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IEEE Transactions on Haptics: Editorial

IEEE Transactions on Haptics 2008年第1期1卷 2-8页

作者： Edward Colgate, J. Lederman, Susan Prattichizzo, Domenico Barbagli, Federico Basdogan, Cagatay Buss, Martin Ernst, Marc Frisoli, Antonio Gillespie, Brent Grant, Danny Harders, Matthias Hayward, Vincent Jones, Lynette Kajimoto, Hiroyuki Kappers, Astrid Kheddar, Abderrahmane Lin, Ming C. MacLean, Karon Miller, Brian Noma, Haruo Okamura, Allison M. O'Malley, Mareia Ryu, Jeha Tan, Hong Z. Yokokohji, Yasuyoshi Department of Psychology School of Computing Queen's University Canada IEEE Robotics and Automation Society Tübingen Germany Stanford University's Computer Science Department Tübingen Germany Institute of Automatic Control Engineering Technische Universität München Germany Independent Research Group Multisensory Perception and Action Max Planck Institute for Biological Cybernetics Tübingen Germany Department of Applied Mechanics SSSA Japan Research Division Virtual Reality and Telerobotic Systems PERCRO Laboratory Japan Department of Mechanical Engineering Japan Department of Robotics McGill University Canada Computer Vision Lab ETH Zurich Japan Virtual Reality in Medicine Group Japan IEEE CS/RAS Technical Committee on Haptics Japan Department of Electrical and Computer Engineering McGill University Canada Department of Mechanical Engineering MIT Japan University of Electro-Communications Japan Department of Physics and Astronomy Utrecht University Netherlands University of Evry France Chapel Hill United States Department of Computer Science University of British Columbia Canada ATR Knowledge Science Lab United Kingdom Department of Mechanical Engineering Denmark Johns Hopkins University United States Laboratory for Computational Sensing and Robotics United Kingdom Engineering Research Center for Computer-Integrated Surgical Systems and Technology United States Mechanical Engineering and Materials Science Department Rice University United States Korea Republic of Department of Electrical and Computer Engineering Mechanical Engineering and Psychological Sciences Purdue University United States Department of Mechanical Engineering and Science Graduate School of Engineering Kyoto University Japan

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Detection and depth estimation for domestic waste in outdoor environments by sensors fusion

arXiv

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arXiv 2022年

作者： de Páez-Ubieta, Ignacio L. Velasco-Sánchez, Edison Puente, Santiago T. Candelas, Francisco A. AUtomatics RObotics and Artificial Vision Lab Computer Science Research Institute University of Alicante San Vicente del Raspeig University Campus s/n San Vicente del Raspeig Alicante03690 Spain

In this work, we estimate the depth in which domestic waste are located in space from a mobile robot in outdoor scenarios. As we are doing this calculus on a broad range of space (0.3 - 6.0 m), we use RGB-D camera and LiDAR fusion. With this aim and range, we compare several methods such as average, nearest, median and center point, applied to those which are inside a reduced or non-reduced Bounding Box (BB). These BB are obtained from segmentation and detection methods which are representative of these techniques like Yolact, SOLO, You Only Look Once (YOLO)v5, YOLOv6 and YOLOv7. Results shown that, applying a detection method with the average technique and a reduction of BB of 40%, returns the same output as segmenting the object and applying the average method. Indeed, the detection method is faster and lighter in comparison with the segmentation one. The committed median error in the conducted experiments was 0.0298 ± 0.0544 m. © 2022, CC BY-NC-ND.

关键词： Mobile robots

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Motion Planning and Control for Multi Vehicle Autonomous Racing at High Speeds

arXiv

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arXiv 2022年

作者： Raji, Ayoub Liniger, Alexander Giove, Andrea Toschi, Alessandro Musiu, Nicola Morra, Daniele Verucchi, Micaela Caporale, Danilo Bertogna, Marko University of Modena and Reggio Emilia Italy University of Parma Italy Computer Vision Lab ETH Zurich Switzerland University of Pisa Italy Technology Innovation Institute Autonomous Robotics Research Center United Arab Emirates

This paper presents a multi-layer motion planning and control architecture for autonomous racing, capable of avoiding static obstacles, performing active overtakes, and reaching velocities above 75 m/s. The used offline global trajectory generation and the online model predictive controller are highly based on optimization and dynamic models of the vehicle, where the tires and camber effects are represented in an extended version of the basic Pacejka Magic Formula. The proposed single-track model is identified and validated using multi-body motorsport libraries which allow simulating the vehicle dynamics properly, especially useful when real experimental data are missing. The fundamental regularization terms and constraints of the controller are tuned to reduce the rate of change of the inputs while assuring an acceptable velocity and path tracking. The motion planning strategy consists of a Frenét-Frame-based planner which considers a forecast of the opponent produced by a Kalman filter. The planner chooses the collision-free path and velocity profile to be tracked on a 3 seconds horizon to realize different goals such as following and overtaking. The proposed solution has been applied on a Dallara AV-21 racecar and tested at oval race tracks achieving lateral accelerations up to 25 m/s2 Copyright © 2022, The Authors. All rights reserved.

关键词： Motion planning

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The area bisectors of a polygon and force equilibria in programmable vector fields 97

The area bisectors of a polygon and force equilibria in prog...

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Proceedings of the thirteenth annual symposium on Computational geometry

作者： Karl-Friedrich Böhringer Bruce Randall Donald Dan Halperin ALPHA Lab Dept. of Ind. Eng. and Op. Research Univ. of CA Berkeley and Robotics & Vision Lab Dept. of Comp. Sc. Cornell Univ. Robotics & Vision Laboratory Department of Computer Science Cornell University Dept. of Comp. Sc. Tel Aviv Univ. Tel Aviv 69978 Israel

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*** 1.0: The Full Autonomous Stack for Oval Racing at High Speeds

arXiv

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arXiv 2023年

作者： Raji, Ayoub Caporale, Danilo Gatti, Francesco Giove, Andrea Verucchi, Micaela Malatesta, Davide Musiu, Nicola Toschi, Alessandro Popitanu, Silviu Roberto Bagni, Fabio Bosi, Massimiliano Liniger, Alexander Bertogna, Marko Morra, Daniele Amerotti, Francesco Bartoli, Luca Martello, Federico Porta, Riccardo University of Modena and Reggio Emilia Italy University of Parma Italy Technology Innovation Institute - Autonomous Robotics Research Center United Arab Emirates HIPERT srl Italy University of Pisa Italy Computer Vision Lab ETH Zurich Switzerland

The Indy Autonomous Challenge (IAC) brought together for the first time in history nine autonomous racing teams competing at unprecedented speed and in head-to-head scenario, using independently developed software on open-wheel racecars. This paper presents the complete software architecture used by team TII EuroRacing (TII-ER), covering all the modules needed to avoid static obstacles, perform active overtakes and reach speeds above 75 m/s (270 km/h). In addition to the most common modules related to perception, planning, and control, we discuss the approaches used for vehicle dynamics modelling, simulation, telemetry, and safety. Overall results and the performance of each module are described, as well as the lessons learned during the first two events of the competition on oval tracks, where the team placed respectively second and third. Copyright © 2023, The Authors. All rights reserved.

关键词： Racing automobiles

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Edge-guided Representation Learning for Underwater Object Detection

arXiv

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arXiv 2023年

作者： Dai, Linhui Liu, Hong Song, Pinhao Tang, Hao Ding, Runwei Li, Shengquan Key Laboratory of Machine Perception Shenzhen Graduate School Peking University Shenzhen China Robotics Research Group KU Leuven Leuven Belgium Computer Vision Lab ETH Zurich Zurich Switzerland Peng Cheng Laboratory Shenzhen China

Underwater object detection (UOD) is crucial for marine economic development, environmental protection, and the planet’s sustainable development. The main challenges of this task arise from low-contrast, small objects, and mimicry of aquatic organisms. The key to addressing these challenges is to focus the model on obtaining more discriminative information. We observe that the edges of underwater objects are highly unique and can be distinguished from low-contrast or mimicry environments based on their edges. Motivated by this observation, we propose an Edge-guided Representation Learning Network, termed ERL-Net, that aims to achieve discriminative representation learning and aggregation under the guidance of edge cues. Firstly, we introduce an edge-guided attention module to model the explicit boundary information, which generates more discriminative features. Secondly, a feature aggregation module is proposed to aggregate the multi-scale discriminative features by regrouping them into three levels, effectively aggregating global and local information for locating and recognizing underwater objects. Finally, we propose a wide and asymmetric receptive field block to enable features to have a wider receptive field, allowing the model to focus on more small object information. Comprehensive experiments on three challenging underwater datasets show that our method achieves superior performance on the UOD task. Copyright © 2023, The Authors. All rights reserved.

关键词： Object detection

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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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PIPAL: a Large-Scale Image Quality Assessment Dataset for Perceptual Image Restoration

arXiv

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arXiv 2020年

作者： Gu, Jinjin Cai, Haoming Chen, Haoyu Ye, Xiaoxing Ren, Jimmy S. Dong, Chao School of Data Science Chinese University of Hong Kong Shenzhen China ShenZhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China SenseTime Research SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society China

Image quality assessment (IQA) is the key factor for the fast development of image restoration (IR) algorithms. The most recent IR methods based on Generative Adversarial Networks (GANs) have achieved significant improvement in visual performance, but also presented great challenges for quantitative evaluation. Notably, we observe an increasing inconsistency between perceptual quality and the evaluation results. Then we raise two questions: (1) Can existing IQA methods objectively evaluate recent IR algorithms? (2) When focus on beating current benchmarks, are we getting better IR algorithms? To answer these questions and promote the development of IQA methods, we contribute a large-scale IQA dataset, called Perceptual Image Processing Algorithms (PIPAL) dataset. Especially, this dataset includes the results of GAN-based methods, which are missing in previous datasets. We collect more than 1.13 million human judgments to assign subjective scores for PIPAL images using the more reliable "Elo system". Based on PIPAL, we present new benchmarks for both IQA and super-resolution methods. Our results indicate that existing IQA methods cannot fairly evaluate GAN-based IR algorithms. While using appropriate evaluation methods is important, IQA methods should also be updated along with the development of IR algorithms. At last, we improve the performance of IQA networks on GAN-based distortions by introducing anti-aliasing pooling. Experiments show the effectiveness of the proposed method. Copyright © 2020, The Authors. All rights reserved.

关键词： Image reconstruction

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Self-slimmed vision Transformer

arXiv

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arXiv 2021年

作者： Zong, Zhuofan Li, Kunchang Song, Guanglu Wang, Yali Qiao, Yu Leng, Biao Liu, Yu School of Computer Science and Engineering Beihang University China SenseTime Research China ShenZhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China University of Chinese Academy of Sciences China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society China Shanghai AI Laboratory China

vision transformers (ViTs) have become the popular structures and outperformed convolutional neural networks (CNNs) on various vision tasks. However, such powerful transformers bring a huge computation burden, because of the exhausting token-to-token comparison. The previous works focus on dropping insignificant tokens to reduce the computational cost of ViTs. But when the dropping ratio increases, this hard manner will inevitably discard the vital tokens, which limits its efficiency. To solve the issue, we propose a generic self-slimmed learning approach for vanilla ViTs, namely SiT. Specifically, we first design a novel Token Slimming Module (TSM), which can boost the inference efficiency of ViTs by dynamic token aggregation. As a general method of token hard dropping, our TSM softly integrates redundant tokens into fewer informative ones. It can dynamically zoom visual attention without cutting off discriminative token relations in the images, even with a high slimming ratio. Furthermore, we introduce a concise Feature Recalibration Distillation (FRD) framework, wherein we design a reverse version of TSM (RTSM) to recalibrate the unstructured token in a flexible auto-encoder manner. Due to the similar structure between teacher and student, our FRD can effectively leverage structure knowledge for better convergence. Finally, we conduct extensive experiments to evaluate our SiT. It demonstrates that our method can speed up ViTs by 1.7× with negligible accuracy drop, and even speed up ViTs by 3.6× while maintaining 97% of their performance. Surprisingly, by simply arming LV-ViT with our SiT, we achieve new state-of-the-art performance on ImageNet. Code is available at https://***/Sense-X/SiT. © 2021, CC BY.

关键词： Distillation

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BasicVSR: The search for essential components in video super-resolution and beyond

arXiv

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arXiv 2020年

作者： Chan, Kelvin C.K. Wang, Xintao Yu, Ke Dong, Chao Loy, Chen Change S-Lab Nanyang Technological University Singapore Applied Research Center Tencent PCG CUHK – SenseTime Joint Lab Chinese University of Hong Kong Shenzhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society China

Video super-resolution (VSR) approaches tend to have more components than the image counterparts as they need to exploit the additional temporal dimension. Complex designs are not uncommon. In this study, we wish to untangle the knots and reconsider some most essential components for VSR guided by four basic functionalities, i.e., Propagation, Alignment, Aggregation, and Upsampling. By reusing some existing components added with minimal redesigns, we show a succinct pipeline, BasicVSR, that achieves appealing improvements in terms of speed and restoration quality in comparison to many state-of-the-art algorithms. We conduct systematic analysis to explain how such gain can be obtained and discuss the pitfalls. We further show the extensibility of BasicVSR by presenting an information-refill mechanism and a coupled propagation scheme to facilitate information aggregation. The BasicVSR and its extension, IconVSR, can serve as strong baselines for future VSR approaches. © 2020, CC BY.

关键词： Optical resolving power

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