检索结果-内蒙古大学图书馆

2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Meng, Qiwei Zhu, Shiqiang Gu, Jianjun Lin, Zheyuan Zhong, Ling Song, Wei Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

In this paper, we present FEIF, a novel framework for 6D object pose estimation from a single RGBD image. Compared with previous approaches, this model fully leverages the complementary RGB and depth information through lay-erwise feature excitation and interactive fusion, thus improving the effectiveness and robustness of extracted features. The representative RGBD features can be subsequently applied for object keypoints prediction and pose computation. In addition, our FEIF includes a self-evaluation module to make robots aware of the confidence of pose estimation, so they are flexible to take the corresponding strategy for following tasks. Experiment results prove the SOTA performance of our model on LineMOD, Occlusion-LineMOD and YCB-Video datasets, and we also demonstrate its applicability and robustness in real-world robotic manipulation. © 2022 IEEE.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Distributed robust fuzzy control for mixed-order multi-agent systems ensuring global consensus

引用

Science China Technological Sciences 2025年

作者： Xiaoli YANG Jiaxi CHEN Xinbo GAO Shuzhi Sam GE Key Laboratory of Intelligent Analysis and Decision on Complex Systems School of Mathematics and StatisticsChongqing University of Posts and Telecommunications School of Mathematics and Statistics Xidian University School of Computer Science and Technology Chongqing University of Posts and Telecommunications Department of Electrical and Computer Engineering National University of Singapore

This study investigates the global consensus problem of mixed-order multi-agent systems. Firstly, a control strategy based on switching functions is proposed to ensure the effective operation of fuzzy control in the fuzzy region. Secondly, the differential equation model satisfying the global Lipschitz condition is extended, and a more universal model framework is constructed. Furthermore, online learning laws with time-varying σ-modifications are introduced to effectively guarantee the global asymptotic convergence of the closed-loop multi-agent systems. Finally, the effectiveness of the proposed algorithm is validated through designed simulation experiments.

关键词：

来源：评论

学校读者我要写书评

暂无评论

High-Dimensional Controller Tuning through Latent Representations

High-Dimensional Controller Tuning through Latent Representa...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Alireza Sarmadi Prashanth Krishnamurthy Farshad Khorrami Department of Electrical and Computer Engineering Control/Robotics Research Laboratory (CRRL) NYU Tandon School of Engineering Brooklyn NY

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this paper, we propose a method to automatically and efficiently tune high-dimensional vectors of controller parameters. The proposed method first learns a mapping from the high-dimensional controller parameter space to a lower dimensional space using a machine learning-based algorithm. This mapping is then utilized in an actor-critic framework using Bayesian optimization (BO). The proposed approach is applicable to complex systems (such as quadruped robots). In addition, the proposed approach also enables efficient generalization to different control tasks while also reducing the number of evaluations required while tuning the controller parameters. We evaluate our method on a legged locomotion application. We show the efficacy of the algorithm in tuning the high-dimensional controller parameters and also reducing the number of evaluations required for the tuning. Moreover, it is shown that the method is successful in generalizing to new tasks and is also transferable to other robot dynamics.

关键词： Legged locomotion Machine learning algorithms Heuristic algorithms Dynamics Aerospace electronics Vectors Quadrupedal robots

来源：评论

学校读者我要写书评

暂无评论

HSMR: A Head-Shoulder Mask Aided ResNet to Guide Focus of Re-Identification Implemented on Tour-Guide Robot

HSMR: A Head-Shoulder Mask Aided ResNet to Guide Focus of Re...

引用

2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Lin, Zheyuan Huang, Min Wang, Wen Qin, Mengjie Li, Te Wan, Minhong Gu, Jason Zhu, Shiqiang Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

For service robots, person re-identification (ReID) and multi-pedestrian tracking (MPT) are vital to get a person's location and link identities across frames. Though their accuracy keeps improving, most work lacks consideration of the application scenario, haunted by limited space, constrained power supply, and demands of the real-time response during human-robot interaction. Some ReID models learn trivial or unrelated features, inhibiting the downstream tasks. To solve these issues, the efficient and light-weighted Head-Shoulder Mask aided ResNet (HSMR) is proposed. This model applies multi-task learning to enhance the feature extraction performance in the training stage without extra computational load during inference. The auxiliary task fully uses head-shoulder information to guide the network and focuses on the head region, which contains the identity information. In experiments on the Tour-Guide Robot Data Base (TGRDB), HSMR earned results better than ResNet-18 on the ReID task and was superior to the recent two-stream method on the MPT task. On the mobile hardware, inference reaches an average of 15.2 FPS, three times faster than the two-stream method. The code is released at https://***/ZhYLin99/HSMR. © 2022 IEEE.

关键词： Human robot interaction

来源：评论

学校读者我要写书评

暂无评论

Low-cost Mars Terrain Classification System Based on Coarse-grained Annotation

Low-cost Mars Terrain Classification System Based on Coarse-...

引用

2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022

作者： Zhang, Jian Chen, Yeheng Zhu, Shiqiang Li, Yuehua Xie, Tian Gu, Jason Research Center for Intelligent Robotics Research Institute of Interdisciplinary Innovation Zhejiang Laboratory Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada

ISBN: (纸本)9781665481090

Due to communication latency with remote ground sites, automatic recognition of Mars terrain is essential for the path-planning of rovers. Currently, most vision-based terrain classification require thousands of fine-grained training samples, while the undefined terrains on Mars are difficult to be classified or fine-grained labeled. Actually, most of the terrain categories can only be coarse-grained labeled due to several limitations, such as overlapped sub-regions, blurred borders, etc. To solve this problem, CACMT (Coarse-grained Annotation-based Classification for Mars Terrain) is proposed to generate the global fine-grained classification map from the local coarse-grained data. Specifically, the complete pipeline is decomposed into (i) annotation rules with unique design, (ii) hierarchical feature fusion network for predicting sub-features of terrain (iii) and a generator for outputting dense terrain categories of Mars. Finally, the results of actual data on Mars demonstrate that the terrain sub-features can be successfully recognized and a dense terrain classification map can be generated applying only coarse-grained labeled images. © 2022 IEEE.

关键词： Motion planning

来源：评论

学校读者我要写书评

暂无评论

Reducing the Computational Cost of Transformers for Person Re-identification

Reducing the Computational Cost of Transformers for Person R...

引用

IEEE International Conference on robotics and Biomimetics

作者： Wen Wang Zheyuan Lin Shanshan Ji Te Li Jason Gu Minhong Wan Chunlong Zhang Zhejiang Lab and Zhejiang Engineering Research Center for Intelligent Robotics Research Center for Intelligent Robotics Hangzhou China Department of Electrical and Computer Engineering Dalhousie University Canada

Transformer-based visual technologies have witnessed remarkable progress in recent years, and person re-identification (ReID) is one of the active research areas that adopts transformers to improve the performance. However, a major challenge of applying transformers to ReID is the high computational cost, which hinders the real-time deployment of such methods. To address this issue, this paper proposes two simple yet effective techniques to reduce the computation of transformers for ReID. The first technique is to eliminate the invalid patches that do not contain any person information, thereby reducing the number of tokens fed into the transformer. Considering that computational complexity is quadratic with respect to input tokens, the second technique partitions the image into multiple windows, applies separate transformers to each window, and merges class tokens from each window, which can reduce the complexity of the self-attention mechanism. By combining these two techniques, our proposed method reduces the SOTA baseline model by 12.2% FLOPs, while slightly improving the rank-1 accuracy and only sacrificing 1.1% mAP on DukeMTMC-ReID dataset.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Design of Capsule Robot for Magnetic Gastric Biopsy and Drug Administration 20

Design of Capsule Robot for Magnetic Gastric Biopsy and Drug...

引用

20th IEEE International Conference on Mechatronics and Automation, ICMA 2023

作者： Xu, Zhihui Li, Zongze Liu, Shoubin Hu, Chengzhi Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen China Guangdong Prov. Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen China Harbin Institute of Technology School of Mechanical and Electrical Engineering Shenzhen China

ISBN: (纸本)9798350320831

Capsule robots have emerged as a promising tool for the early diagnosis of gastrointestinal diseases. Unlike conventional gastroscopy, they offer the potential for minimally invasive or even non-invasive treatment, and can alleviate discomfort and pain in patients. However, current capsule robots have some limitations. For instance, they lack stomach tissue biopsy and drug administration functions, and the capsule robot used for biopsy does not consider the tolerance of gastrointestinal tissue. Similarly, the capsule robot used for drug administration does not account for the outlet speed of drug administration. This paper proposes a new biopsy method using a magnetically manipulated capsule robot and analyzes the principles governing the robot's manipulation during the biopsy and drug administration processes. Furthermore, an ANSYS gastric model was established and used to simulate and experimentally analyze damage to the gastric tissue model from different types of biopsy needles and their moving speeds. The appropriate type of biopsy needle and moving speed were determined to prevent damage to the gastric tissue. The study also used FLUENT to determine the appropriate thrust at the entrance of the drug cavity and the impact of the drug density on the drug outlet velocity to ensure complete adherence of the drug to the lesion. © 2023 IEEE.

关键词： Biopsy

来源：评论

学校读者我要写书评

暂无评论

Entropy-Guided Reinforced Open World Active 3D Object Detection Learning

Entropy-Guided Reinforced Open World Active 3D Object Detect...

引用

2024 China Automation Congress, CAC 2024

作者： Zhang, Haozhe Ma, Liyan Ying, Shihui Institute of Artificial Intelligence Shanghai University Shanghai200444 China School of Computer Engineering and Science School of Mechatronic Engineering and Automation Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai200444 China Department of Mathematics School of Science Shanghai University Shanghai200444 China

ISBN: (纸本)9798350368604

Traditional fully annotated closed set 3D object detection methods improve model performance but are impractical in real-world settings due to the emergence of new categories and the complexity of 3D annotations. Open-World Object Detection (OWOD) addresses these issues but relies heavily on manual labeling, which is costly. This paper focuses on open world active learning and proposes an entropy-guided reinforced open world active 3D object detection (EROA). EROA regards active learning as a reinforcement learning problem tailored for open driving scenarios. We use entropy as a reward metric for efficient reinforcement learning. We also leverage knowledge from the 2D domain using object-level large-scale vision-language models to enhance sample selection. Extensive experiments evidence that the proposed EROA meets the dynamic and cost-sensitive requirements of autonomous driving, enabling real-time detection of both known and unknown objects. © 2024 IEEE.

关键词： Active learning

来源：评论

学校读者我要写书评

暂无评论

Advswap: Covert Adversarial Perturbation with High Frequency Info-Swapping for Autonomous Driving Perception 27

Advswap: Covert Adversarial Perturbation with High Frequency...

引用

27th IEEE International Conference on intelligent Transportation Systems, ITSC 2024

作者： Huang, Yuanhao Zhang, Qinfan Xing, Jiandong Cheng, Mengyue Yu, Haiyang Ren, Yilong Xiong, Xiao School of Transportation Science and Engineering Beihang University Beijing100191 China State Key Lab of Intelligent Transportation System Beijing100191 China Zhongguancun Laboratory Beijing100094 China University of Alberta Department of Electrical and Computer Engineering Edmonton Canada

ISBN: (纸本)9798331505929

Perception module of Autonomous vehicles (AVs) are increasingly susceptible to be attacked, which exploit vulnerabilities in neural networks through adversarial inputs, thereby compromising the AI safety. Some researches focus on creating covert adversarial samples, but existing global noise techniques are detectable and difficult to deceive the human visual system. This paper introduces a novel adversarial attack method, AdvSwap, which creatively utilizes wavelet-based highfrequency information swapping to generate covert adversarial samples and fool the camera. AdvSwap employs invertible neural network for selective high-frequency information swapping, preserving both forward propagation and data integrity. The scheme effectively removes the original label data and incorporates the guidance image data, producing concealed and robust adversarial samples. Experimental evaluations and comparisons on the GTSRB and nuScenes datasets demonstrate that AdvSwap can make concealed attacks on common traffic targets. The generates adversarial samples are also difficult to perceive by humans and algorithms. Meanwhile, the method has strong attacking robustness and attacking transferability. © 2024 IEEE.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Scale‐wise interaction fusion and knowledge distillation network for aerial scene recognition

引用

CAAI Transactions on Intelligence Technology 2023年第4期8卷 1178-1190页

作者： Hailong Ning Tao Lei Mengyuan An Hao Sun Zhanxuan Hu Asoke K.Nandi School of Computer Science and Technology Xi'an University of Posts and TelecommunicationsShaanxi Key Laboratory of Network Data Analysis and Intelligent ProcessingXi'anChina Xi'an Key Laboratory of Big Data and Intelligent Computing Xi'anChina School of Electronic Information and Artificial Intelligence Shaanxi University of Science and TechnologyXi'anChina School of Computer Central China Normal UniversityWuhanChina Department of Electronic and Electrical Engineering Brunel University LondonLondonUK Xi'an Jiaotong University Xi'anChina

Aerial scene recognition(ASR)has attracted great attention due to its increasingly essential *** of the ASR methods adopt the multi‐scale architecture because both global and local features play great roles in ***,the existing multi‐scale methods neglect the effective interactions among different scales and various spatial locations when fusing global and local features,leading to a limited ability to deal with challenges of large‐scale variation and complex background in aerial scene *** addition,existing methods may suffer from poor generalisations due to millions of to‐belearnt parameters and inconsistent predictions between global and local *** tackle these problems,this study proposes a scale‐wise interaction fusion and knowledge distillation(SIF‐KD)network for learning robust and discriminative features with scaleinvariance and background‐independent *** main highlights of this study include two *** the one hand,a global‐local features collaborative learning scheme is devised for extracting scale‐invariance features so as to tackle the large‐scale variation problem in aerial scene ***,a plug‐and‐play multi‐scale context attention fusion module is proposed for collaboratively fusing the context information between global and local *** the other hand,a scale‐wise knowledge distillation scheme is proposed to produce more consistent predictions by distilling the predictive distribution between different scales during *** experimental results show the proposed SIF‐KD network achieves the best overall accuracy with 99.68%,98.74%and 95.47%on the UCM,AID and NWPU‐RESISC45 datasets,respectively,compared with state of the arts.

关键词： deep learning image analysis image classification information fusion

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：