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CPL-SLAM: Centralized Collaborative Multi-Robot Visual-Inertial SLAM Using Point-and-Line Features

IEEE Internet of Things Journal 2025年

作者： Liu, Xin Wen, Shuhuan Liu, Huaping Richard Yu, F. Yanshan University Engineering Research Center The Ministry of Education for Intelligent Control System and Intelligent Equipment Key Lab of Intelligent Rehabilitation and Neuroregulation in Hebei Province Department of Key Lab of Industrial Computer Control Engineering of Hebei Province Qinhuangdao066004 China Tsinghua University Department of Computer Science and Technology Beijing100084 China Shenzhen University College of Computer Science and Software Engineering China Carleton University Canada

Traditional visual-inertial SLAM (Simultaneous Localization and Mapping) systems predominantly rely on feature point matching from a single robot to realize the robot pose estimation and environment map construction. However, in complex scenarios, these traditional systems struggle with issues such as tracking failures due to illumination changes, rapid movements, and low-texture environments, and they perform poorly in terms of mapping efficiency and global consistency. To address these challenges, we propose a centralized collaborative SLAM system that employs both point and line features for tracking in the robot and map fusion in the cloud. The proposed system leverages the fusion of point and line features across all instances in the process, which allows our method to achieve higher localization accuracy in structured, low-texture scenes. With the aid of classifying gravity-aligned vertical lines and spatial parallel lines, the proposed system can deliver faster and more accurate odometry in complex scenes. Furthermore, we developed intra-robot and inter-robot loop closure detection methods based on point and line features, generating a globally consistent sparse point cloud and structured scene map in the cloud. Our method is able to build richer maps while improving accuracy compared to existing methods. Experimental results on public datasets and in real-world environments show that, compared to existing advanced methods, our approach demonstrates better performance. © 2014 IEEE.

关键词： SLAM robotics

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Gesture Recognition of sEMG Based on Res-LSTM 17th

Gesture Recognition of sEMG Based on Res-LSTM

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17th International Conference on intelligent Robotics and Applications, ICIRA 2024

作者： Zhao, Yujia Zou, Chunlong Yun, Juntong Jiang, Du Huang, Li Liu, Ying Jiang, Guozhang Xie, Yuanmin Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education Wuhan University of Science and Technology Wuhan430081 China College of Mechanical Engineering Hubei University of Automotive Technology Shiyan442000 China Research Center for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Wuhan430081 China Hubei Key Laboratory of Mechanical Transmission and Manufacturing Engineering Wuhan University of Science and Technology Wuhan430081 China Hubei Province Key Laboratory of Intelligent Information Processing and Real-Time Industrial System Wuhan University of Science and Technology Wuhan430081 China College of Computer Science and Technology Wuhan University of Science and Technology Wuhan430081 China School of Mechanical Engineering Hubei Engineering University Xiaogan432000 China

ISBN: (纸本)9789819607761

sEMG (surface electromyography) signal control of bionic prostheses has been widely studied over the past few years. In particular, sparse sEMG signals are rapidly developing in the field of gesture recognition for their convenience, noninvasiveness, and ease of access. However, compared with high-density EMG signals, sparse EMG signals lack rich feature information, which in turn affects gesture recognition accuracy. In order to reduce the loss of feature information of sparse EMG signals in the spatio-temporal dimension, this paper proposes a hybrid neural network Res-LSTM combining residual network and long short-term memory network. The ordinary convolutional blocks in the CNN network are replaced with residual blocks, and the final fully connected layer is removed and a constant mapping layer is added to adequate extraction of spatial feature information of the data. The Res layer’s output is utilized as the input for the long and short-term memory (LSTM) network, which further extracts the features of the data in the temporal dimension, and finally completes the categorization output through a fully connected layer. The average accuracy of 91.11% for gesture-motion classification was verified by training on a homebrew dataset;and tested on a public dataset, NinaPro DB1, with an average accuracy of 91.03%. The experimental findings indicate that the proposed Res-LSTM network framework contributes to solving the problem of lack of feature information of sparse sEMG signals and improves the pattern recognition accuracy. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Gesture recognition

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Sika Deer Behavior Recognition Based on Machine vision

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computers, Materials & Continua 2022年第12期73卷 4953-4969页

作者： He Gong Mingwang Deng Shijun Li Tianli Hu Yu Sun Ye Mu Zilian Wang Chang Zhang Thobela Louis Tyasi Jilin Agricultural University Changchun130118China Wuzhou University Wuzhou543000China Jilin Province Agricultural Internet of Things Technology Collaborative Innovation Center Changchun130118China Jilin Province Intelligent Environmental Engineering Research Center Changchun130118China Department of Agricultural Economics and Animal Production University of LimpopoSovenga0727PolokwaneSouth Africa Guangxi Key Laboratory of Machine Vision and Intelligent Control Wuzhou543000China

With the increasing intensive and large-scale development of the sika deer breeding industry,it is crucial to assess the health status of the sika deer by monitoring their behaviours.A machine vision-based method for the behaviour recognition of sika deer is proposed in this *** Inception Net(GoogLeNet)is used to optimise the model in this ***,the number of layers and size of the model were ***,the 5×5 convolution was changed to two 3×3 convolutions,which reduced the parameters and increased the nonlinearity of the model.A 5×5 convolution kernel was used to replace the original convolution for extracting coarse-grained features and improving the model’s extraction ability.A multi-scale module was added to the model to enhance the multi-faceted feature extraction capability of the ***,the Squeeze-and-Excitation Networks(SE-Net)module was included to increase the channel’s attention and improve the model’s *** dataset’s images were rotated to reduce *** image rotation,the angle wasmultiplied by 30°to obtain the dataset enhanced by rotation operations of 30°,60°,90°,120°and 150°.The experimental results showed that the recognition rate of this model in the behaviour of sika deer was 98.92%.Therefore,the model presented in this paper can be applied to the behaviour recognition of sika *** results will play an essential role in promoting animal behaviour recognition technology and animal health monitoring management.

关键词： Behaviour recognition SE-Net module multi-scale module improved Inception module

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A Weighting Possibilistic Fuzzy C-Means Algorithm for Interval Granularity 17th

A Weighting Possibilistic Fuzzy C-Means Algorithm for Interv...

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17th CCF Conference on computer Supported Cooperative Work and Social Computing, ChineseCSCW 2022

作者： Tang, Yiming Xi, Lei Wu, Wenbin Wu, Xi Li, Shujie Chen, Rui Anhui Province Key Laboratory of Affective Computing and Advanced Intelligent Machine School of Computer and Information Hefei University of Technology Anhui Hefei230601 China Engineering Research Center of Safety Critical Industry Measure and Control Technology Ministry of Education Hefei University of Technology Anhui Hefei230601 China

ISBN: (纸本)9789819923847

Granular clustering is an emerging branch in the field of clustering. However, the existing granular clustering algorithms are still immature in terms of weight setting of granular data and noise resistance. In this study, a weighting possibilistic fuzzy c-means algorithm for interval granularity (WPFCM-IG) is proposed. To begin with, a new weight setting method for interval granular data is given. The principle of justifiable granularity is used as the evaluation criterion of granular data, and a weight is assigned to each granular data from two perspectives of coverage and specificity to measure the quality of the granular data. In addition, the idea of possibilistic clustering is introduced, which is helpful to improve the noise resistance. And, with the proposed weights of interval granular data, the influence of data with smaller weights on the clustering results can be reduced during the clustering process. Based upon these ideas, the WPFCM-IG algorithm is put forward, and its core idea, formula derivation and implementation process are described. Finally, the performance of the proposed algorithm is verified by comparison experiments on the artificial and UCI datasets. The experimental results show that the WPFCM-IG algorithm is better than other advanced algorithms in this field in terms of reconstruction error. Next, the WPFCM-IG algorithm is smoother than other algorithms on the collaborative relationship curve between the fuzzy coefficient and the reconstruction error, so WPFCM-IG can better optimize the fuzzy coefficient. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Fuzzy clustering

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A Data Transmission Approach Based on Ant Colony Optimization and Threshold Proxy Re-encryption in WSNs

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Journal of Artificial Intelligence and technology 2022年第1期2卷 23-31页

作者： Jing Liu Zenghui Liu Chenyu Sun Junxi Zhuang College of Computer Science Faculty of Information TechnologyBeijing University of TechnologyBeijing 100124China Engineering Research Center of Intelligent Perception and Autonomous Control Ministry of EducationBeijing 100124China College of Automation Engineering Beijing PolytechnicBeijing 100176China

Wireless sensor networks(WSNs)have become increasingly popular due to the rapid growth of the Internet of *** open wireless transmission media are easy to attack,security is one of the primary design concerns for *** solutions consider routing and data encryption as two isolated issues,providing incomplete ***,in this paper,we divide the WSN communication process into a data path selection phase and a data encryption *** propose an improved transmission method based on ant colony optimization(ACO)and threshold proxy re-encryption for WSNs,and we named it as *** method resists internal and external attacks and ensures safe and efficient data *** the data path selection stage,the ACO algorithm is used for network *** improvement of the pheromone concentration is *** order to resist attacks from external attackers,proxy re-encryption is extended to WSN in the data encryption *** threshold secret sharing algorithm is introduced to generate a set of re-encryption key fragments composed of random numbers at the source *** confirm the performance of our model via simulation studies.

关键词： wireless sensors network ant colony optimization pheromone proxy re-encryption threshold

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A Feature Reduction-Induced Subspace Multiple Kernel Fuzzy Clustering Algorithm 17th

A Feature Reduction-Induced Subspace Multiple Kernel Fuzzy C...

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17th CCF Conference on computer Supported Cooperative Work and Social Computing, ChineseCSCW 2022

作者： Tang, Yiming Li, Bing Pan, Zhifu Sun, Xiao Chen, Renhao Anhui Province Key Laboratory of Affective Computing and Advanced Intelligent Machine School of Computer and Information Hefei University of Technology Anhui Hefei230601 China Engineering Research Center of Safety Critical Industry Measure and Control Technology Ministry of Education Hefei University of Technology Anhui Hefei230601 China

ISBN: (纸本)9789819923847

High-dimensional data poses a great challenge to clustering, and subspace clustering algorithms have unique advantages when working with high-dimensional data. However, there are still some difficulties in adapting the nonlinear feature dimension, the selection and collaborative settings of kernel functions. Therefore, in this study, we come up with a feature reduction-induced subspace multiple kernel fuzzy clustering. Firstly, in order to solve the information loss caused by the nonlinear characteristics of the data, the multiple kernel clustering method is introduced, and some nonlinear features of the data are collaboratively mapped to the high-dimensional linear space, so as to better understand the characteristic information of the data. Secondly, due to the complexity of subspace and multiple kernel learning, we introduce the idea of feature reduction, and reduce the data dimension according to the importance of information, which can reduce the complexity of the algorithm on the one hand, and improve the role of important feature attributes in clustering on the other hand. Finally, the proposed RS-MKFC algorithm and the related 6 algorithms are compared on 6 ordinary datasets and 4 high-dimensional datasets, and it is found that the proposed algorithms are superior over the other 6 algorithms. At the same time, we discover the ability of RS-MKFC algorithm to screen important features as well as the function of feature reduction, and good results are achieved. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Fuzzy clustering

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Robust control of Feeding Speed for Coal Mine Tunnel Drilling Machines 25

Robust Control of Feeding Speed for Coal Mine Tunnel Drillin...

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25th IEEE International Conference on Industrial technology, ICIT 2024

作者： Liu, Xiao Chen, Luefeng Wu, Min Cao, Weihua Lu, Chengda Pedrycz, Witold School of Automation China University of Geosciences Wuhan China School of Automation The Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems The Engineering Research Center of Intelligent Technology for Geo-Exploration Wuhan430074 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2R3 Canada Systems Research Institute Polish Academy of Sciences Warsaw00-901 Poland Istinye University Department of Computer Engineering Sariyer Istanbul34396 Turkey

Changes in coal seam hardness cause fluctuations in the feed resistance at the drill bit during the drilling process, leading to unstable feeding speed. This paper proposes a robust dynamic output feedback controller to suppress disturbances caused by the variations in coal seam hardness in the feed system. Firstly, an unknown parameter measuring coal seam hardness is introduced, and an uncertain model of the feeding system is established based on the finite element model of the drill string. By designing weighted functions based on industrial field requirements and constructing a generalized plant, the controller achieves loop shaping, reducing the low-frequency impact of coal seam hardness variations on the feed system and suppressing the systems resonance peak. Simulation results demonstrate that the controller effectively suppresses parameter variations and external disturbances caused by changes in coal seam hardness, achieving stable control of the drilling speed. © 2024 IEEE.

关键词： Robust control

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Cow estrus control system based on machine vision

Cow estrus control system based on machine vision

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第35届中国控制与决策会议

作者： Liu Tianshu Li Chuan Zhao Limei Fang Jiandong Luo Jinsheng Li Ankang Mianyang Polytechnic Mianyang Computer vision Engineering Technology Research Center Inner Mongolia Key Laboratory of Perceptive Technology and Intelligent System Mianyang Polytechnic

Cow estrus control system based on machine vision can not only provide effective information for breeders,but also protect animal *** traditional detection of cow estrus is mainly through artificial discrimination,and its accuracy and real-time performance are ***,a non-contact real-time monitoring and identification method of estrus was ***,the principle of YOLOv4 model and the characteristic requirements of sample data were studied and *** individuals with complex background and serious occlusion,the K-means++ algorithm was used to optimize the anchor frame size,and the MobileNetvl lightweight network replaced the original CSPDarknet53 network to improve the speed of identifying estrus *** maximum pool structure of space pyramid was improved to average pool structure,and more effective features were retained to improve the accuracy of identifying estrus of dairy ***,based on the trunk pattern information of cows,Faster R-CNN model was improved to realize the identification of estrus ***50 was used to improve the original VGG16 feature extraction network,and the feature extraction capability of the model was enhanced to improve the recognition ***,a cow estrus monitoring system was developed using *** experimental results showed that the improved method could identify the estrus behavior of cows with the accuracy of99.95% and the frame rate of 76.23 f/*** average accuracy rate of identification can reach 99.51%,which is 0.18 percentage points higher than the original network.

关键词： cows in heat machine vision YOLOv4 model faster R-CNN mode control and control system

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Knowledge Graph for Identifying Geological Disasters by Integrating computer vision with Ontology

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Journal of Earth Science 2023年第5期34卷 1418-1432页

作者： Qinjun Qiu Zhong Xie Die Zhang Kai Ma Liufeng Tao Yongjian Tan Zhipeng Zhang Baode Jiang School of Computer Science China University of GeosciencesWuhan 430078China Key Laboratory of Geological Survey and Evaluation of Ministry of Education China University of GeosciencesWuhan 430074China National Engineering Research Center of Geographic Information System Wuhan 430074China School of Resource and Environmental Sciences Wuhan UniversityWuhan 430074China College of Computer and Information Technology China Three Gorges UniversityYichang 443002China Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering China Three Gorges UniversityYichang 443002China

The occurrence of geological disasters can have a large impact on urban safety. Protecting people’s safety is the most important concern when disasters occur. Safety improvement requires a large amount of comprehensive and representative risk analysis and a large collection of information related to geological hazards, including unstructured knowledge and experience. To address the relevant information and support safety risk analysis, a geological hazard knowledge graph is developed automatically based on computer vision and domain-geoscience ontology to identify geological hazards from input images while obeying safety rules and regulations, even when affected by changes. In the implementation of the knowledge graph, we design an ontology schema of geological disasters based on a top-down approach, and by organizing knowledge as a logical semantic expression, it can be shared using ontology technologies and therefore enable semantic interoperability. computer vision approaches are then used to automatically detect a set of entities and attributes, using the data from input images, and object types and their attributes are identified so that they can be stored in Neo4j for reasoning and searching. Finally, a reasoning model for geological hazard identification was developed using the Neo4j database to create nodes, relationships, and their properties for modeling, and geological hazards in the images can be automatically identified by searching the Neo4j database. An application on geological hazard is presented. The results show the effectiveness of the proposed approach in terms of identifying possible potential hazards in geological hazards and assisting in formulating targeted preventive measures.

关键词： geological hazard computer vision knowledge graph city safety ontology

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Automated Surgical Knot Tying on Mini-Incision with Micro-Suture based on Dual-Arm Nanorobot under Stereo Microscope

Automated Surgical Knot Tying on Mini-Incision with Micro-Su...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yujie Jiang Xiang Fu Chengxi Zhong Teng Li Haojian Lu Song Liu School of Information Science and Technology ShanghaiTech University Shanghai China College of Control Science and Engineering Zhejiang University Hangzhou China Shanghai Engineering Research Center of Intelligent Vision and Imaging Shanghai China

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Knot tying is an essential task for robotic surgery, which is routinely realized by dual-arm robotic manipulation. Despite the well-established protocol and progress at macro scale so far, there remain challenges to further advance robotic knot tying technique, particularly in terms of decreasing space consumption with better dexterity, higher precision, and well biomechanical compatibility. In this paper, we propose a novel dual-arm nanorobotic system setup for automated knot tying performed on mini-incision under stereo microscope, featured by an additional rotation degree of freedom mounted on each arm. With this setup, an optimized motion trajectory planning under standard knot-tying protocol is also presented in order to support tying knots with shorter and thinner suture. Leveraging the natural advantage of nanorobotics and microscope, the proposed system is capable of tying consecutive throws with micro-suture on mini-incision, like in vascular anastomosis or microsurgery. We successfully evaluated the knot tying system on 2.0 mm wide bionic blood vessel with 30 mm long #8-0 micro-suture. We finally tested the mechanical strength of the knots for potential medical assessment.

关键词： Trajectory planning Microscopy Blood vessels Microsurgery Arms Routing protocols Synchronization

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