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DM Code Key Point Detection algorithm Based on CenterNet

Computers, Materials & Continua 2023年第11期77卷 1911-1928页

作者： Wei Wang Xinyao Tang Kai Zhou Chunhui Zhao Changfa Liu School of Information Engineering Chang’an UniversityXi’an710018China Algorithm Research and Development Department GRGBanking Equipment Co.Ltd.Guangzhou510663China Research and Development Department Xi’an Soar Electromechanical TechnologyLtd.Xi’an710043China

Data Matrix(DM)codes have been widely used in industrial *** reading of DM code usually includes positioning and *** positioning is a prerequisite for successful *** image processing methods have poor adaptability to pollution and complex *** deep learning-based methods can automatically extract features,the bounding boxes cannot entirely fit the contour of the *** image processing methods are required for precise positioning,which will reduce *** of the above problems,a CenterNet-based DM code key point detection network is proposed,which can directly obtain the four key points of the DM *** with the existing methods,the degree of fitness is higher,which is conducive to direct *** further improve the positioning accuracy,an enhanced loss function is designed,including DM code key point heatmap loss,standard DM code projection loss,and polygon Intersection-over-Union(IoU)loss,which is beneficial for the network to learn the spatial geometric characteristics of DM *** experiment is carried out on the self-made DM code key point detection dataset,including pollution,complex background,small objects,etc.,which uses the Average Precision(AP)of the common object detection metric as the evaluation *** reaches 95.80%,and Frames Per Second(FPS)gets 88.12 on the test set of the proposed dataset,which can achieve real-time performance in practical applications.

关键词： DM code key point detection CenterNet object detection enhanced loss function

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Multimodal Mamba: A Versatile Multimodal Model for Seamless Integration into Diverse Downstream Tasks 24

Multimodal Mamba: A Versatile Multimodal Model for Seamless ...

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13th International Conference on Computing and Pattern Recognition, ICCPR 2024

作者： Li, Zongshu Zhu, Guibo Yi, Dongyi Wang, Jinqiao Foundation Model Research Center Institute of Automation Chinese Academy of Sciences Beijing China Algorithm Development Department Wuhan Artificial Intelligence Research Wuhan Hubei China

ISBN: (纸本)9798400717482

Mamba - the selective SSM (S6) model, makes up for inherent shortcomings of Transformer in long sequence processing and has been gaining significant attention from researchers. In this paper, we employ Mamba to build a multimodal chat model - Multimodal Mamba. Inspired by the prevalent structure of multimodal models, MM-Mamba consists of three parts: vision encoder, multimodal projector and language decoder. Firstly, we simply replace the text decoder from Transformer to Mamba. Secondly, considering that parameters and pretraining tokens of Mamba are significantly less than Transformer, we propose a multi-stage training pipeline to train MM-Mamba. Finally, in order to further boost the proficiency of MM-Mamba across a wide range of multimodal downstream tasks, we introduce several powerful techniques, such as higher input image resolution, noisy embedding finetuning. Compared with multimodal large language models (MLLMs) built upon Transformer, MM-Mamba can be adapted to various downstream tasks with extremely low temporal and economic training cost. Experimental results showed that albeit with notably fewer parameters and significantly limited training data volume, remarkable results are achieved by MM-Mamba not only on English benchmarks but also in Chinese downstream tasks. Code is released at here. © 2024 Copyright held by the owner/author(s).

关键词： Mamba

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Field Trial of a New Metropolitan WDM Architecture and Flexible Scheduling based on Optical Layer OAM

Field Trial of a New Metropolitan WDM Architecture and Flexi...

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2024 Asia Communications and Photonics Conference, ACP 2024 and International Conference on Information Photonics and Optical Communications, IPOC 2024

作者： Zhao, Yang Liu, Yucong Li, Xiang Wang, Dong Hu, Changbin Zhang, Dechao Department of Fundamental Network Technology China Mobile Research Institute Beijing China Optical System & Algorithm Development Department Huawei Technologies Co. Ltd. Wuhan China

A novel wavelength pooling technology and a flexible scheduling method based on optical layer OAM (O-OAM) are proposed. Costs of network construction and maintenance are reduced significantly, and service latency is r... 详细信息

ISBN: (纸本)9798350379266

关键词： Centralized Control Metropolitan Transport Network Optical Layer OAM Wavelength Pooling

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Field Trial of End-to-end Management and Control of Semiactive WDM System for 5G Centralized Front-haul Network

Field Trial of End-to-end Management and Control of Semiacti...

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2023 Optical Fiber Communications Conference and Exhibition, OFC 2023

作者： Zhao, Yang Sun, Jiang Zheng, Haomian Yu, Chaode Wang, Dong Cai, Qian Li, Yunbo Han, Liuyan Zhang, Dechao Li, Han China Mobile Research Institute Department of Network and It Technology Beijing100053 China Huawei Technologies Co. Ltd Optical System & Algorithm Development Department Wuhan430223 China

A novel management and control architecture and abstract model of semi-active WDM system for 5G front-haul network are proposed. The functions of device information acquisition, alarm monitoring and fault location is ... 详细信息

ISBN: (纸本)9781957171180

关键词： 5G mobile communication systems

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High accuracy localization and docking for mobile robots in low dynamic environments 4

High accuracy localization and docking for mobile robots in ...

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4th International Conference on Neural Networks, Information and Communication Engineering, NNICE 2024

作者： Hu, Lizhi Lu, Wei Li, Xiang Lin, Hui Zhejiang HuaRay Technology Co. Lt. Navigation and Localization Algorithm Department Hangzhou China Zhejiang HuaRay Technology Co. Lt. Software Research and Development Center Hangzhou China

ISBN: (纸本)9798350394375

Localization and Navigation technology of mobile robots is becoming increasingly important in production and manufacturing factory. It is necessary to ensure localization and docking accuracy at high accuracy points and routes. In this paper, we propose a high-accuracy localization method based on 2D laser, wheel odometry, and prior probability grid map. The algorithm can maintain the accuracy of robot trajectory estimation in an dynamic environment that changes over time. Two resolution prior probability grid maps are constructed to determine the initial pose of the mobile robot. A factor graph model is constructed, allowing multiple relative or absolute observations, to be added to the factor graph as factors. During localization, two local submaps are constructed in real time, and are jointly optimized with prior maps before being used to the local scan matching. The laser odometry is generated by using local submaps scan matching, and is added to the factor graph model along with the wheel odometry and prior map scan matching. At the same time, several artificial features are designed at high-accuracy docking target points, and ensure the final docking accuracy by identifying artificial features. © 2024 IEEE.

关键词： Mobile robots

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The Control Principle and Mathematical Model of Intelligent Solar Panels

The Control Principle and Mathematical Model of Intelligent ...

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2021 International Conference on Robotics Automation and Intelligent Control, ICRAIC 2021

作者： Chen, Wenxing Dai, Shuyang Zheng, Baojuan Tang, Zhuyan Lin, Hao School of Mathematics and Statistics Wuhan University Wuhan430072 China Department of Algorithm Research and Development Commerical Vehicle Technology Center SAIC Motor Group Co.Ltd Shanghai200433 China

Energy is an important material that promotes social development and maintains human life. Clean energy has become a scientific research theme of open world which appeal to many scientists to research it. This paper inspired by the experience of sunflower growth. So we proposed a mathematical model for automatic adjustment of the maximum luminous flux for a limited solar panel, which can help to adjust the best light position. The physical model added to the light detector in the practical application, real-time comparison of the difference in illumination at different positions to adjust the direction of solar panel, thereby enhancing the utilization of light energy. In addition, in order to save space and prevent severe weather attacks, we designed a autofolding circle disc and retractable rectangular solar panels. The intelligent system judgement and decision making based on the electrical signals fed back by the wind sensor or the vibration sensor. When the wind speed reaches the threshold, it can be folded or contracted automatically, reducing manual maintenance. The fully automatic solar panels are designed in this paper, the research results show that theis model has a high utilization, strong sensitivity, safety and durability, and easy control. This is also a process of theoretical exploration of interdisciplinary services for the energy system. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： Solar energy

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An Efficient Evaluation Method for Automobile Shells Design Based on Semi-supervised Machine Learning Strategy 2

An Efficient Evaluation Method for Automobile Shells Design ...

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2nd International Conference on Computer, Big Data and Artificial Intelligence, ICCBDAI 2021

作者： Chen, Wenxing Dai, Shuyang Zheng, Baojuan Lin, Hao School of Mathematics and Statistics Wuhan University Wuhan430072 China Department of Algorithm Research and Development Commerical Vehicle Technology Center of SAIC Motor Group Co. Ltd Shanghai 200433 China

Automobile is one of the important modes of transportation for human travel in today's society. Batch production in various countries in the world has also promoted the transformation of production concepts. At present, the development of the automobile industry is developing towards the trend of intelligence, personalizat-ion and sharing. Car appearance in a variety of ways, not every design is reasonable. Therefore, the main purpose of this article is to establish a scientific evaluation standard in order to large-scale test the quality of a variety of car shells design. The scientific nature is mainly reflected in combination the fluid-solid coupling knowledge and machine learning in this article, which can analyze the force of different shells in the flow field, and put out the cloud map information such as the stress, pressure and velocity of the shell. At last, analyze the best test samples and store them in the database, and then using semi-supervised heuristic algorithm to perform the sample training, the ultimate goal is to make the evaluation system more robust. The trained model can correctly evaluate each personalized car shape and give a reasonable score, which is convenient for car manufacturers to make best decision with personalized demand and scientific production. © 2022 Institute of Physics Publishing. All rights reserved.

关键词： Automotive industry

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Field Trial of a New Metropolitan WDM Architecture and Flexible Scheduling Based on Optical Layer OAM

Field Trial of a New Metropolitan WDM Architecture and Flexi...

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Asia Communications and Photonics Conference and Exhibition (ACP)

作者： Yang Zhao Yucong Liu Xiang Li Dong Wang Changbin Hu Dechao Zhang Department of Fundamental Network Technology China Mobile Research Institute Beijing China Optical System & Algorithm Development Department Huawei Technologies Co. Ltd. Wuhan China

ISBN: (数字)9798350379266

ISBN: (纸本)9798350379273

关键词： Costs Asia Optical fiber networks Wavelength division multiplexing Maintenance Monitoring Photonics

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Tightly-Coupled Lidar-Based Lifelong Mapping using Wheels and a MEMS Gyroscope for Mobile Robots in Dynamic Environment 24

Tightly-Coupled Lidar-Based Lifelong Mapping using Wheels an...

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3rd International Symposium on Robotics, Artificial Intelligence and Information Engineering, RAIIE 2024

作者： Hu, Lizhi Chen, Huilin Li, Xiang Lu, Wei Zhao, Yifan Hu, Songyu Navigation and Localization Algorithm Department Zhejiang HuaRay Technology Co. Lt. Hangzhou China Software Research and Development Center Zhejiang HuaRay Technology Co. Lt. Hangzhou China State Key Laboratory of Fluid Power and Mechatronic Systems College of Mechanical Engineering Zhejiang University Hangzhou China

ISBN: (纸本)9798400718311

Localization and mapping technology of mobile robots is important in production and warehousing. The changing warehousing environment always result in poor accuracy and robustness of the mobile robot's localization. It is necessary to detect the degree of environmental changes and update the map. This paper proposes a novel lifelong mapping method fusing measurements from the lidar, wheels and a MEMS gyroscope, which can create a reliable map corresponding to the current working environment. Firstly, we use the wheels and gyroscopes measures for pre-integration to provide relative motion constraints, while integrating wheels and gyroscopes to provide initial pose for lidar matching. We also establish lidar odometry by submaps to provide another type of relative motion constraints. The absolute constraints are obtained by matching the lidar measurements with prior map. These three types of constraints are optimized in a factor graph. At the same time, during the process of updating the map, detect newly added artificial markers such as reflective columns or strips, and update them into the map timely. Then, in order to delete redundant lidar data keyframes for building map, we propose a determine redundancy method based on submaps. Finally, we propose a method for calculating the degree of map changes, which can update the map timely. Experimental results prove that our method can establish higher quality maps, optimize lidar external parameters timely during the mapping process, delete redundant lidar keyframes more efficiently, and update the current environmental map more accurately and timely. © 2024 Copyright held by the owner/author(s). Publication rights licensed to ACM.

关键词： Gyroscopes

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High accuracy localization and docking for mobile robots in low dynamic environments

High accuracy localization and docking for mobile robots in ...

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Neural Networks, Information and Communication Engineering (NNICE), International Conference on

作者： Lizhi Hu Wei Lu Xiang Li Hui Lin Navigation and Localization Algorithm Department Zhejiang HuaRay Technology Co. Lt. Hangzhou China Software Research and Development Center Zhejiang HuaRay Technology Co. Lt. Hangzhou China

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