检索结果-内蒙古大学图书馆

IEEE International Conference on robotics and Biomimetics

作者： Yaling Pan Li He Yisheng Guan Hong Zhang Biomimetic Intelligent Robotics Research Laboratory (BIRL) Guangdong University of Technology Guangzhou China Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China

ISBN: (纸本)9781665481106

Local feature descriptors play a crucial role in computer vision problems, especially robot motion. Existing descriptors are highly accurate, but their performance de-pends on the influence of distracting factors, such as illumi-nation and viewpoint. There is room for further improvement of these descriptors. In this paper, we provide an in-depth analysis of several exciting features of the descriptor fusion model (DFM) we have proposed in our recent work, which uses an autoencoder to combine descriptors and exploit their respective advantages. With this DFM framework, we fur-ther validate that fused descriptors can retain advantageous properties and that our DFM is a generally applicable method with respect to various component descriptors. Specifically, we evaluate multiple combinations of hand-crafted and CNN descriptors concerning their performance on a benchmark dataset with illumination and viewpoint changes to obtain comprehensive experimental results. The results show that the fused descriptors have better matching accuracy than their component descriptors.

关键词： Robot motion computer vision Analytical models Biomimetics Lighting Benchmark testing

来源：评论

学校读者我要写书评

暂无评论

Person Re-Identification for Robot Person Following with Online Continual Learning

arXiv

引用

arXiv 2023年

作者： Ye, Hanjing Zhao, Jieting Zhan, Yu Chen, Weinan He, Li Zhang, Hong Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology China Guangdong University of Technology China

Robot person following (RPF) is a crucial capability in human-robot interaction (HRI) applications, allowing a robot to persistently follow a designated person. In practica RPF scenarios, the person can often be occluded by other objects or people. Consequently, it is necessary to re-identify the person when he/she reappears within the robot’s field of view Previous person re-identification (ReID) approaches to person following rely on a fixed feature extractor. Such an approach often fails to generalize to different viewpoints and lighting conditions in practical RPF environments. In other words, it suffers from the so-called domain shift problem where it cannot re-identify the person when his re-appearance is out of the domain modeled by the fixed feature extractor. To mitigate this problem, we propose a ReID framework for RPF where we use a feature extractor that is optimized online with both short-term and long-term experiences (i.e., recently and previously observed samples during RPF) using the online continua learning (OCL) framework. The long-term experiences are maintained by a memory manager to enable OCL to update the feature extractor. Our experiments demonstrate that even in the presence of severe appearance changes and distractions from visually similar people, the proposed method can still re-identify the person more accurately than the state-of-the-art methods. Copyright © 2023, The Authors. All rights reserved.

关键词： Human robot interaction

来源：评论

学校读者我要写书评

暂无评论

Perspective Phase Angle Model for Polarimetric 3D Reconstruction

arXiv

引用

arXiv 2022年

作者： Chen, Guangcheng He, Li Guan, Yisheng Zhang, Hong Guangdong University of Technology Guangzhou China Southern University of Science and Technology Shenzhen China Shenzhen Key Laboratory of Robotics and Computer Vision China

Current polarimetric 3D reconstruction methods, including those in the well-established shape from polarization literature, are all developed under the orthographic projection assumption. In the case of a large field of view, however, this assumption does not hold and may result in significant reconstruction errors in methods that make this assumption. To address this problem, we present the perspective phase angle (PPA) model that is applicable to perspective cameras. Compared with the orthographic model, the proposed PPA model accurately describes the relationship between polarization phase angle and surface normal under perspective projection. In addition, the PPA model makes it possible to estimate surface normals from only one single-view phase angle map and does not suffer from the so-called π-ambiguity problem. Experiments on real data show that the PPA model is more accurate for surface normal estimation with a perspective camera than the orthographic model. Copyright © 2022, The Authors. All rights reserved.

关键词： Image reconstruction

来源：评论

学校读者我要写书评

暂无评论

Multi-Scale Point Octree Encoding Network for Point Cloud Based Place Recognition

Multi-Scale Point Octree Encoding Network for Point Cloud Ba...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Zhilong Tang Hanjing Ye Hong Zhang Department of Electrical and Electronic Engineering Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology (SUSTech) SUSTech Shenzhen China

Over the past decades, point cloud-based place recognition has garnered significant attention. This research paper presents a pioneering approach, denoted as the Multi-scale Point Octree Encoding Network (MPOE-Net), designed to acquire a discriminative global descriptor for efficient retrieval of places. The key element of the MPOE-Net is the point octree encoding module, which adeptly captures local information for each point by considering its nearest and farthest neighbors. Further enhancing local relationships, a multi-transformer network is introduced, utilizing a novel grouped offset-attention mechanism. To amalgamate the multi-scale attention maps into a comprehensive global descriptor, a multi-NetVLAD layer is incorporated. Through rigorous experimentation across diverse benchmark datasets, our proposed method unequivocally outperforms existing techniques in the realm of point cloud-based place recognition tasks, achieving state-of-the-art results. Our code is released publicly at https://***/Zhilong-Tang/MPOE-Net.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Task-Oriented Grasp Prediction with Visual-Language Inputs

arXiv

引用

arXiv 2023年

作者： Tang, Chao Huang, Dehao Meng, Lingxiao Liu, Weiyu Zhang, Hong Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China Institute for Robotics and Intelligent Machines Georgia Institute of Technology Atlanta United States

To perform household tasks, assistive robots receive commands in the form of user language instructions for tool manipulation. The initial stage involves selecting the intended tool (i.e., object grounding) and grasping it in a task-oriented manner (i.e., task grounding). Nevertheless, prior researches on visual-language grasping (VLG) focus on object grounding, while disregarding the fine-grained impact of tasks on object grasping. Task-incompatible grasping of a tool will inevitably limit the success of subsequent manipulation steps. Motivated by this problem, this paper proposes GraspCLIP, which addresses the challenge of task grounding in addition to object grounding to enable task-oriented grasp prediction with visual-language inputs. Evaluation on a custom dataset demonstrates that GraspCLIP achieves superior performance over established baselines with object grounding only. The effectiveness of the proposed method is further validated on an assistive robotic arm platform for grasping previously unseen kitchen tools given the task specification. Our presentation video is available at: https://***/watch?v=e1wfYQPeAXU. Copyright © 2023, The Authors. All rights reserved.

关键词： Visual languages

来源：评论

学校读者我要写书评

暂无评论

Bioinspired Musculoskeletal Model-based Soft Wrist Exoskeleton for Stroke Rehabilitation

引用

Journal of Bionic Engineering 2020年第6期17卷 1163-1174页

作者： Ning Li Tie Yang Yang Yang Peng Yu Xiujuan Xue Xingang Zhao Guoli Song Imad HElhajj Wenxue Wang Ning Xi Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Institutes for Robotics and Itelligent Manufacturing Chinese Academy of SciencesShenyang 110169China University of Chinese Academy of Sciences Bejing 100049China Rehabilitation Center for the Disabled Shenyang 110015China Vision and Robotics Lab Department of Electrical and Computer EngineeringAmerican University of BeirutBeirut 11072020Lebanon Emerging Technologies Instinute Department of Industrial&Manufacturing Systems EngineeringUniversity of Hong KongPokfulamHong Kong 999077China

Exoskeleton robots have demonstrated the potential to rehabilitate stroke ***,poor human-machine physiological coupling causes unexpected damage to human of muscles and ***,inferior humanoid kinematics control would restrict human natural *** to deal with these problems results in bottlenecks and hinders its *** this paper,the simplified muscle model and muscle-liked kinematics model were proposed,based on which a soft wrist exoskeleton was established to realize natural human ***,we simplified the redundant muscular system related to the wrist joint from ten muscles to four,so as to realize the human-robot physiological ***,according to the above human-like musculoskeletal model,the humanoid distributed kinematics control was established to achieve the two DOFs coupling kinematics of the *** results show that the wearer of an exoskeleton could reduce muscle activation and joint force by 43.3%and 35.6%,***,the humanoid motion trajectories similarity of the robot reached 91.5%.Stroke patients could recover 90.3%of natural motion ability to satisfy for most daily *** work provides a fundamental understanding on human-machine physiological coupling and humanoid kinematics control of the exoskeleton robots for reducing the post-stroke complications.

关键词： stroke rehabilitation simplified muscle model soft wrist exoskeleton robot bionic kinematics model

来源：评论

学校读者我要写书评

暂无评论

Face Analysis for Coronary Heart Disease Diagnosis 12

Face Analysis for Coronary Heart Disease Diagnosis

引用

12th International Congress on Image and Signal Processing, BioMedical Engineering and Informatics, CISP-BMEI 2019

作者： Lin, Shisong Zhuang, Xiaodong Huang, Shiyun Liu, Yahui Shen, Linlin Liao, Xinxue Computer Vision Institute College of Computer Science and Software Engineering Shenzhen University Shenzhen China Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen China Cardiology department First affiliated hospital of Sun Yat-sen University Guangzhou China NHC Key Laboratory of Assisted Circulation Sun Yat-sen University Guangzhou China Shenzhen National Medical Science and Technology Co. Ltd. Shenzhen China

ISBN: (纸本)9781728148526

CHD (Coronary Heart Disease) is one of the leading causes of cardiovascular disease deaths. Invasive coronary arteriography is one of the widely used approaches to diagnose CHD. However, the time cost and expenses for most of the diagnosis methodologies are high and some patients are reluctant to do such a diagnosis. In this paper, we aim to develop a novel low cost method to predict CHD. As suggested by the cardiologists, there are substantial differences between the facial images of patients with CHD and those of healthy subjects. In this paper, we conduct an automatic analysis of the texture features extracted from eight ROIs (Regions of Interests) of the face images. Based on the texture features, random forest and decision tree are used to predict whether the subject has a CHD, or not. The experimental results on a set of 1528 face images collected from 309 subjects suggest that, our approach achieved a promising, i.e. 72.73%, prediction accuracy. © 2019 IEEE.

关键词： Diagnosis

来源：评论

学校读者我要写书评

暂无评论

A New Dynamic Routing Network for Monocular Depth Estimation 12

A New Dynamic Routing Network for Monocular Depth Estimation

引用

12th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2022

作者： Luo, Zhehao Luo, Sijin Liang, Guoyuan Wu, Xinyu Guangdong Provincial Key Lab of Robotics and Intelligent System Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China University of Chinese Academy of Sciences Beijing China Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems Chinese Academy of Sciences Guangdong Province Shenzhen China Guangdong Provincial Key Laboratory of Computer Vision and Virtual Reality Technology Shenzhen Institute of Advanced Technology Chinese Academy of Sciences Guangdong Province Shenzhen China

ISBN: (数字)9781665472678

ISBN: (纸本)9781665472678

Depth estimation is an essential task for understanding the geometry of 3D scenes. Compared with multi-view-based methods, monocular depth estimation is more challenging for the requirement of integrating not only global information but also local cues from various parts. Recently, numerous Convolutional Neural Networks (CNNs) based approaches relying on pre-defined static architectures have been reported. Although many of them have achieved remarkable improvements in accuracy, there remains problem with the generality of the static model when it comes to diverse scenes. In this paper, a novel deep network with dynamic routing architecture is proposed with a dynamically adjustable structure with respect to different inputs, therefore leading to not only improvements on both accuracy and generality but also decrease of the model parameters. Extensive experiments of monocular depth estimation have been conducted on two well-known challenging datasets (i.e., NYUD-v2 and Make3D) as well as the mixed dataset, and have verified the effectiveness of the proposed dynamic framework. © 2022 IEEE.

关键词： Deep neural networks

来源：评论

学校读者我要写书评

暂无评论

Uncertainty-Estimation With Normalized Logits For Out-of-distribution Detection

Uncertainty-Estimation With Normalized Logits For Out-of-dis...

引用

2023 International Conference on computer, Artificial Intelligence, and Control Engineering, CAICE 2023

作者： Huang, Mouxiao Qiao, Yu The Guangdong Provincial Key Laboratory of Computer Vision and Virtual Reality Technology Shenzhen Institute of Advanced Technology Chinese Academy of Sciences China University of Chinese Academy of Sciences China

ISBN: (纸本)9781510665040

Out-of-distribution (OOD) detection is critical for preventing deep learning models from making incorrect predictions, especially in safety-critical applications such as medical diagnosis and autonomous driving. However, neural networks often suffer from overconfidence, making high confidence predictions for OOD data that are never seen during training and may be irrelevant to training data. Determining the reliability of the prediction is still a difficult and challenging task. To address this challenge, we propose a new method called Uncertainty-Estimation with Normalized Logits (UE-NL) for robust learning and OOD detection. The method has three main benefits: (1) Neural networks with UE-NL treat every in-distribution (ID) sample equally by predicting the uncertainty score of input data and the uncertainty is added into softmax function to adjust the learning strength of easy and hard samples during training phase, making the model learn robustly and accurately. (2) UE-NL enforces a constant vector norm on the logits to decouple the effect of the increasing output’s norm from optimization process, which causes the overconfidence issue to some extent. (3) UE-NL provides a new metric, the magnitude of uncertainty score, to detect OOD data. Experiments demonstrate that UE-NL outperforms existing methods on common OOD benchmarks and is more robust to noisy ID data that may be misjudged as OOD data by other methods. © 2023 SPIE.

关键词： Forecasting

来源：评论

学校读者我要写书评

暂无评论

PIPAL: A Large-Scale Image Quality Assessment Dataset for Perceptual Image Restoration 16th

PIPAL: A Large-Scale Image Quality Assessment Dataset for Pe...

引用

16th European Conference on computer vision, ECCV 2020

作者： Jinjin, Gu Haoming, Cai Haoyu, Chen Xiaoxing, Ye Ren, Jimmy S. Chao, Dong The School of Data Science The Chinese University of Hong Kong Shenzhen China ShenZhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China SenseTime Research Science Park Hong Kong SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China

ISBN: (纸本)9783030586201

Image quality assessment (IQA) is the key factor for the fast development of image restoration (IR) algorithms. The most recent IR methods based on Generative Adversarial Networks (GANs) have achieved significant improvement in visual performance, but also presented great challenges for quantitative evaluation. Notably, we observe an increasing inconsistency between perceptual quality and the evaluation results. Then we raise two questions: (1) Can existing IQA methods objectively evaluate recent IR algorithms? (2) When focus on beating current benchmarks, are we getting better IR algorithms? To answer these questions and promote the development of IQA methods, we contribute a large-scale IQA dataset, called Perceptual Image Processing Algorithms (PIPAL) dataset. Especially, this dataset includes the results of GAN-based methods, which are missing in previous datasets. We collect more than 1.13 million human judgments to assign subjective scores for PIPAL images using the more reliable "Elo system". Based on PIPAL, we present new benchmarks for both IQA and super-resolution methods. Our results indicate that existing IQA methods cannot fairly evaluate GAN-based IR algorithms. While using appropriate evaluation methods is important, IQA methods should also be updated along with the development of IR algorithms. At last, we improve the performance of IQA networks on GAN-based distortions by introducing anti-aliasing pooling. Experiments show the effectiveness of the proposed method. © 2020, Springer Nature Switzerland AG.

关键词： Generative adversarial networks

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：