In this work, we propose an Accurate and Robust Matching Network (ARM-Net) to facilitate the point cloud regis-tration through accurate and robust point matching. The ARM-Net adopts two drastically different design co...
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ISBN:
(数字)9798350376968
ISBN:
(纸本)9798350376975
In this work, we propose an Accurate and Robust Matching Network (ARM-Net) to facilitate the point cloud regis-tration through accurate and robust point matching. The ARM-Net adopts two drastically different design concepts concerning network architectures. For one thing, ARM-Net utilizes dynamic graph convolution to extract features from evolving topology around a target point, where the neighboring information of that point is continuously changing. For another thing, ARM - N et uses the multi-layer perceptron (MLP) architecture to acquire “global” encoding of each local topology of the same point whose local topology remains constant. After extracting the features, the back-to-back transformers are used to identify self-attention and cross-attention between the two point clouds to be registered, and the matching subnetwork is then used to identify the points that correspond. Moreover, to obtain more local information and improve the distinctness of the extracted features, we propose a simple but effective module of local aggregation based on the K-Nearest Neighbor (KNN) algorithm before the extraction of the features. Providing noise-independent local information and improving registration performance is possible when K is sufficiently large for the local aggregation. For rotation and translation errors, simulation results demonstrate that ARM-Net outperforms other networks in terms of the MSE, RMSE and MAE. For rotation errors, ARM-Net has Root Mean Square Errors (RMSEs) of 0.0639 and 2.08962 for full and partial registration, respectively. For translation errors, ARM-Net has RMSEs of 2×10
−6
and 0.025574 for full and partial registration, respectively.
One of the most important tasks in autonomous driving and autonomous vehicle navigation is detecting a path or trajectory that the vehicle should follow. Over the past few years, some learning-based works have stood o...
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ISBN:
(数字)9798350358513
ISBN:
(纸本)9798350358520
One of the most important tasks in autonomous driving and autonomous vehicle navigation is detecting a path or trajectory that the vehicle should follow. Over the past few years, some learning-based works have stood out more than traditional computer vision techniques in detecting such lanes. In this paper we present an approach to solve the lane line detection problem in the context of visual path following by using a residual factorized convolutional neural network. Experimental results show a promising model that can detect lane lines even under severe lighting conditions and in the presence of occlusions and shadows. The path detection system was tested along with a visual path following formulation based on Nonlinear Model Predictive Control. Still, it can be used for any controller in the context of visual navigation for autonomous vehicles. Nonetheless, the proposed model architecture strikes a remarkable balance between accuracy and efficiency, making the system suitable for real-time applications.
We demonstrate extraordinarily spectrally selective narrowband mid-infrared radiation absorbance and thermal emittance with the strong surface enhancement of molecular infrared absorption (SEIRA) using mid-midinfrared...
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The gauge length parameter selection affects the quality of data measured in Distributed Acoustic Sensing. This paper uses Fiber Bragg Grating's strain measurements in controlled experiments to promote optimizatio...
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The development of the internet is getting faster, participating in encouraging the emergence of new and innovative information. In filtering the various information that appears, we need a recommended system to perfo...
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This paper presents a study and development on the thermal mapping of a Three-phase Induction Motor for harsh environments application. These machines’ exceptional performance and precise speed control make them esse...
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Depressive Disorders (DD) is one of the most prevalent mental disorders in the world that may lead to suicide cases. To prevent the latter, ubiquitous early detection systems may be effective. Recent studies have sinc...
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In order to investigate the effect of hot isostatic pressing (HIP) treatment on thermoelectric properties of titanium oxides (TiO2) for the improvement of thermoelectric conversion efficiency, the X-ray diffraction, t...
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In this work, we propose an optical OFDM system using phase modulation followed by optical filtering and direct detection. A fiber Bragg grating is used as an optical filter for phase to amplitude conversion. The perf...
In this work, we propose an optical OFDM system using phase modulation followed by optical filtering and direct detection. A fiber Bragg grating is used as an optical filter for phase to amplitude conversion. The performance of the proposed system is investigated for both 16 QAM- and 64 QAM-OFDM signals considering different numbers of training signals for frequency-domain channel estimation. With adequate choice of the training sequence length, BER results below 10 −4 are reported for the 16 QAM based signal.
We propose a digital twin agent that constructs elderly digital twins by digitally transforming daily life of the elderly. We developed the digital twin agent as an avatar run on a smartwatch. The digital twin agent p...
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