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Camera and LiDAR Sensor Fusion Method for Object Estimation of Intelligent robots

Journal of Institute of control, robotics and Systems 2024年第8期30卷 810-816页

作者： Lee, Sun Ho Choi, Woo Young Department of Intelligent Robot Engineering Pukyong National University Korea Republic of Department of Control and Instrumentation Engineering Pukyong National University Korea Republic of

This study proposes a low-cost camera and LiDAR sensor fusion method to improve object recognition and estimation performance in autonomous and robot systems. We first calibrate the camera and LiDAR sensor to implement the proposed method. Then, data association is performed between the bounding box data of the object identified through the YOLOv3 algorithm from the camera sensor and the LiDAR sensor data. Afterward, a Kalman filter considering sensor characteristics is applied to improve object recognition and estimation accuracy. The usefulness of the proposed method was validated through scenario-based experiments. Experimental results revealed that the proposed sensor fusion method improved object recognition and estimation accuracy, compared to methods using single sensors. © ICROS 2024.

关键词： Kalman filters

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Offboard Occupancy Refinement with Hybrid Propagation for Autonomous Driving

arXiv

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arXiv 2024年

作者： Shi, Hao Wang, Song Zhang, Jiaming Yin, Xiaoting Wang, Zhongdao Wang, Guangming Zhu, Jianke Yang, Kailun Wang, Kaiwei The State Key Laboratory of Extreme Photonics and Instrumentation The National Engineering Research Center of Optical Instrumentation Zhejiang University Hangzhou310027 China The School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China The College of Computer Science and Technology Zhejiang University Hangzhou310027 China The Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe76131 Germany Huawei Noah’s Ark Lab. Canada The Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom

Vision-based occupancy prediction, also known as 3D Semantic Scene Completion (SSC), presents a significant challenge in computer vision. Previous methods, confined to onboard processing, struggle with simultaneous geometric and semantic estimation, continuity across varying viewpoints, and single-view occlusion. Our paper introduces OccFiner, a novel offboard framework designed to enhance the accuracy of vision-based occupancy predictions. OccFiner operates in two hybrid phases: 1) a multi-to-multi local propagation network that implicitly aligns and processes multiple local frames for correcting onboard model errors and consistently enhancing occupancy accuracy across all distances. 2) the region-centric global propagation, focuses on refining labels using explicit multi-view geometry and integrating sensor bias, especially to increase the accuracy of distant occupied voxels. Extensive experiments demonstrate that OccFiner improves both geometric and semantic accuracy across various types of coarse occupancy, setting a new state-of-the-art performance on the SemanticKITTI dataset. Notably, OccFiner elevates vision-based SSC models to a level even surpassing that of LiDAR-based onboard SSC models. Furthermore, OccFiner is the first to achieve automatic annotation of SSC in a purely vision-based approach. Quantitative experiments prove that OccFiner successfully facilitates occupancy data loop-closure in autonomous driving. Additionally, we quantitatively and qualitatively validate the superiority of the offboard approach on city-level SSC static maps. The source code will be made publicly available at https://***/MasterHow/OccFiner. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantic Segmentation

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Comparison of Magneto-Optical Faraday Effect Method and Magnetic Camera for Imaging the 2-D Static Leakage Magnetic Flux Density

e-Journal of Nondestructive Testing

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e-Journal of Nondestructive Testing 2022年第9期27卷

作者： Dharmawan, I Dewa Made Oka Lee, Jinyi Wang, Dabin Department of Control Instrumentation and Robot Engineering Chosun University Gwangju61452 Korea Republic of Interdisciplinary Program in IT-BIO Convergence System Chosun University Gwangju61452 Korea Republic of Department of Electronic Engineering Chosun University Gwangju61452 Korea Republic of IT-Based Real-Time NDT Center Chosun University Gwangju61452 Korea Republic of

Recent development of electromagnetic inspection proposed auspicious results for imaging 2-D static of leakage magnetic flux density (LMFD) on surface and sub-surface defects. This ability encourages an interest in implementing electromagnetic-based magnetic flux leakage (MFL) testing for nondestructive inspection (NDI). In recent NDI technologies, advanced magnetic inspection using magneto-optical Faraday effect (MOE) and magnetic camera dominated the pre-service and in-service inspection in critical engineering industries such as aerospace, steel manufacturing, marine, railroad, and nuclear facilities. Unfortunately, a compact comparison of these approaches has not been proposed yet. This study aimed to compare MOE and magnetic camera according to five primary analyses: the target object, magnetic source, configuration of the magnetic sensor, signal processing, and AI implementation. A literature study was conducted using 47 papers to analyze the performance of each device in capturing LMFD. This comparison study successfully obtained the advantages and limitations of each imaging technique, which is very beneficial as a compact reference for developing and selecting suitable nondestructive inspection devices for MFL testing in the future. In addition, artificial intelligence (AI) as an option to escalate the inspection confidence could increase the assessment efficiency and reliability considering fast and complex engineering systems. © 2022, NDT. net GmbH and Co. KG. All rights reserved.

关键词： Nondestructive examination

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Measurement of surface stress-strain distribution inside a grain of carbon steel via optical microscope

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Measurement 2025年 255卷

作者： I Dewa Made Oka Dharmawan Jinyi Lee Department of Control Instrumentation and Robot Engineering Graduate School of Chosun University Gwangju 61452 Republic of Korea Interdisciplinary Program in IT-BIO Convergence System Chosun University Gwangju 61452 Republic of Korea Department of Electronic Engineering Chosun University Gwangju 61452 Republic of Korea

The advancement of alloys and steel in engineering highlights the critical need for robust methods to ensure structural integrity. While traditional Non-Destructive Testing and Evaluation (NDT/E) techniques provide valuable insights, they often fail to detect pre-existing stress conditions that contribute to fatigue cracks. Recent approaches have addressed this limitation by analyzing stress and strain at the grain level using advanced measurement systems—often based on diffraction techniques—integrated with Finite Element Method (FEM) and Digital Image Correlation (DIC) platforms. However, the application of these techniques for in-service inspections remains limited by challenges in accessibility, cost, and scalability. To overcome these issues, an integrated 2D surface system combining optical microscopy with DIC and grain-level analysis within the FEM framework is proposed. This method enables efficient visualization of grain-level deformation and stress distribution, thereby providing deeper insights into the microstructural behavior of polycrystalline materials under external loads. The proposed methodology is theoretically outlined and validated through simulations and experimental analyses, demonstrating its potential as a practical solution for in-service inspections. Ultimately, this approach is expected to advance inspection techniques by offering an accessible and scalable tool for monitoring microstructural behavior and identifying potential failure mechanisms through surface analysis.

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CoBEV: Elevating Roadside 3D Object Detection with Depth and Height Complementarity

arXiv

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arXiv 2023年

作者： Shi, Hao Pang, Chengshan Zhang, Jiaming Yang, Kailun Wu, Yuhao Ni, Huajian Lin, Yining Stiefelhagen, Rainer Wang, Kaiwei The State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University Hangzhou310027 China The Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe76131 Germany The Department of Engineering Science University of Oxford OxfordOX1 3PJ United Kingdom The School of Robotics Hunan University Changsha410012 China The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China Shanghai SUPREMIND Technology Co. Ltd. Shanghai201210 China

Roadside camera-driven 3D object detection is a crucial task in intelligent transportation systems, which extends the perception range beyond the limitations of vision-centric vehicles and enhances road safety. While previous studies have limitations in using only depth or height information, we find both depth and height matter and they are in fact complementary. The depth feature encompasses precise geometric cues, whereas the height feature is primarily focused on distinguishing between various categories of height intervals, essentially providing semantic context. This insight motivates the development of Complementary-BEV (CoBEV), a novel end-to-end monocular 3D object detection framework that integrates depth and height to construct robust BEV representations. In essence, CoBEV estimates each pixel's depth and height distribution and lifts the camera features into 3D space for lateral fusion using the newly proposed two-stage complementary feature selection (CFS) module. A BEV feature distillation framework is also seamlessly integrated to further enhance the detection accuracy from the prior knowledge of the fusion-modal CoBEV teacher. We conduct extensive experiments on the public 3D detection benchmarks of roadside camera-based DAIR-V2X-I and Rope3D, as well as the private Supremind-Road dataset, demonstrating that CoBEV not only achieves the accuracy of the new state-of-the-art, but also significantly advances the robustness of previous methods in challenging long-distance scenarios and noisy camera disturbance, and enhances generalization by a large margin in heterologous settings with drastic changes in scene and camera parameters. For the first time, the vehicle AP score of a camera model reaches 80% on DAIR-V2X-I in terms of easy mode. The source code will be made publicly available at CoBEV. Copyright © 2023, The Authors. All rights reserved.

关键词： Feature Selection

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System Design and Experiment of a Laryngeal Surgical robotic System 15

System Design and Experiment of a Laryngeal Surgical Robotic...

引用

15th International Conference on Ubiquitous robots, UR 2018

作者： Kim, Sang-Hwa Seo, Jong-Tae Woo, Jae Hong Yoon, Hyun-Soo Tae, Kyung Yi, Byung-Ju Division of Electrical Engineering Hanyang University Ansan Korea Republic of Department of Intelligent Robot Engineering Hanyang University Ansan Korea Republic of Department of Electronic Electrical Control and Instrumentation Engineering Hanyang University Ansan Korea Republic of Department of Otolaryngology-Head Hanyang University Neck Surgery College of Medicine Seoul Korea Republic of

ISBN: (纸本)9781538663349

A laryngeal surgical robotic system equipped with high quality 3-dimensional images and robot arms is developed to help the surgeon treat general diseases located at head and neck area. This paper is to describe a system configuration and demonstrate effectiveness of the laryngeal surgical robotic system. A mechanical construction of this system is based on a novel stackable parallel mechanism architecture. The EtherCAT communication protocol is used for real-time control. In order to confirm the effectiveness of the laryngeal surgical robotic system, experiments using phantom and cadaver were performed. © 2018 IEEE.

关键词： Real time control

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An adaptive dynamics control of underwater vehicle based on velocity servo loop

An adaptive dynamics control of underwater vehicle based on ...

引用

International Conference on control, Automation and Systems ( ICCAS)

作者： Seon-Je Yang Hee-Jun Lee Tae-Yong Kuc Jong-gu Park Nak-Yong Ko Yong-Seon Moon School of Electrical and Computer Engineering Sung Kyun Kwan University Suwon Republic of Korea Department of Control Instrumentation and Robot Engineering Chosun University Republic of Korea Department of Electrical Engineering Sunchon National University Republic of Korea

ISBN: (纸本)9781467390583

This paper presents dynamics control of underwater vehicle based on motor velocity servo. For control of robot's location, pose, velocity in complicated underwater environment, this study estimates hydrodynamic coefficients by using backstepping technique. Estimated hydrodynamic coefficients are to be used for controlling of robot's exact location, pose, and velocity, within the framework of adaptive dynamics control. Also this study suggests a unified control method which combines motor control loop for velocity servo and torque control for dynamics control. Simulation results demonstrate the feasibility and effectiveness of the proposed control method.

关键词： Underwater vehicles Vehicle dynamics robots Hydrodynamics Motor drives Force

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PLL controller for precise velocity tracking of UUV: A new ROV model and its control

PLL controller for precise velocity tracking of UUV: A new R...

引用

International Conference on control, Automation and Systems ( ICCAS)

作者： Hee-Jun Lee Sun-Je Yang Jong-gu Park Tae-Yong Kuc Nak-Yong Ko Yong-Seon Moon School of Electrical and Computer Engineering Sung Kyun Kwan University Suwon Republic of Korea Department of Control Instrumentation and Robot Engineering Chosun University Republic of Korea Department of Electrical Engineering Sunchon National University Republic of Korea

A phase-locked-loop(PLL) controller is designed in this paper for fast velocity tracking of unmanned underwater vehicle(UUV). Digital encoder output encodes measured velocity of actuator and its phase is compared with reference frequency of desired velocity command in the feedback loop to achieve fast convergence of tracking error. This makes possible dynamics model of UUV motion be controlled by focusing on the motor speed control after solving inverse kinematics and dynamics of UUV. Simulation results are given to demonstrate the feasibility and effectiveness of the proposed controller for UUV motion control.

关键词： robots Yttrium

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PLL controller for precise velocity tracking of UUV: A new AUV model and its control

PLL controller for precise velocity tracking of UUV: A new A...

引用

International Conference on control, Automation and Systems ( ICCAS)

作者： Jun-Hee Lee Hyun-Su Kim Jong-gu Park Tae-Yong Kuc Nak-Yong Ko Yong-Seon Moon School of Electrical and Computer Engineering Sung Kyun Kwan University Suwon Republic of Korea Department of Control Instrumentation and Robot Engineering Chosun University Republic of Korea Department of Electrical Engineering Sunchon National University Republic of Korea

关键词： Yttrium Adaptation models robots Oceans

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2-D vector field visualization of corrosion in a small-bore piping system using bobbin-type integrated Hall and GMR sensors arrays

2-D vector field visualization of corrosion in a small-bore ...

引用

2014 9th IEEE Sensors Applications Symposium, SAS 2014

作者： Le, Minhhuy Kim, Jungmin Sik Do, Hwa Lee, Jinyi Department of Control and Instrumentation Engineering Graduate School Chosun University Gwangju Korea Republic of Department of Control Instrumentation and Robot Engineering Chosun University Gwangju Korea Republic of KEPCO Plant Service and Engineering Co. LTD 216 Go-Ri Jangan-Eup Gijang-Gun 619-711 Busan Korea Republic of

ISBN: (纸本)9781479921805

This study proposes a 2-D bobbin-type magnetic field vector camera in nondestructive testing for inspection of corrosions in inner and outer diameter (ID and OD) of a small-bore piping system. 16.1 mm diameter bobbin probe was produced by integrated of 71 Hall sensors (BIHaS) and 71 Giant magnetoresistance sensors (BIGiS) in two circumferential lines at interval of 0.6 mm. The BIHaS and BIGiS could measure radial and axial components of alternating magnetic field. Thus ID and OD corrosions could be imaged in a 2-D magnetic field vector. Two small-bore copper (16.56 mm inner diameter, 1.27 mm thickness) and titanium (17.28 mm inner diameter, 0.86 mm thickness) pipes with ID and OD corrosions were inspected and presented in this paper. The measured signal of each sensor array was displayed in a single contour plot and combined 2-D vector plot in real-time during scan. © 2014 IEEE.

关键词： Nondestructive examination

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