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arXiv 2023年

作者： Gao, Yu Xu, Xi Jiang, Tianji Chen, Siyuan Yang, Yi Yue, Yufeng Fu, Mengyin School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

Object detection and pose estimation are difficult tasks in robotics and autonomous driving. Existing object detection and pose estimation methods mostly adopt the same-dimensional data for training. For example, 2D object detection usually requires a large amount of 2D annotation data with high cost. Using high-dimensional information to supervise lower-dimensional tasks is a feasible way to reduce datasets size. In this work, the DR-WLC, a dimensionality reduction cognitive model, which can perform both object detection and pose estimation tasks at the same time is proposed. The model only requires 3D model of objects and unlabeled environment images (with or without objects) to finish the training. In addition, a bounding boxes generation strategy is also proposed to build the relationship between 3D model and 2D object detection task. Experiments show that our method can qualify the work without any manual annotations and it is easy to deploy for practical applications. Source code is at https: //***/IN2-ViAUn/DR-WLC. Copyright © 2023, The Authors. All rights reserved.

关键词： Object detection

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Sector Patch Embedding: An Embedding Module Conforming to The Distortion Pattern of Fisheye Image

arXiv

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arXiv 2023年

作者： Yang, Dianyi Tang, Jiadong Gao, Yu Yang, Yi Fu, Mengyin School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

Fisheye cameras suffer from image distortion while having a large field of view(LFOV). And this fact leads to poor performance on some fisheye vision tasks. One of the solutions is to optimize the current vision algorithm for fisheye images. However, most of the CNN-based methods and the Transformer-based methods lack the capability of leveraging distortion information efficiently. In this work, we propose a novel patch embedding method called Sector Patch Embedding(SPE), conforming to the distortion pattern of the fisheye image. Furthermore, we put forward a synthetic fisheye dataset based on the ImageNet-1K and explore the performance of several Transformer models on the dataset. The classification top-1 accuracy of ViT and PVT is improved by 0.75% and 2.8% with SPE respectively. The experiments show that the proposed sector patch embedding method can better perceive distortion and extract features on the fisheye images. Our method can be easily adopted to other Transformer-based models. Source code is at https://***/IN2-ViAUn/Sector-Patch-Embedding. Copyright © 2023, The Authors. All rights reserved.

关键词： Embeddings

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CRRS: Concentric Rectangles Regression Strategy for Multi-point Representation on Fisheye Images

arXiv

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arXiv 2023年

作者： Wang, Xihan Xu, Xi Gao, Yu Yang, Yi Yue, Yufeng Fu, Mengyin School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

Modern object detectors take advantage of rectangular bounding boxes as a conventional way to represent objects. When it comes to fisheye images, rectangular boxes involve more background noise rather than semantic information. Although multi-point representation has been proposed, both the regression accuracy and convergence still perform inferior to the widely used rectangular boxes. In order to further exploit the advantages of multi-point representation for distorted images, Concentric Rectangles Regression Strategy(CRRS) is proposed in this work. We adopt smoother mean loss to allocate weights and discuss the effect of hyper-parameter to prediction results. Moreover, an accurate pixel-level method is designed to obtain irregular IoU for estimating detector performance. Compared with the previous work for muti-point representation, the experiments show that CRRS can improve the training performance both in accurate and stability. We also prove that multi-task weighting strategy facilitates regression process in this design. Source code is at https://***/IN2-ViAUn/Concentric-Rectangles-Loss. Copyright © 2023, The Authors. All rights reserved.

关键词： Semantics

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Real-time terrain assessment and Bayesian-based path planning for off-road navigation

Real-time terrain assessment and Bayesian-based path plannin...

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IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Tianwei Niu Shuwei Yu Liang Wang Haoyu Yuan Shoukun Wang Junzheng Wang Localization and Motion Planning School of Automation Beijing Institute of Technology Beijing China State Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing China

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

In the context of unstructured and unknown environment, the autonomous navigation still faces many challenges, such as assessing rough terrain and deciding how to safely navigate complex terrain. In this work, we propose a robust and practical off-road navigation framework that has been successfully deployed on a vibroseis truck for land exploration. First, in degraded wild scenes, a tightly coupled lidar-GNSS-inertial fusion odometry and mapping framework is adopted to construct a local point cloud map around the vehicle in real-time and provide precise localization. Then, based on amplitude-frequency characteristic analysis and point cloud PCA, a multi-layer terrain assessment map containing terrain roughness, obstacles and slope information is obtained. Finally, combining Gaussian distribution based adaptive sampler and Bayesian sequentially updated proposal distribution, a local graph is efficiently built to obtain multiple path solutions under constrained conditions. Both simulations and field experiments show that the proposed navigation framework can decide how to travel on a flat road even in harsh terrain conditions, naturally suppressing frequent attitude angle changes and preventing vehicle accidents.

关键词： Point cloud compression Location awareness Adaptation models Navigation Roads Gaussian distribution Real-time systems Bayes methods Proposals Principal component analysis

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Research on Synthetic Data Generation and Multi-modal Target Detection

Research on Synthetic Data Generation and Multi-modal Target...

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Chinese control and decision Conference, CCDC

作者： Jiexi Liu Chenyu Wang Lei Xu Beijing Institute of Technology Beijing China Key Laboratory of Complex System Intelligent Control and Decision Beijing China

ISBN: (纸本)9781665478977

Target Detection is one of the most important tasks in Computer Vision, which has broad application prospects in many scenes. For the past few years, great progress has been made in this field with the rapid development of deep learning technology. However, it’s still a big challenge at complex scenarios such as dim environment for traditional single-modal visible images. To address this problem, researchers introduce thermal images as additional modal in consideration of that thermal cameras are less susceptible to interference and explore how to fuse the two modalities information effectively. Nevertheless, the lack of large labeled and high-quality visible-thermal datasets hampers the usage of convolutional neural networks for detection. Therefore, we propose to use image-to-image translation model combined with a differentiable data augmentation method to generate fake thermal images from labeled visible images and use multi-modal target detection model to prove the validity of the method. Our experiment results show that our method can provide us a large labeled dataset of synthetic visible-thermal image pairs with better generalization and the introduction of thermal modality can obtain a better performance than single modality.

关键词： Deep learning Computer vision Fuses Object detection Interference Detectors Data models

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Time-attenuating Twin Delayed DDPG Reinforcement Learning for Trajectory Tracking control of Quadrotors

arXiv

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arXiv 2023年

作者： Deng, Boyuan Sun, Jian Li, Zhuo Wang, Gang School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing100081 China

Continuous trajectory tracking control of quadrotors is complicated when considering noise from the environment. Due to the difficulty in modeling the environmental dynamics, tracking methodologies based on conventional control theory, such as model predictive control, have limitations on tracking accuracy and response time. We propose a Time-attenuating Twin Delayed DDPG, a model-free algorithm that is robust to noise, to better handle the trajectory tracking task. A deep reinforcement learning framework is constructed, where a time decay strategy is designed to avoid trapping into local optima. The experimental results show that the tracking error is significantly small, and the operation time is one-tenth of that of a traditional algorithm. The OpenAI Mujoco tool is used to verify the proposed algorithm, and the simulation results show that, the proposed method can significantly improve the training efficiency and effectively improve the accuracy and convergence stability. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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A MPC-based Planner Applied on a Parallel Wheel-legged Robot for Obstacle Avoidance 25

A MPC-based Planner Applied on a Parallel Wheel-legged Robot...

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Proceedings of the 4th International Conference on Computer, Artificial Intelligence and control Engineering

作者： Fei Guo Huan Yu Wanhong Lin Shoukun Wang National Key Laboratory of Human Factors Engineering China Astronaut Research and Training Center Beijing China Institute of Spacecraft System Engineering China Academy of Space Technology Beijing China Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China

ISBN: (纸本)9798400712647

A wheel-legged robot is equipped with Stewart parallel mechanism, constituting a reconfigurable robot which can change its wheelbase, robot body height, and achieve omnidirectional steering. The legged character effectively improves the terrain adaptability, which concerns our planning concentration. We introduced an optimization-based whole-body trajectory planning algorithm to navigate robot in rugged terrain. The planner combines terrain data and stability, allowing lower-level motion generator and controller to operate more efficiently. The Model Predictive control(MPC)-based method updates the footholds and CoG trajectories, which builds upon the support polygon constraints on optimization. The simulations of methodology working in several structure-obstacle scene demonstrated and compared the availability of approach.

关键词： Reconfigurable robot

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Forming Circle Formations of Multi-agent systems Under Actuator Faults 5th

Forming Circle Formations of Multi-agent Systems Under Actu...

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5th Chinese Conference on Swarm Intelligence and Cooperative control, CCSICC 2021

作者： Liu, Jiajun Ru, Xinfeng Xia, Weiguo Wang, Chen China National Aeronautical Radio Electronic Research Institute and National Key Laboratory of Science and Technology on Avionics System Integration Shanghai China Key Laboratory of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education and School of Control Science and Engineering Dalian University of Technology Dalian China National Engineering Research Center of Software Engineering and the State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

ISBN: (纸本)9789811939976

A distributed fault-tolerant formation control law is designed in this paper for multi-agent systems under external disturbances and actuator faults including time-varying loss of effectiveness faults. The initial position of each agent is already on a circle and the control purpose is to form a desired formation on this circle. Based on this local information, a distributed adaptive formation control law is designed by employing the congelation of variables method to deal with time-varying actuator faults. Finally, a simulation example is given to verify the effectiveness of the adaptive fault-tolerant control design method. © 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Multi agent systems

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Improved Kalman Filtering Algorithm Based Multi-Sensor Integration for Silicon Single Crystal Growth Process

Improved Kalman Filtering Algorithm Based Multi-Sensor Integ...

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International Symposium on Autonomous systems (ISAS)

作者： Ruidong Xie Pei Zhu Wenle Ma Zheqi Zhang Yingmin Yi Zheng Guo Key Lab of Manufacturing Equipment of Shaanxi Province Xi’an University of Technology Xi’an China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China

ISBN: (数字)9798350363173

ISBN: (纸本)9798350363180

The study primarily delves into addressing the data filtering challenge inherent in the silicon single crystal growth process by proposing a multi-sensor integrated detection approach. This approach is designed to alleviate the diminished filtering accuracy resulting from the reliance on a single sensor and the conventional Kalman filtering algorithm. By utilizing an enhanced adaptive Kalman filtering algorithm and the maximum likelihood estimation criterion to incorporate the innovation variance directly into the gain calculation of the Kalman filter, dynamic adjustment of the estimation model is achieved while interference from system noise and measurement noise is reduced. Finally, simulation-based comparative experiments between the adaptive and conventional Kalman filtering algorithms are performed. The results show that the performance of the adaptive Kalman filtering algorithm is superior to that of the conventional Kalman filtering algorithm in terms of accuracy and stability when detecting signals from multiple sensors. The research findings furnish dependable data support for refining the decision-making process in crystal growth technology, augmenting the precision and scientific integrity of crystal safety production scheduling and decision-making endeavors.

关键词： Crystal growth Filtering Noise decision making Crystals Production Filtering algorithms

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Modeling and Simulation Design of Single Crystal Silicon Growth by Czochralski Method

Modeling and Simulation Design of Single Crystal Silicon Gro...

引用

Mechatronics Technology and intelligent Manufacturing (ICMTIM), International Conference on

作者： Ruidong Xie Wenle Ma Zheqi Zhang Pei Zhu Yingmin Yi Key Lab of Manufacturing Equipment of Shaanxi Province Xi’an University of Technology Xi’an China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China

ISBN: (数字)9798350363265

ISBN: (纸本)9798350363272

Due to difficulties in observing crystal state and the high cost of crystal preparation, the teaching of the Czochralski single crystal silicon production is complex. To solve the above problem, a digital twins-inspired virtual simulation system for the growth of single crystal silicon was developed. The 3D models of the single crystal furnace, single crystal silicon rods, and other related objects were created using Blender. The nonlinear model of the single crystal silicon growth process was established based on the heat conduction during crystal growth and geometric deformation. The 3D models were then imported into the web page using ***. The PID control algorithm was used to control the temperature and pulling speed, and finally, the B/S architecture was adopted to design and implement the virtual simulation experiment system for the growth of Czochralski single crystal silicon. The virtual simulation method will help to overcome the shortcomings of on-site experiment teaching and enhance students’ understanding of the entire single crystal silicon preparation process.

关键词： Crystal growth Heating systems Solid modeling Three-dimensional displays PI control Furnaces Education

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