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SSRN 2023年

作者： Bojanic, David Bartol, Kristijan Forest, Josep Petkovic, Tomislav Pribanic, Tomislav University of Zagreb Faculty of Electrical Engineering and Computing Unska 3 Zagreb10000 Croatia TU Dresden Dresden01069 Germany University of Girona Computer Vision and Robotics Research Institute Plaça de Sant Domènec 3 Girona17004 Spain

Recent 3D registration methods are mostly learning-based that either find correspondences in feature space and match them, or directly estimate the registration transformation from the given point cloud features. Therefore, these feature based methods have difficulties with generalizing onto point clouds that differ substantially from their training data. We propose a simple featureless traditional 3D registration baseline method based on the weighted cross-correlation between two given point clouds. Our method achieves strong results on current benchmarking datasets, outperforming most deep-learning methods. We further propose a methodology to create a 3D registration benchmark, given a point cloud dataset, that provides a more informative evaluation of a method w.r.t. other benchmarks. We also propose to use the 3D registration parameter range of a benchmark as an indicator of its difficulty. Using this methodology, we create a novel FAUST-partial (FP) benchmark, based on the FAUST dataset, with several difficulty levels. The FP benchmark addresses the limitations of the current benchmarks: lack of data and parameter range variability, and allows to evaluate the strengths and weaknesses of a 3D registration method w.r.t. a single registration parameter. Using the new FP benchmark, we provide a thorough analysis of the current state-of-the-art methods. Our source code is available on GitHub. © 2023, The Authors. All rights reserved.

关键词： Deep learning

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Steering and Depth Control of an Underwater Robot Using Fuzzy-Like PD Controller

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IFAC Proceedings Volumes 2000年第21期33卷 239-244页

作者： I.S. Akkizidis G.N. Roberts P. Ridao J. Batlle Mechatronics Research Centre University of Wales College Newport Allt-yr-yn Campus PO Box 180 Newport South Wales NP9 5XR UK Computer Vision and Robotics Group Institute of Informatics and Applications Edifici Politècnica II Campus Montilivi 7071-Girona SPAIN

The design of a steering and depth control of an underwater vehicle is of interest from the point of view of motion stabilisation as well as manoeuvring performance. The paper describes how a Fuzzy-like Proportional Derivative Controller (Fuzzy-like PD Control) is used to control the course-changing and course-keeping tracking mission and motion of an underwater vehicle. The idea for this type of control architecture is to identify the optimum values, in terms of control performance and robustness, of the parameters of the F-like PD Controller. These parameters may be the scaling factors that are applied in the input/output of the PD part of the controller as well as the fuzzy sets of the fuzzy part of the controller. The values of the scaling factors for the error, the change-of-error and the control output are optimised based on experiments. In this work a method has been developed to control the yaw and depth of an underwater robot in terms of course-changing and course-keeping. The controller is synthesised in two parts. Firstly it is applied in horizontal xy and secondly in vertical xz surface. Experiments in a real environment were planned using the Taguchi Design of Experiments and performed to investigate the capabilities of the controller. The results are presented and analysed extensively.

关键词： Fuzzy like-PD Controller Yaw and Depth Control Taguchi Design of Experiments

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RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments

arXiv

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arXiv 2022年

作者： Han, Ruihua Wang, Shuai Wang, Shuaijun Zhang, Zeqing Zhang, Qianru Eldar, Yonina C. Hao, Qi Pan, Jia The Department of Computer Science and Engineering Southern University of Science and Technology Guangdong Shenzhen China The Department of Computer Science The University of Hong Kong Hong Kong Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Shenzhen China The Department of Computer Science and Engineering Harbin Institute of Technology Guangdong Shenzhen China The Weizmann Institute of Science Rehovot Israel The Department of Computer Science and Engineering The Shenzhen Key Laboratory of Robotics and Computer Vision The Sifakis Research Institute for Trustworthy Autonomous Systems Southern University of Science and Technology Guangdong Shenzhen China

Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures, resulting in excessive computation time. In this paper, we present an accelerated collision-free motion planner, namely regularized dual alternating direction method of multipliers (RDADMM or RDA for short), for the model predictive control (MPC) based motion planning problem. The proposed RDA addresses nonconvex motion planning via solving a smooth biconvex reformulation via duality and allows the collision avoidance constraints to be computed in parallel for each obstacle to reduce computation time significantly. We validate the performance of the RDA planner through path-tracking experiments with car-like robots in both simulation and real-world settings. Experimental results show that the proposed method generates smooth collision-free trajectories with less computation time compared with other benchmarks and performs robustly in cluttered environments. The source code is available at https://***/hanruihua/ RDA_planner. Copyright © 2022, The Authors. All rights reserved.

关键词： Motion planning

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Collaborative Multi-View Convolutions With Gating For Accurate And Fast Volumetric Medical Image Segmentation

Collaborative Multi-View Convolutions With Gating For Accura...

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IEEE International Symposium on Biomedical Imaging

作者： Cheng Li Jin Ye Junjun He Shanshan Wang Lixu Gu Yu Qiao Paul C. Lauterbur Research Center for Biomedical Imaging SIAT CAS Shenzhen China Shenzhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab SIAT CAS Shenzhen China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China School of Biomedical Engineering/the Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665412469;9781665429474

Due to their high capacity in capturing 3D spatial information, 3D Fully Convolutional Neural Networks (3D FCNs), especially 3D U-Net, are prevalent for volumetric medical image segmentation. However, 3D convolutions are much more computationally complex than 2D convolutions and thus, are more prone to overfitting. This paper proposes Collaborative Multi-View convolutions (CMV convs) that can keep the model complexity similar to those employing 2D convolutions while capturing the 3D spatial context like 3D convolutions. Specifically, CMV convs simultaneously extract information from three orthogonal views with three parameter-shared 2D convolutions. A Global-Guided Gating mechanism (3G) is further designed that selectively passes information from CMV convs to the next stage. Combined with 3G, a CMV conv become a G-CMV conv that constitutes a plug-and-play module, which can be easily integrated into various 3D CNNs for image segmentation. Extensive experiments utilizing BraTS18 dataset have been conducted. Our method achieves competitive results compared to state-of-the-art methods with over 10× fewer parameters than 3D-UNet.

关键词： Solid modeling Image segmentation Interpolation Three-dimensional displays Computational modeling Biological system modeling Collaboration

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Vehicular Multi-Camera Sensor System for Automated Visual Inspection of Electric Power Distribution Equipment

Vehicular Multi-Camera Sensor System for Automated Visual In...

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2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Jinsun Park Ukcheol Shin Gyumin Shim Kyungdon Joo Francois Rameau Junhyeok Kim Dong-Geol Choi In So Kweon Robotics and Computer Vision Laboratory School of Electrical Engineering KAIST Daejeon Republic of Korea Korea Electric Power Corporation Korea Electric Power Research Institute Daejeon Republic of Korea Department of Information and Communication Engineering Hanbat National University Daejeon Republic of Korea

In this paper, we present a multi-camera sensor system along with its control algorithm for automated visual inspection from a moving vehicle. To accomplish this task, we propose a unique hardware configuration consisting of a frontal stereo vision system, six lateral cameras motorized to tilt, and a GPS/IMU sensor mounted on the roof of a car. From the frontal stereo system, we detect electric poles and estimate their corresponding 3D positions. Based on this 3D estimation, the tilt angles of the motorized lateral cameras are controlled in real-time to capture high resolution images of the equipment - typically installed a few meters above the road surface. In addition, inertial odometry information from the GPS/IMU module is utilized for pose estimation, object localization, and re-identification among cameras. Experimental results demonstrate the efficiency and robustness of our system for automated electric equipment maintenance, which can reduce human effort significantly.

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Maize EfficientNet Fusion: Advancing Maize Disease Detection with MF-NET

Maize EfficientNet Fusion: Advancing Maize Disease Detection...

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Proceedings of the Digital Image Computing: Technqiues and Applications (DICTA)

作者： Fatima Khalid Muhammad Hanif Qurat Ul Ain Faculty of Computer Science and Engineering Ghulam Ishaq Khan Institute of Engineering Sciences and Engineering Topi KPK Pakistan Aerial Robotics and Vision Lab Ghulam Ishaq Khan Institute of Engineering Sciences and Engineering Topi KPK Pakistan Department of Computing Shifa Tameer-E-Millat University Islamabad Pakistan

ISBN: (数字)9798350379037

ISBN: (纸本)9798350379044

Maize is a vital global crop, essential for food security but highly susceptible to diseases that threaten yield and quality. Traditional methods for detecting these diseases are computationally intensive and rely on high-quality images, limiting their practical use in diverse field conditions. This research addresses these challenges by proposing MF-Net, a novel model that leverages two EfficientNet-b0 architectures with ReLU and Swish activation functions. Our approach involves partially training Model R with frozen early layers using ReLU, and fully training Model S with Swish activation for enhanced optimization and robustness. We employ model concatenation and feature fusion techniques to create a lightweight yet powerful model, complemented by additional layers for improved feature extraction and regularization. Experimental results on the Corn Disease and Severity (CD&S) dataset are compelling: MF-Net achieves a remarkable 95.7% accuracy and 96% precision in disease classification, and 88.3% accuracy and 88.46% precision in severity level detection. These results highlight the model's effectiveness under challenging conditions such as cluttered backgrounds and variable lighting, significantly reducing computation time without compromising accuracy. Hence, MF-Net presents an innovative and efficient solution for maize disease detection and severity assessment, offering significant advancements for agricultural practices and crop management.

关键词： Training Adaptation models Accuracy Computational modeling Crops Lighting computer architecture Feature extraction Robustness Diseases

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Context-transformer: Tackling object confusion for few-shot detection

arXiv

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arXiv 2020年

作者： Yang, Ze Wang, Yali Chen, Xianyu Liu, Jianzhuang Qiao, Yu ShenZhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab. Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Huawei Noah’s Ark Lab. SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society

Few-shot object detection is a challenging but realistic scenario, where only a few annotated training images are available for training detectors. A popular approach to handle this problem is transfer learning, i.e., fine-tuning a detector pretrained on a source-domain benchmark. However, such transferred detector often fails to recognize new objects in the target domain, due to low data diversity of training samples. To tackle this problem, we propose a novel Context-Transformer within a concise deep transfer framework. Specifically, Context-Transformer can effectively leverage source-domain object knowledge as guidance, and automatically exploit contexts from only a few training images in the target domain. Subsequently, it can adaptively integrate these relational clues to enhance the discriminative power of detector, in order to reduce object confusion in few-shot scenarios. Moreover, Context-Transformer is flexibly embedded in the popular SSD-style detectors, which makes it a plug-and-play module for end-to-end few-shot learning. Finally, we evaluate Context-Transformer on the challenging settings of few-shot detection and incremental few-shot detection. The experimental results show that, our framework outperforms the recent state-of-the-art approaches. The codes are available at https://***/Ze-Yang/ContextTransformer. Copyright © 2020, The Authors. All rights reserved.

关键词： Object detection

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Risk Estimation for ICU Patients with Personalized Anomaly-Encoded Bedside Patient Data

Risk Estimation for ICU Patients with Personalized Anomaly-E...

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

作者： Kai Wu Ee Heng Chen Felix Wirth Keti Vitanova Rüdiger Lange Darius Burschka German Heart Center Munich Munich Germany Department of Computer Engineering Machine Vision and Perception Group TUM School of Computation Information and Technology Technical University of Munich Garching Germany MIRMI - Munich Institute of Robotics and Machine Intelligence Technical University of Munich Munich

We propose a novel framework to estimate intensive care unit patients' health risk continuously with anomaly-encoded patient data. This framework consists of two modules. In the first module, we use Gaussian process models to learn change trend and day-night circulation in temporal patient data and annotate abnormal data. Such models provide dynamically adaptable bedside patient monitoring instead of conventional threshold-based monitoring. In the second module, we use the abnormal data together with the learned Gaussian models to estimate patients' risk level by predicting their in-hospital mortality and remaining length of stay in ICU ward. We show that prediction models with anomaly-encoded data have better performance than those with raw patient measurements, and they are comparable with state-of-art prediction models.

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Fast Candidate Region Extraction for SAR Ship Target

Fast Candidate Region Extraction for SAR Ship Target

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Youth Academic Annual Conference of Chinese Association of Automation (YAC)

作者： Panpan Zhang Haibo Luo Zheng Xu Miao He Shenyang Institute of Automation Shenyang China Institutes for Robotics and Intelligent Manufacturing Shenyang China University of Chinese Academy of Sciences Beijing China Key Laboratory of Opto-Electronic Information Processing Shenyang China The Key Lab of Image Understanding and Computer Vision Shenyang China

ISBN: (纸本)9781665465373

At present, deep learning technology is widely used in ship target detection in synthetic aperture radar (SAR) images. However, high-resolution remote sensing SAR images cover a larger area and have larger image sizes. To be able to use the deep learning model for training and testing, the image needs to be cropped to the appropriate size. In a high-resolution SAR ship image, the ship target usually takes only a small part of the whole image. As a result, only part of the cropped image contains the target, and most of the rest are background regions. This will cause a lot of computational redundancy in the model inference stage. To solve this problem, a fast candidate region extraction algorithm is proposed in this paper for ship target extraction. The algorithm consists of three parts: firstly, extract the saliency map of the SAR ship image, secondly, perform median filtering on the segmented image, and thirdly, extract candidate regions. The superiority of the algorithm was demonstrated by experiments on the AIR-SARShip-1.0 dataset.

关键词： Deep learning Training Redundancy Radar polarimetry Inference algorithms Indexes Marine vehicles

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RTM3D: Real-time monocular 3D detection from object keypoints for autonomous driving

arXiv

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arXiv 2020年

作者： Li, Peixuan Zhao, Huaici Liu, Pengfei Cao, Feidao Shenyang Institute of Automation Chinese Academy of Sciences Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences University of Chinese Academy of Sciences Key Laboratory of Opto-Electronic Information Processing Chinese Academy of Sciences Key Lab of Image Understanding and Computer Vision Liaoning Province

In this work, we propose an efficient and accurate monocular 3D detection framework in single shot. Most successful 3D detectors take the projection constraint from the 3D bounding box to the 2D box as an important component. Four edges of a 2D box provide only four constraints and the performance deteriorates dramatically with the small error of the 2D detector. Different from these approaches, our method predicts the nine perspective keypoints of a 3D bounding box in image space, and then utilize the geometric relationship of 3D and 2D perspectives to recover the dimension, location, and orientation in 3D space. In this method, the properties of the object can be predicted stably even when the estimation of keypoints is very noisy, which enables us to obtain fast detection speed with a small architecture. Training our method only uses the 3D properties of the object without the need for external networks or supervision data. Our method is the first real-time system for monocular image 3D detection while achieves state-ofthe-art performance on the KITTI benchmark. Code will be released at https://***/Banconxuan/RTM3D. Copyright © 2020, The Authors. All rights reserved.

关键词： Real time systems

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