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

作者： Ariella Mansfield Douglas G. Macharet M. Ani Hsieh GRASP Laboratory University of Pennsylvania Philadelphia USA Department of Computer Science Computer Vision and Robotics Laboratory (VeRLab) Universidade Federal de Minas Gerais MG Brazil

Autonomous Marine Vehicles (AMVs) have gained interest for scientific and commercial applications, including pipeline and algae bloom monitoring, contaminant tracking, and ocean debris removal. The Team Orienteering Problem (TOP) is relevant in this context as Multi-Robot Systems (MRSs) allow for better coverage of the area of interest, simultaneous data collection at different locations, and an increase in the overall robustness and efficiency of the mission. However, route planning for AMVs in dynamic ocean environments is challenging due to the coupling of environmental and vehicle dynamics. We propose a multi-objective formulation that accounts for the trade-offs between visiting multiple task locations and energy consumption by the vehicles subject to a time budget. This work focuses on vehicles that can maintain a constant net speed but can be adapted to vehicles with constant thrust. Different from existing approaches, our method is able to leverage time-varying ocean currents to improve the energy efficiency of resulting routes. We validate our approach experimentally by superimposing ocean flow models with benchmark instances of the TOP.

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Expression-Aware Masking and Progressive Decoupling for Cross-Database Facial Expression Recognition

Expression-Aware Masking and Progressive Decoupling for Cros...

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International Conference on Automatic Face and Gesture Recognition

作者： Tao Zhong Xiaole Xian Zihan Wang Weicheng Xie Linlin Shen Computer Vision Institute School of Computer Science & Software Engineering Shenzhen University Shenzhen Institute of Artificial Intelligence and Robotics for Society Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University

ISBN: (数字)9798350394948

ISBN: (纸本)9798350394955

Cross-database facial expression recognition (CD-FER) has been widely studied due to its promising applicability in real-life situations, while the generalization performance is the main concern in this task. For improving cross-database generalization, current works frequently resort to masked auto encoder (MAE) to learn the expression representation in an unsupervised manner, and disentanglement of expression and domain features. (i) For MAE, current algorithms mainly employ random masking, and leverage the reconstruction of these masked regions to enable networks to learn the expression representation. However, these masked regions are expression-irrelevant, can not well reflect the characteristics of expression, thus are not efficient enough in representation learning. To this end, we propose an expression-aware masking in MAE to improve the learning efficiency of expression representation, by guiding MAE to mask out expression-aware regions during training. (ii) For disentanglement of expression and domain features, current algorithms realize it mainly in the deep layers. However, the coupling of these features in the shallow layers are rarely concerned, which may largely affect the disentanglement performance in deep layers. Thus, we propose a progressive decoupler to disentangle these features block by block, to use the feature disentanglement in shallow layers to facilitate that in deep layers. Extensive quantitative and qualitative results on multiple expression datasets show that our method can largely outperform the state of the arts in terms of cross-database generalization performance.

关键词： Training Representation learning Couplings Face recognition Gesture recognition Task analysis

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GV-Bench: Benchmarking Local Feature Matching for Geometric Verification of Long-term Loop Closure Detection

GV-Bench: Benchmarking Local Feature Matching for Geometric ...

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

作者： Jingwen Yu Hanjing Ye Jianhao Jiao Ping Tan Hong Zhang The Hong Kong University of Science and Technology Hong Kong SAR China Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China Department of Computer Science University College London London The United Kingdom

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Visual loop closure detection is an important module in visual simultaneous localization and mapping (SLAM), which associates current camera observation with previously visited places. Loop closures correct drifts in trajectory estimation to build a globally consistent map. However, a false loop closure can be fatal, so verification is required as an additional step to ensure robustness by rejecting the false positive loops. Geometric verification has been a well-acknowledged solution that leverages spatial clues provided by local feature matching to find true positives. Existing feature matching methods focus on homography and pose estimation in long-term visual localization, lacking references for geometric verification. To fill the gap, this paper proposes a unified benchmark targeting geometric verification of loop closure detection under long-term conditional variations. Furthermore, we evaluate six representative local feature matching methods (handcrafted and learning-based) under the benchmark, with in-depth analysis for limitations and future directions.

关键词： Location awareness Visualization Simultaneous localization and mapping Pose estimation Benchmark testing Feature extraction Cameras Robustness Trajectory Intelligent robots

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HeRo 2.0: A Low-Cost Robot for Swarm robotics Research

arXiv

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arXiv 2022年

作者： Rezeck, Paulo Azpúrua, Héctor Corrêa, Maurício F.S. Chaimowicz, Luiz Graduate Program in Computer Science Computer Vision and Robotics Laboratory Department of Computer Science Universidade Federal de Minas Gerais Brazil Instituto Tecnológico Vale MG Ouro Preto Brazil Vision and Robotics Laboratory Department of Computer Science Universidade Federal de Minas Gerais Brazil Computer Vision and Robotics Laboratory Department of Computer Science Universidade Federal de Minas Gerais Brazil

The current state of electronic component miniaturization coupled with the increasing efficiency in hardware and software allow the development of smaller and compact robotic systems. The convenience of using these small, simple, yet capable robots has gathered the research community's attention towards practical applications of swarm robotics. This paper presents the design of a novel platform for swarm robotics applications that is low cost, easy to assemble using off-the-shelf components, and deeply integrated with the most used robotic framework available today: ROS (Robot Operating System). The robotic platform is entirely open, composed of a 3D printed body and open-source software. We describe its architecture, present its main features, and evaluate its functionalities executing experiments using a couple of robots. Results demonstrate that the proposed mobile robot is very effective given its small size and reduced cost, being suitable for swarm robotics research and education. © 2022, CC BY.

关键词： Swarm intelligence

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GV-Bench: Benchmarking Local Feature Matching for Geometric Verification of Long-term Loop Closure Detection

arXiv

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arXiv 2024年

作者： Yu, Jingwen Ye, Hanjing Jiao, Jianhao Tan, Ping Zhang, Hong The Hong Kong University of Science and Technology Hong Kong Hong Kong Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China Department of Computer Science University College London London United Kingdom

关键词： Geometry

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Task-Oriented Grasp Prediction with Visual-Language Inputs

arXiv

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arXiv 2023年

作者： Tang, Chao Huang, Dehao Meng, Lingxiao Liu, Weiyu Zhang, Hong Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China Institute for Robotics and Intelligent Machines Georgia Institute of Technology Atlanta United States

To perform household tasks, assistive robots receive commands in the form of user language instructions for tool manipulation. The initial stage involves selecting the intended tool (i.e., object grounding) and grasping it in a task-oriented manner (i.e., task grounding). Nevertheless, prior researches on visual-language grasping (VLG) focus on object grounding, while disregarding the fine-grained impact of tasks on object grasping. Task-incompatible grasping of a tool will inevitably limit the success of subsequent manipulation steps. Motivated by this problem, this paper proposes GraspCLIP, which addresses the challenge of task grounding in addition to object grounding to enable task-oriented grasp prediction with visual-language inputs. Evaluation on a custom dataset demonstrates that GraspCLIP achieves superior performance over established baselines with object grounding only. The effectiveness of the proposed method is further validated on an assistive robotic arm platform for grasping previously unseen kitchen tools given the task specification. Our presentation video is available at: https://***/watch?v=e1wfYQPeAXU. Copyright © 2023, The Authors. All rights reserved.

关键词： Visual languages

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HairDiffusion: vivid multi-colored hair editing via latent diffusion 24

HairDiffusion: vivid multi-colored hair editing via latent d...

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Proceedings of the 38th International Conference on Neural Information Processing Systems

作者： Yu Zeng Yang Zhang Jiachen Liu Linlin Shen Kaijun Deng Weizhao He Jinbao Wang Computer Vision Institute School of Computer Science & Software Engineering Shenzhen University Computer Vision Institute School of Computer Science & Software Engineering Shenzhen University and Shenzhen Institute of Artificial Intelligence and Robotics for Society and National Engineering Laboratory for Big Data System Computing Technology Shenzhen University National Engineering Laboratory for Big Data System Computing Technology Shenzhen University and Guangdong Provincial Key Laboratory of Intelligent Information Processing

ISBN: (纸本)9798331314385

Hair editing is a critical image synthesis task that aims to edit hair color and hairstyle using text descriptions or reference images, while preserving irrelevant attributes (e.g., identity, background, cloth). Many existing methods are based on StyleGAN to address this task. However, due to the limited spatial distribution of StyleGAN, it struggles with multiple hair color editing and facial preservation. Considering the advancements in diffusion models, we utilize Latent Diffusion Models (LDMs) for hairstyle editing. Our approach introduces Multi-stage Hairstyle Blend (MHB), effectively separating control of hair color and hairstyle in diffusion latent space. Additionally, we train a warping module to align the hair color with the target region. To further enhance multi-color hairstyle editing, we fine-tuned a CLIP model using a multi-color hairstyle dataset. Our method not only tackles the complexity of multi-color hairstyles but also addresses the challenge of preserving original colors during diffusion editing. Extensive experiments showcase the superiority of our method in editing multi-color hairstyles while preserving facial attributes given textual descriptions and reference images.

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Multi-Scale Point Octree Encoding Network for Point Cloud Based Place Recognition

Multi-Scale Point Octree Encoding Network for Point Cloud Ba...

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

作者： Zhilong Tang Hanjing Ye Hong Zhang Department of Electrical and Electronic Engineering Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology (SUSTech) SUSTech Shenzhen China

Over the past decades, point cloud-based place recognition has garnered significant attention. This research paper presents a pioneering approach, denoted as the Multi-scale Point Octree Encoding Network (MPOE-Net), designed to acquire a discriminative global descriptor for efficient retrieval of places. The key element of the MPOE-Net is the point octree encoding module, which adeptly captures local information for each point by considering its nearest and farthest neighbors. Further enhancing local relationships, a multi-transformer network is introduced, utilizing a novel grouped offset-attention mechanism. To amalgamate the multi-scale attention maps into a comprehensive global descriptor, a multi-NetVLAD layer is incorporated. Through rigorous experimentation across diverse benchmark datasets, our proposed method unequivocally outperforms existing techniques in the realm of point cloud-based place recognition tasks, achieving state-of-the-art results. Our code is released publicly at https://***/Zhilong-Tang/MPOE-Net.

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Robot Person Following Under Partial Occlusion

Robot Person Following Under Partial Occlusion

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IEEE International Conference on robotics and Automation (ICRA)

作者： Hanjing Ye Jieting Zhao Yaling Pan Weinan Cherr Li He Hong Zhang Department of Electronic and Electrical Engineering Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology (SUSTech) SUSTech Biomimetic and Intelligent Robotics Lab Guangdong University of Technology

Robot person following (RPF) is a capability that supports many useful human-robot-interaction (HRI) applications. However, existing solutions to person following often as-sume full observation of the tracked person. As a consequence, they cannot track the person reliably under partial occlusion where the assumption of full observation is not satisfied. In this paper, we focus on the problem of robot person following under partial occlusion caused by a limited field of view of a monocular camera. Based on the key insight that it is possible to locate the target person when one or more of hislher joints are visible, we propose a method in which each visible joint contributes a location estimate of the followed person. Experiments on a public person-following dataset show that, even under partial occlusion, the proposed method can still locate the person more reliably than the existing SOTA methods. As well, the application of our method is demonstrated in real experiments on a mobile robot.

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LiDAR-based drone navigation with reinforcement learning

TechRxiv

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TechRxiv 2023年

作者： Miera, Pawel Szolc, Hubert Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Al. Mickiewicza 30 Krakow30-059 Poland

Reinforcement learning is of increasing importance in the field of robot control and simulation plays a key role in this process. In the unmanned aerial vehicles (UAVs, drones), there is also an increase in the number of published scientific papers involving this approach. In this work, an autonomous drone control system was prepared to fly forward (according to its coordinates system) and pass the trees encountered in the forest based on the data from a rotating LiDAR sensor. The Proximal Policy Optimization (PPO) algorithm, an example of reinforcement learning (RL), was used to prepare it. A custom simulator in the Python language was developed for this purpose. The Gazebo environment, integrated with the Robot Operating System (ROS), was also used to test the resulting control algorithm. Finally, the prepared solution was implemented in the Nvidia Jetson Nano eGPU and verified in the real tests scenarios. During them, the drone successfully completed the set task and was able to repeatably avoid trees and fly through the forest. © 2023, CC BY.

关键词： Drones

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