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arXiv 2021年

作者： Martinez-Gonzalez, Pablo Oprea, Sergiu Castro-Vargas, John Alejandro Garcia-Garcia, Alberto Orts-Escolano, Sergio Garcia-Rodriguez, Jose Vincze, Markus Department of Computer Technology University of Alicante Spain Department of Computer Science and Artificial Intelligence University of Alicante Spain Spain Vision for Robotics Laboratory Tu Wien Austria

Synthetic data generation has become essential in last years for feeding data-driven algorithms, which surpassed traditional techniques performance in almost every computer vision problem. Gathering and labelling the amount of data needed for these data-hungry models in the real world may become unfeasible and error-prone, while synthetic data give us the possibility of generating huge amounts of data with pixel-perfect annotations. However, most synthetic datasets lack from enough realism in their rendered images. In that context UnrealROX generation tool was presented in 2019, allowing to generate highly realistic data, at high resolutions and framerates, with an efficient pipeline based on Unreal Engine, a cutting-edge videogame engine. UnrealROX enabled robotic vision researchers to generate realistic and visually plausible data with full ground truth for a wide variety of problems such as class and instance semantic segmentation, object detection, depth estimation, visual grasping, and navigation. Nevertheless, its workflow was very tied to generate image sequences from a robotic on-board camera, making hard to generate data for other purposes. In this work, we present UnrealROX+, an improved version of UnrealROX where its decoupled and easy-to-use data acquisition system allows to quickly design and generate data in a much more flexible and customizable way. Moreover, it is packaged as an Unreal plug-in, which makes it more comfortable to use with already existing Unreal projects, and it also includes new features such as generating albedo or a Python API for interacting with the virtual environment from Deep Learning frameworks. © 2021, CC BY-SA.

关键词： computer vision

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NavCoT: Boosting LLM-Based vision-and-Language Navigation via Learning Disentangled Reasoning

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IEEE Transactions on Pattern Analysis and Machine Intelligence 2025年第7期47卷 5945-5957页

作者： Bingqian Lin Yunshuang Nie Ziming Wei Jiaqi Chen Shikui Ma Jianhua Han Hang Xu Xiaojun Chang Xiaodan Liang Shenzhen Campus Sun Yat-sen University Shenzhen China Shanghai Jiao Tong University Shanghai China University of Hong Kong Pok Fu Lam Hong Kong Dataa Robotics Company Beijing China Huawei Noah's Ark Lab Shanghai China School of Information Science and Technology University of Science and Technology of China Hefei China Department of Computer Vision Mohamed bin Zayed University of Artificial Intelligence (MBZUAI) Abu Dhabi UAE Peng Cheng Laboratory Shenzhen China Guangdong Key Laboratory of Big Data Analysis and Processing Guangzhou China

vision-and-Language Navigation (VLN), as a crucial research problem of Embodied AI, requires an embodied agent to navigate through complex 3D environments following natural language instructions. Recent research has highlighted the promising capacity of large language models (LLMs) in VLN by improving navigational reasoning accuracy and interpretability. However, their predominant use in an offline manner usually suffers from substantial domain gap between the VLN task and the LLM training corpus. This paper proposes a novel strategy called Nav igational C hain- o f- T hought (NavCoT), where we fulfill parameter-efficient in-domain training to enable self-guided navigational decision, leading to a significant mitigation of the domain gap in a cost-effective manner. Specifically, at each timestep, the LLM is prompted to forecast the navigational chain-of-thought by: 1) acting as a world model to imagine the next observation according to the instruction, 2) selecting the candidate observation that best aligns with the imagination, and 3) determining the action based on the reasoning from the prior steps. In this way, the action prediction can be effectively simplified benefiting from the disentangled reasoning. Through constructing formalized labels for training, the LLM can learn to generate desired and reasonable chain-of-thought outputs for improving the action decision. Experimental results across various training settings and popular VLN benchmarks (e.g., Room-to-Room (R2R), Room-across-Room (RxR), Room-for-Room (R4R)) show the significant superiority of NavCoT over the direct action prediction variants. Through simple parameter-efficient finetuning, our NavCoT outperforms a recent GPT4-based approach with $\sim$ 7% relative improvement on the R2R dataset. We believe that NavCoT will help unlock more task-adaptive and scalable LLM-based embodied agents, which are helpful for developing real-world robotics applications.

关键词： Navigation Cognition Training Scalability Glass Planning Large language models History Electronic mail Visualization

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UniTSFace: Unified Threshold Integrated Sample-to-Sample Loss for Face Recognition

arXiv

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arXiv 2023年

作者： Li, Qiufu Jia, Xi Zhou, Jiancan Shen, Linlin Duan, Jinming National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Computer Vision Institute Shenzhen University China School of Computer Science University of Birmingham United Kingdom Aqara Lumi United Technology Co. Ltd China Alan Turing Institute United Kingdom SZU Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society China

Sample-to-class-based face recognition models can not fully explore the cross-sample relationship among large amounts of facial images, while sample-to-sample-based models require sophisticated pairing processes for training. Furthermore, neither method satisfies the requirements of real-world face verification applications, which expect a unified threshold separating positive from negative facial pairs. In this paper, we propose a unified threshold integrated sample-to-sample based loss (USS loss), which features an explicit unified threshold for distinguishing positive from negative pairs. Inspired by our USS loss, we also derive the sample-to-sample based softmax and BCE losses, and discuss their relationship. Extensive evaluation on multiple benchmark datasets, including MFR, IJB-C, LFW, CFP-FP, AgeDB, and MegaFace, demonstrates that the proposed USS loss is highly efficient and can work seamlessly with sample-to-class-based losses. The embedded loss (USS and sample-to-class Softmax loss) overcomes the pitfalls of previous approaches and the trained facial model UniTSFace exhibits exceptional performance, outperforming state-of-the-art methods, such as CosFace, ArcFace, VPL, AnchorFace, and UNPG. Our code is available at https://***/CVI-SZU/UniTSFace. © 2023, CC BY.

关键词： Face recognition

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Online Refinement of Low-level Feature Based Activation Map for Weakly Supervised Object Localization

Online Refinement of Low-level Feature Based Activation Map ...

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International Conference on computer vision (ICCV)

作者： Jinheng Xie Cheng Luo Xiangping Zhu Ziqi Jin Weizeng Lu Linlin Shen Shenzhen Institute of Artificial Intelligence of Robotics of Society Guangdong Key Laboratory of Intelligent Information Processing Computer Vision Institute School of Computer Science & Software Engineering Shenzhen University

ISBN: (纸本)9781665428132

We present a two-stage learning framework for weakly supervised object localization (WSOL). While most previous efforts rely on high-level feature based CAMs (Class Activation Maps), this paper proposes to localize objects using the low-level feature based activation maps. In the first stage, an activation map generator produces activation maps based on the low-level feature maps in the classifier, such that rich contextual object information is included in an online manner. In the second stage, we employ an evaluator to evaluate the activation maps predicted by the activation map generator. Based on this, we further propose a weighted entropy loss, an attentive erasing, and an area loss to drive the activation map generator to substantially reduce the uncertainty of activations between object and background, and explore less discriminative regions. Based on the low-level object information preserved in the first stage, the second stage model gradually generates a well-separated, complete, and compact activation map of object in the image, which can be easily thresholded for accurate localization. Extensive experiments on CUB-200-2011 and ImageNet-1K datasets show that our framework surpasses previous methods by a large margin, which sets a new state-of-the-art for WSOL. Code will be available soon.

关键词： Location awareness computer vision Uncertainty Codes Drives Generators Entropy

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Data-Driven Analysis of Skin Cancer Classification with Convolutional Neural Networks for E-Health Applications

Data-Driven Analysis of Skin Cancer Classification with Conv...

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IEEE Conference on Global Communications (GLOBECOM)

作者： Imran Ahmed Misbah Ahmad Abdellah Chehri Gwanggil Jeon School of Computing and Information Science Anglia Ruskin University Cambridge UK Animal and Agriculture Department Hartpury University Gloucester UK Centre for Machine Vision Bristol Robotics Laboratory University of the West of England Bristol UK Department of Mathematics and Computer Science The Royal Military College of Canada (RMC) Canada Department of Embedded Systems Engineering Incheon National University Incheon Korea

ISBN: (数字)9798350351255

ISBN: (纸本)9798350351262

This study explores the effectiveness of Convolutional Neural Networks (CNNs) in automatically classifying skin cancer for e-health applications. The trained model showcases impressive performance by leveraging the HAM10000 dataset, which includes a wide range of skin lesion images from seven different classes. The parameters and architecture of the CNN model are presented in a systematic manner, providing valuable insights into the reasoning behind its design. The model is optimized using the Adam optimizer and annealing techniques to ensure efficient convergence. The model’s performance is assessed on validation and test datasets, showcasing an accuracy of 78.55% and 76.49%, respectively, for skin cancer classification. This study highlights the significant potential of CNN as a powerful tool for automating the diagnosis of skin cancer, which is in line with the growing trend of using deep learning for medical image analysis.

关键词： Deep learning Systematics Image analysis Market research Skin Convolutional neural networks Lesions Global communication Medical diagnostic imaging Skin cancer

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A Routing-based Strategy to Socially Approach Multiple Individuals in Cluttered Environments

A Routing-based Strategy to Socially Approach Multiple Indiv...

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IEEE Latin American robotics Symposium, LARS

作者： Aline F. F. Silva Douglas G. Macharet Department of Computer Science Computer Vision and Robotics Laboratory (VeRLab) Universidade Federal de Minas Gerais Brazil Laboratório de Inteligência Computacional e Robótica (LICRo) Instituto Federal do Triângulo Mineiro (IFTM) Campus Patrocínio Brazil

ISBN: (数字)9781665462808

ISBN: (纸本)9781665462815

The use of autonomous mobile robots is expected to continue increasing in different parts of society in the next years. In this context, when not restricted to industrial environments only, it is essential to provide such devices with the ability to behave in a so-called socially acceptable manner. In the Human-Robot Interaction (HRI) field, a fundamental problem is to approach people, i.e., try to initiate and maintain an interaction. This task involves different challenges since some implicit nonverbal social rules must be respected, especially those concerning people's personal spaces (called proxemics). Considering the presence of multiple individuals to be approached, a combinatorial optimization aspect must also be tackled, where an optimal sequence of visits must be selected. In this paper, we formulate this problem as a Generalized Travelling Salesman Problem (GTSP) and combine it with a Probabilistic Roadmap (PRM) planner in order to account for obstacles in the environment. Numerical simulations show that the methodology produces length-optimized paths that are feasible, safe, and respect the social conventions.

关键词： Conferences Education Human-robot interaction Probabilistic logic Numerical simulation Space exploration Mobile robots

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Toward AI-Powered Edge Intelligence for Object Detection in Self-Driving Cars: Enhancing IoV Efficiency and Safety

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IEEE Internet of Things Journal 2025年第11期12卷 16990-16997页

作者： Imran Ahmed Misbah Ahmad Muftooh Ur Rehman Siddiqi Abdellah Chehri Gwangill Jeon School of Computing and Information Science Anglia Ruskin University Cambridge U.K. Centre for Machine Vision Bristol Robotics Laboratory University of the West of England Bristol U.K. Department of Animal and Agriculture Hartpury University Gloucester U.K. College of Engineering and Physical Sciences Aston University Birmingham U.K. Department of Mathematics and Computer Science Royal Military College of Canada Kingston ON Canada Department of Embedded Systems Engineering Incheon National University Incheon South Korea

In the rapidly advancing field of intelligent transportation systems, integrating artificial intelligence (AI) with edge computing presents a promising way to enhance the safety and efficiency of the Internet of Vehicles (IoV). This study explores and presents a deep learning-based object detection model within an edge computing framework which aims to facilitate real time object detection in self driving cars. Using an urban traffic scenarios-based dataset, our research shows the ability of the model to accurately detect and classify various objects important for autonomous driving. The YOLOv8 model is used in this work due to its optimal balance between accuracy and computational efficiency. This model has also demonstrated its worth by achieving good performance results, including an average precision of 0.79, a recall of 0.62, and an F1-score of 0.69. The results are demonstrated by a detailed confusion matrix, highlighting the model’s effectiveness in complex driving environments and underscoring its reliability for in-vehicle deployment. By implementing AI directly on edge devices within vehicles, our approach might be helpful in significantly reducing latency, boosting decision-making speed, and enhancing data privacy by minimising dependence on cloud processing. The findings not only support the model’s capabilities but also illustrate the practical benefits of edge intelligence in autonomous vehicles. These benefits, such as faster decision making and improved data privacy, contribute effectively to the IoV infrastructure. This study marks a substantial step toward recognizing the possibility of AI-enhanced edge computing in driving the next generation of autonomous vehicle technology.

关键词： Computational modeling Object detection Edge computing Image edge detection Artificial intelligence computer architecture Data models Accuracy Servers Safety

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Classifying Cover Crop Residue from RGB Images: A Simple SVM versus a SVM Ensemble

Classifying Cover Crop Residue from RGB Images: A Simple SVM...

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Parth C. Upadhyay Lokesh Karanam John A. Lory Guilherme N. DeSouza Vision-Guided and Intelligent Robotics (ViGIR) Laboratory Department of Electrical Engineering and Computer Science (EECS) Division of Plant Sciences University of Missouri Columbia MO

ISBN: (纸本)9781728190495

Plant-derived crop residue on soil surface provides many important advantages including preventing erosion and conserving soil moisture. In that sense, making accurate determination on the percent of crop residue cover using RGB images can be a fundamental tool in protecting the soil. In our research, we approach the determination of such percentages as a classification problem, and in this paper, we compare two of these approaches. Both approaches relied on support vector machines (SVM) as the classifier of choice, and the same set of features, which were selected in our previous studies on the same topic. In this paper we developed a SVM ensemble with a hierarchical structure and compared it against a single, multi-class SVM classifier. In the SVM ensemble framework, four two-class SVMs and one five-class SVM were combined in sequence to better separate adjacent levels of residue cover. The rationale of the ensemble was to allow each of the two-class SVMs to find the hyperplanes that maximize the margin between the corresponding two consecutive classes. Then, based on the distance of the samples to these hyperplanes, probabilistic estimates of the data-point belonging to the class were computed and added as extra inputs for the last SVM. In order to enhance the performance of the ensemble, other considerations such as the use of Grid Search method for optimizing the hyperparameters were employed in the tuning of the SVMs. Numerical experiments were conducted over a dataset of 4,400 images, which were collected from 88 locations in 40 row crop fields in five Missouri counties between mid-April and early July in 2018 and 2019. The images were collected using a camera mounted on a tripod, with a spatial resolution of 0.014 cm pixel- 1 GSD (Ground Sampling Distance). The experiments highlighted the better performance of the proposed hierarchical ensemble classifier, which achieved a cross-validation accuracy of 86.3 % vs an accuracy of 80.4 % for the single SVM, whil

关键词： Support vector machines Measurement Training Search methods Soil moisture Crops Probabilistic logic

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InOR-Net: Incremental 3D Object Recognition Network for Point Cloud Representation

arXiv

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arXiv 2023年

作者： Dong, Jiahua Cong, Yang Sun, Gan Wang, Lixu Lyu, Lingjuan Li, Jun Konukoglu, Ender The State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China The University of Chinese Academy of Sciences Beijing100049 China The Computer Science Department Northwestern University Evanston United States The Sony AI Tokyo108-0075 Japan The School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing210094 China The Computer Vision Lab ETH Zurich Zürich8092 Switzerland

3D object recognition has successfully become an appealing research topic in the real-world. However, most existing recognition models unreasonably assume that the categories of 3D objects cannot change over time in the real-world. This unrealistic assumption may result in significant performance degradation for them to learn new classes of 3D objects consecutively, due to the catastrophic forgetting on old learned classes. Moreover, they cannot explore which 3D geometric characteristics are essential to alleviate the catastrophic forgetting on old classes of 3D objects. To tackle the above challenges, we develop a novel Incremental 3D Object Recognition Network (i.e., InOR-Net), which could recognize new classes of 3D objects continuously via overcoming the catastrophic forgetting on old classes. Specifically, a category-guided geometric reasoning is proposed to reason local geometric structures with distinctive 3D characteristics of each class by leveraging intrinsic category information. We then propose a novel critic-induced geometric attention mechanism to distinguish which 3D geometric characteristics within each class are beneficial to overcome the catastrophic forgetting on old classes of 3D objects, while preventing the negative influence of useless 3D characteristics. In addition, a dual adaptive fairness compensations strategy is designed to overcome the forgetting brought by class imbalance, by compensating biased weights and predictions of the classifier. Comparison experiments verify the state-of-the-art performance of the proposed InOR-Net model on several public point cloud datasets. Copyright © 2023, The Authors. All rights reserved.

关键词： Object recognition

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Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

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Journal of Bionic Engineering 2020年第6期17卷 1163-1174页

作者： Ning Li Tie Yang Yang Yang Peng Yu Xiujuan Xue Xingang Zhao Guoli Song Imad HElhajj Wenxue Wang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Itelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Bejing 100049China Rehabilitation Center for the Disabled Shenyang 110015China Vision and Robotics Lab Department of Electrical and Computer EngineeringAmerican University of BeirutBeirut 11072020Lebanon Emerging Technologies Instinute Department of Industrial&Manufacturing Systems EngineeringUniversity of Hong KongPokfulamHong Kong 999077China

Exoskeleton robots have demonstrated the potential to rehabilitate stroke ***,poor human-machine physiological coupling causes unexpected damage to human of muscles and ***,inferior humanoid kinematics control would restrict human natural *** to deal with these problems results in bottlenecks and hinders its *** this paper,the simplified muscle model and muscle-liked kinematics model were proposed,based on which a soft wrist exoskeleton was established to realize natural human ***,we simplified the redundant muscular system related to the wrist joint from ten muscles to four,so as to realize the human-robot physiological ***,according to the above human-like musculoskeletal model,the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the *** results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3%and 35.6%,***,the humanoid motion trajectories similarity of the robot reached 91.5%.Stroke patients could recover 90.3%of natural motion ability to satisfy for most daily *** work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.

关键词： stroke rehabilitation simplified muscle model soft wrist exoskeleton robot bionic kinematics model

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