A pose estimation approach for the navigation of mobile robot in unknown environments is proposed. Compared with the existing mainstream SLAM, the proposed approach has a better generality without the help of odometer...
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A pose estimation approach for the navigation of mobile robot in unknown environments is proposed. Compared with the existing mainstream SLAM, the proposed approach has a better generality without the help of odometers or motion models and it is completely based on external environment perceived by a laser sensor. In each of the laser frames, landmark points are first determined and they are then coded into a series of description matrixes. On this basis, by considering the landmarks matching in two neighboring laser frames, the pose change of the robot may be calculated, and the understanding of laser-based landmarks by geometric coding is achieved. The proposed approach is proved to be effective by the experiments of a tracked robot.
Space launch is a complex project with high risk,and failure of space launch may cause a great loss to people’s life,property and important *** a resonable and effective emergency response program is critical and imp...
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Space launch is a complex project with high risk,and failure of space launch may cause a great loss to people’s life,property and important *** a resonable and effective emergency response program is critical and important for space ***,a Decision Network Planning(DNP)method is proposed to describe logic relations of emergency response procedures,based on which the logical reasonability and rigor,coordination of several involved departments,timeliness of emergency measures and sufficiency of resources guarantee are ***,the critical path and resource guaranteed rate are calculated to analyze the degree of control in the emergency process of space launch ***,a case of filling leakage is used to show the helpfulness of the proposed method.
This paper presents a novel observer-critic architecture for solving the near-optimal control problem of uncertain nonlinear continuous-time systems. Two neural networks (NNs) are employed in the architecture: an obse...
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This paper presents a novel observer-critic architecture for solving the near-optimal control problem of uncertain nonlinear continuous-time systems. Two neural networks (NNs) are employed in the architecture: an observer NN is constructed to get the knowledge of uncertain system dynamics and a critic NN is utilized to derive the optimal control. The observer NN and the critic NN are tuned simultaneously. By using the recorded and instantaneous data together, the optimal control can be derived without the persistence of excitation condition. Meanwhile, the closed-loop system is guaranteed to be stable in the sense of uniform ultimate boundedness. No initial stabilizing control is required in the developed algorithm. An illustrated example is provided to demonstrate the effectiveness of the present approach.
Crustal movement simulation takes the very essential effect in the research on water cycle and related land surface processes. In this paper, a crustal movement simulation system (CMSS) is presented. The system enable...
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ISBN:
(纸本)9781479973989
Crustal movement simulation takes the very essential effect in the research on water cycle and related land surface processes. In this paper, a crustal movement simulation system (CMSS) is presented. The system enables researchers investigate the effects of crustal movement on rivers and lakes in the laboratory environment. The CMSS proposed consists of twelve sets of parallel mechanism supported by four serial chains with three degree of freedoms (DOFs). The kinematics analysis of the parallel mechanism with four serial chains is provided. To solve the coplanar problem of four screws, a control method based on linear interpolation with parabola transition is introduced. Surface fitting algorithm based on geometric relations is used to simulate the land surface. Experiment results demonstrate the effectiveness of the system and the methods proposed.
Face perception is one of the most important tasks in robot vision especially for service robots. The spatially enhanced local binary pattern histogram (eLBPH) method has been proved to be effective for facial image r...
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ISBN:
(纸本)9781467396769
Face perception is one of the most important tasks in robot vision especially for service robots. The spatially enhanced local binary pattern histogram (eLBPH) method has been proved to be effective for facial image representation and analysis, but the expression factor isn't considered and the region-dividing method is rough. In this paper, inspired by the biological mechanism of human memory and face perception, we improve the eLBPH and propose a new method, expressionspecific weighted local binary pattern histogram (EWLBPH). Accordingly, the new method introduces a semantic division process and an extended modulation process into the classical eLBPH. What's more, for the facial expression recognition, we propose a novel method which utilizes the convolutional deep belief network (CDBN) to extract discriminative information and represent them effectively. Finally, through experiments we verify the rationality and effectiveness of the improvement and two psychophysical findings.
Revealing underlying causal structure in social media is critical to understanding how users interact, on which a lot of security intelligence applications can be built. Existing causal inference methods for social me...
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Revealing underlying causal structure in social media is critical to understanding how users interact, on which a lot of security intelligence applications can be built. Existing causal inference methods for social media usually rely on limited explicit causal context, pre-assume certain user interaction model, or neglect the nonlinear nature of social interaction, which could lead to bias estimations of causality. Inspired from recent advance in causality detection in complex ecosystems, we propose to take advantage of a novel nonlinear state space reconstruction based approach, namely Convergent Cross Mapping, to perform causal inference in social media. Experimental results on real world social media datasets show the effectiveness of the proposed method in causal inference and user behavior prediction in social media.
This paper proposes an approach to moving vehicle tracking in surveillance videos based on conditional random fields(CRF).The key idea is to integrate a variety of relevant knowledge about vehicle tracking into a unif...
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This paper proposes an approach to moving vehicle tracking in surveillance videos based on conditional random fields(CRF).The key idea is to integrate a variety of relevant knowledge about vehicle tracking into a uniform probabilistic framework by using the CRF *** this work,the CRF model integrates spatial and temporal contextual information of vehicle motion,and the appearance information of the *** approximate inference algorithm,loopy belief propagation,is used to recursively estimate the vehicle region from the history of observed ***,the background model is updated adaptively to cope with non-stationary background *** results show that the proposed approach is able to accurately track moving vehicles in monocular image ***,region-level tracking realizes precise localization of vehicles.
Space launch is a complex project with high risk, and failure of space launch may cause a great loss to people's life, property and important facilities. Thus a resonable and effective emergency response program i...
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ISBN:
(纸本)9781479960590
Space launch is a complex project with high risk, and failure of space launch may cause a great loss to people's life, property and important facilities. Thus a resonable and effective emergency response program is critical and important for space launch. First, a Decision Network Planning (DNP) method is proposed to describe logic relations of emergency response procedures, based on which the logical reasonability and rigor, coordination of several involved departments, timeliness of emergency measures and sufficiency of resources guarantee are evaluated. Then, the critical path and resource guaranteed rate are calculated to analyze the degree of control in the emergency process of space launch failure. Last, a case of filling leakage is used to show the helpfulness of the proposed method.
In this paper,an effective approach to vehicle license plate recognition based on Extremal Regions(ERs) and Self-adaptive Evolutionary Extreme Learning Machine(Sa EELM) is *** the license plate detection step,some com...
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In this paper,an effective approach to vehicle license plate recognition based on Extremal Regions(ERs) and Self-adaptive Evolutionary Extreme Learning Machine(Sa EELM) is *** the license plate detection step,some computations including morphological operations,various filters,different contours and validations are sequentially performed to extract some image regions as candidate license ***,accurate character segmentation is achieved through a proper selection of *** the character recognition step,the HOG(histogram of oriented gradients) feature vector in each character region is extracted,and then the characters are recognized using an offline trained pattern classifier of Sa *** results show that our approach works quite well in complex traffic environments.
In this paper, a novel vision-based method for roll angle estimation of the robot is proposed. Inspired by biological visual cortex, scales and shapes of local patterns whose directions may contribute to the judgment ...
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In this paper, a novel vision-based method for roll angle estimation of the robot is proposed. Inspired by biological visual cortex, scales and shapes of local patterns whose directions may contribute to the judgment of the scenes' gravity and horizon are determined. On this basis, a local direction detector is designed and all the detected local directions in an image are summed up into the direction function. Then the precise directions of gravity and horizon may be easily obtained by using statistical techniques. Experiments illustrate the generalization and effectiveness of the proposed method.
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