi...

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第40届中国控制会议

作者： Honglian Xiang Lei Cheng Huaiyu Wu Yang Chen Yingnan Gao Engineering Research Center for Metallurgical Automation and Measurement Technology of Ministry of Education Institute of Robotics and Intelligent Systems Wuhan University of Science and Technology

Aiming at the task that robots can automatically aim and accurately shoot projectiles to hit enemy armor plates in the complex confrontation environment,an automatic aiming control method is ***,the two-dimensional position coordinates of the target are obtained by the improved object detection ***,the depth information of the target is obtained by the binocular depth ***,the actual three-dimensional position information of the target is obtained by combining the object detection and depth ***,by calculating the attitude angle of the pan-tilt,the angle that can guide the pan-tilt to aim and rotate is obtained,thus realizing automatic aiming control on the mobile *** many real confrontation experiments,high precision and real-time performance are obtained,which proves the rationality and feasibility of this method.

关键词： Automatic aiming Accurate hitting Object detection Binocular ranging

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A Force Control Method of Medical Robot Based on Impedance Control

A Force Control Method of Medical Robot Based on Impedance C...

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IEEE International Conference on robotics and Biomimetics

作者： Zhihang Yuan Linshuai Zhang Tao Jiang Shuoxin Gu Lin Xu Yujie Zhang Peng Zeng Marcin Grzegorzek School of Automation Chengdu University of Information Technology Chengdu Sichuan China School of Intelligent Medicine Chengdu University of Traditional Chinese Medicine Chengdu Sichuan China International Joint Research Center of Robotics and Intelligence System of Sichuan Province Chengdu University of Information Technology Chengdu Sichuan China Institute of Medical Informatics University of Lübeck Lübeck Germany

ISBN: (数字)9798331509644

ISBN: (纸本)9798331509651

The problem of dynamic contact between robots and the physical environment has always been a hot research topic with great significance. In the process of rapid development of robotics technology, the field of medical robots has gradually emerged, and the research on compliant control and force control algorithms involved in dynamic contact has become increasingly important. At present, most of the subjects interacting with the environment and moving according to feedback are robotic arms. This paper focuses on a lighter and simpler type of actuator composed of a motor and slide table, studies the commonness of this kind of mechanism, and gives the power control method, and verifies its feasibility through Simulink simulation.

关键词： Analytical models Medical robotics Software packages Heuristic algorithms Power control Transfer functions Motors Mathematical models Steady-state Force control

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Coordinated Guiding Vector Field Design for Ordering-Flexible Multi-Robot Surface Navigation

arXiv

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arXiv 2024年

作者： Hu, Bin-Bin Zhang, Hai-Tao Yao, Weijia Sun, Zhiyong Cao, Ming The School of Artificial Intelligence and Automation The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Lab of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China The School of Robotics Hunan University Hunan410082 China The Institute of Engineering and Technology University of Groningen Groningen9747 AG Netherlands Department of Electrical Engineering Eindhoven University of Technology Netherlands

We design a distributed coordinated guiding vector field (CGVF) for a group of robots to achieve ordering-flexible motion coordination while maneuvering on a desired two-dimensional (2D) surface. The CGVF is characterized by three terms, i.e., a convergence term to drive the robots to converge to the desired surface, a propagation term to provide a traversing direction for maneuvering on the desired surface, and a coordinated term to achieve the surface motion coordination with an arbitrary ordering of the robotic group. By setting the surface parameters as additional virtual coordinates, the proposed approach eliminates potential singularity of the CGVF and enables both the global convergence to the desired surface and the maneuvering on the surface from all possible initial conditions. The ordering-flexible surface motion coordination is realized by each robot to share with its neighbors only two virtual coordinates, i.e. that of a given target and that of its own, which reduces the communication and computation cost in multi-robot surface navigation. Finally, the effectiveness of the CGVF is substantiated by extensive numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Navigation

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Self-supervised Multi-frame Monocular Depth Estimation with Pseudo-LiDAR Pose Enhancement

Self-supervised Multi-frame Monocular Depth Estimation with ...

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IEEE International Conference on robotics and automation (ICRA)

作者： Wenhua Wu Guangming Wang Jiquan Zhong Hesheng Wang Zhe Liu MoE Key Lab of Artificial Intelligence AI Institute Shanghai Jiao Tong University Shanghai China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Insititute of Medical Robotics Shanghai Jiao Tong University Shanghai China

Depth estimation is one of the most important tasks in scene understanding. In the existing joint self-supervised learning approaches of depth-pose estimation, depth estimation and pose estimation networks are independent of each other. They only use the adjacent image frames for pose estimation and lack the use of the estimated geometric information. To enhance the depth-pose association, we propose a monocular multi-frame unsupervised depth estimation framework, named PLPE-Depth. There are a depth estimation network and two pose estimation networks with image input and pseudo-LiDAR input. The main idea of our approach is to use the pseudo-LiDAR reconstructed from the depth map to estimate the pose of adjacent frames. We propose depth re-estimation with a better pose between the image pose and the pseudo-LiDAR pose to improve the accuracy of estimation. Besides, we improve the reconstruction loss and design a pseudo-LiDAR pose enhancement loss to facilitate the joint learning. Our approach enhances the use of the estimated depth information and strengthens the coupling between depth estimation and pose estimation. Experiments on the KITTI dataset show that our depth estimation achieves state-of-the-art performance at low resolution. Our source codes will be released on https://***/IRMVLabIPLPE-Depth.

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Unsupervised Learning of 3D Scene Flow from Monocular Camera

arXiv

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arXiv 2022年

作者： Wang, Guangming Tian, Xiaoyu Ding, Ruiqi Wang, Hesheng Department of Automation Institute of Medical Robotics Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai 200240 China

Scene flow represents the motion of points in the 3D space, which is the counterpart of the optical flow that represents the motion of pixels in the 2D image. However, it is difficult to obtain the ground truth of scene flow in the real scenes, and recent studies are based on synthetic data for training. Therefore, how to train a scene flow network with unsupervised methods based on real-world data shows crucial significance. A novel unsupervised learning method for scene flow is proposed in this paper, which utilizes the images of two consecutive frames taken by monocular camera without the ground truth of scene flow for training. Our method realizes the goal that training scene flow network with real-world data, which bridges the gap between training data and test data and broadens the scope of available data for training. Unsupervised learning of scene flow in this paper mainly consists of two parts: (i) depth estimation and camera pose estimation, and (ii) scene flow estimation based on four different loss functions. Depth estimation and camera pose estimation obtain the depth maps and camera pose between two consecutive frames, which provide further information for the next scene flow estimation. After that, we used depth consistency loss, dynamic-static consistency loss, Chamfer loss, and Laplacian regularization loss to carry out unsupervised training of the scene flow network. To our knowledge, this is the first paper that realizes the unsupervised learning of 3D scene flow from monocular camera. The experiment results on KITTI show that our method for unsupervised learning of scene flow meets great performance compared to traditional methods Iterative Closest Point (ICP) and Fast Global Registration (FGR). The source code is available at: https://***/IRMVLab/3DUnMonoFlow. Copyright © 2022, The Authors. All rights reserved.

关键词： Unsupervised learning

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3D Scene Flow Estimation on Pseudo-LiDAR: Bridging the Gap on Estimating Point Motion

arXiv

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arXiv 2022年

作者： Jiang, Chaokang Wang, Guangming Miao, Yanzi Wang, Hesheng Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China

3D scene flow characterizes how the points at the current time flow to the next time in the 3D Euclidean space, which possesses the capacity to infer autonomously the non-rigid motion of all objects in the scene. The previous methods for estimating scene flow from images have limitations, which split the holistic nature of 3D scene flow by estimating optical flow and disparity separately. Learning 3D scene flow from point clouds also faces the difficulties of the gap between synthesized and real data and the sparsity of LiDAR point clouds. In this paper, the generated dense depth map is utilized to obtain explicit 3D coordinates, which achieves direct learning of 3D scene flow from 2D images. The stability of the predicted scene flow is improved by introducing the dense nature of 2D pixels into the 3D space. Outliers in the generated 3D point cloud are removed by statistical methods to weaken the impact of noisy points on the 3D scene flow estimation task. Disparity consistency loss is proposed to achieve more effective unsupervised learning of 3D scene flow. The proposed method of self-supervised learning of 3D scene flow on real-world images is compared with a variety of methods for learning on the synthesized dataset and learning on LiDAR point clouds. The comparisons of multiple scene flow metrics are shown to demonstrate the effectiveness and superiority of introducing pseudo-LiDAR point cloud to scene flow estimation. © 2022, CC BY.

关键词： Three dimensional computer graphics

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