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LLNet: A Lightweight Lane Line Detection Network 11th

LLNet: A Lightweight Lane Line Detection Network

引用

11th International Conference on Image and Graphics, ICIG 2021

作者： Zhang, Lu Kong, Bin Wang, Can Institute of Intelligent Machines Chinese Academy of Sciences Hefei230031 China University of Science and Technology of China Hefei230026 China The Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei230031 China

ISBN: (纸本)9783030873547

The lane line detection methods based on semantic segmentation networks have achieved remarkable results in recent years. However, the semantic segmentation networks are aimed at the pixel level. These methods have a large amount of computation, which can reduce the real-time performance. To reduce the calculation, we propose a Light-weight Lane line detection Network (LLNet). A new sub-layer is established. We also adopt a jumping structure between two sub-layers to enhance the supervisory role of ground truth. Furthermore, we adopt two branches, including instance segmentation and embeddable branch. The combination of two branches can filter out the wrongly detected pixels and further improve the accuracy of detection. Experimental results in the Tusimple dataset show that the detection accuracy of the proposed network is comparable with LaneNet. Meanwhile, it has good real-time performance, and the processing time of a single image is 10.285 ms, which is about one-half of LaneNet. © 2021, Springer Nature Switzerland AG.

关键词： Semantic Segmentation

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RETRACTED ARTICLE: A dynamic simulation of force in the movement of ameba based on COSMOS

RETRACTED ARTICLE: A dynamic simulation of force in the move...

引用

作者： Chen, Lei Luo, Minzhou Mei, Tao Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei Institute of Intelligent Machines CAS Hefei 230031 China Precision Machinery and Precision Instrumentation University of Science and Technology of China Hefei 230026 China

ISBN: (纸本)9780769540467

Imitation amoeba robot entering the space whose nominal size is smaller than itself can complete can perform many tasks inaccessible to other robots or humans such as surveillance, inspection, repair, cleaning, and exploration. Parameterized solid models of amoeba are established by using *** simulation analysis of the movement and the force situation in the movement is completed by using the software of COSMOS. The change of Amoeba entities that based on deformation of the ipmc material in effect ofthe control unit is researched. © 2010 IEEE.

关键词： Computer software

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A genetic algorithm-based feature selection method for human identification based on ground reaction force 09

A genetic algorithm-based feature selection method for human...

引用

2009 World Summit on Genetic and Evolutionary Computation, 2009 GEC Summit - 1st ACM/SIGEVO Summit on Genetic and Evolutionary Computation, GEC'09

作者： Su, Xu Xu, Zhou Yi-ning, Sun Key laboratory of Biomimetic Sensing and Advanced Robot Technology Institute of Intelligence Machines Chinese Academy of Science Hefei Anhui 230031 China Dept. of Automation University of Science and Technology of China Hefei Anhui 230027 China

ISBN: (纸本)9781605583266

Biometrics-based identification is a promising technology. Ground reaction force (GRF), with its characteristics of non-invasion, easily measurement and low environment-affection, shows a potential in this field. Feature selection is an important step in biometrics-based identification. In this paper, a genetic algorithm-based feature selection method was discussed. The proposed algorithm has the advantage of finding small subsets of features that perform well in identification. Two contrast experiments were conducted to show the effectiveness of the algorithm, which shows that with GA, higher identification accuracy and smaller feature size were reached. Copyright 2009 ACM.

关键词： Genetic algorithms

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Analytic modeling of spoke torque sensor based on deformation compatibility

Analytic modeling of spoke torque sensor based on deformatio...

引用

2018 IEEE International Conference on Information and Automation, ICIA 2018

作者： Sun, Yu-Xiang Xu, Yu-Yun Cao, Hui-Bin Shuang, Feng Gao, Li-Fu Ge, Yun-Jian Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Institute of Intelligent Machines Chinese Academy of Sciences Hefei Anhui Province230031 China Department of Automation University of Science and Technology of China Hefei230026 China

ISBN: (纸本)9781538680698

Accurate description of the relationship between sensor loading deformation and elastomeric structure is very important to improving design efficiency. In this paper, we focus on the spoke torque sensor, according to the deformation characteristics of the sensor under loading, and analyzes the relationship among stress, strain and disturbance of the torque sensor in combination with the deformation compatibility conditions, and establishes the analytical model of the torsion stiffness of the sensor. Finally, by comparing the finite element simulation results, it is verified that by considering the deformation coordination conditions, the precision of the analytical modeling of the torque sensor can be improved. © 2018 IEEE.

关键词： Analytical models

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The research of pulse wave signal denosing based on EMD and ICA

The research of pulse wave signal denosing based on EMD and ...

引用

3rd International Joint Conference on Computational Sciences and Optimization, CSO 2010: Theoretical Development and Engineering Practice

作者： Zheng, Yingying Zhang, Yongliang Liu, Yanli Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Institute of Intelligent Machines Chinese Academy of Science 230031 China Department of Automation University of Science and Technology of China 230027 China Anhui Institute of Architecture and Industry Hefei 230601 China

ISBN: (纸本)9780769540306

Pulse wave is easily contaminated by noise when being sampled and processed. In order to extract and analyze the useful information involved, the paper presents a novel denoising algorithm based on empirical mode decomposition (EMD) and independent component analysis (ICA).First, the signal is decomposed by EMD ,then a series of intrinsic mode functions (IMFs) and the remainder can be obtained. Second, ICA will be performed to separate independent components from IMFs. At last, these independent components will be used to reconstruct the pulse wave signal. By using the method, we are able to separate noise and estimate desired source signals from pulse wave signal. Experimental results substantiate the strong potential of the proposed method for pulse wave signal noise separation. © 2010 IEEE.

关键词： Empirical mode decomposition

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Design, simulation and experimentation of a biomimetic wall-climbing robot with tracked spines

Design, simulation and experimentation of a biomimetic wall-...

引用

2020 IEEE International Conference on Power, Intelligent Computing and Systems, ICPICS 2020

作者： Shi, Jia Xu, Linsen Liu, Jinfu Cheng, Gaoxin Liang, Xingcan Liu, Lei Chen, Shouqi Xu, Hong Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Cas University of Science and Technology of China Changzhou City Jiangsu Province China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Cas Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Changzhou City Jiangsu Province China

ISBN: (数字)9781728198743

ISBN: (纸本)9781728198736

This paper presents a novel cooperative grasping wheeled wall-climbing robot with the ability to climb concrete, brick walls using tracked-spines arrays located around the track. The robot uses a combination of the crank-link mechanism and gear transmission to control the tracked spines on both sides of the robot to grasp the asperities. The kinematic and dynamic analysis of the crank-link mechanism and the simulation demonstrate that the motion state of the robot is stable in the climbing process. By means of wireless communication, the control information is transmitted to the main controller, which drives the motors to make each mechanism work together. Finally, the prototype is fabricated and several experiments are carried out to verify the climbing performance of the robot. © 2020 IEEE.

关键词： biomimetics

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Particle filtering for WSN aided SLAM

Particle filtering for WSN aided SLAM

引用

2008 IEEE/ASME International Conference on advanced Intelligent Mechatronics, AIM 2008

作者： Li, Yangming Meng, Max Q.-H. Liang, Huawei Li, Shuai Chen, Wanming Institute of Intelligent Machine Chinese Academy of Science Hefei City Anhui Province China Department of Automation University of Science and Technology of China Hefei City Anhui Province China Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei City Anhui Province China

ISBN: (纸本)9781424424955

the paper proposed a particle filter based and Wireless Sensor Networks (WSN) aided Simultaneous Localization and Mapping (SLAM) strategy. The proposed method aims at solving two troublesome problems in the traditional particle filter based SLAM algorithms. The first problem is high dimension of question space;and the second one is multi-date association. Firstly, the paper analysed the model of the WSN aided SLAM problem. Then noises in the model were analysed. According to analyses, a particle filtering algorithm was developed as the kernel algorithm for data fusion. Detailed procedures of the particle filter were introduced. Besides, all key steps, including initialization, prediction, sequential importance sampling and also resampling, were especially specified. Software simulations were done to analyse and prove the validity and the efficiency of the proposed method. The simulation results supported that the proposed method can diminish dimensions of the SLAM problem and resolve the multi-data association problems. Moreover, through adopting PF algorithm and involving WSN, following advantages were also acquired: firstly, the method could locate blind nodes in WSN with high resolution while no anchor node was available;secondly, it could improve precision of localization and mapping for mobile robots and, especially, it could inhibit error accumulation of dead reckoning without requirement of close-loop. © 2008 IEEE.

关键词： Mobile robots

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Design and Analysis for the Axe Foot of Bio-inspired Anchoring robot

Design and Analysis for the Axe Foot of Bio-inspired Anchori...

引用

IEEE International Conference on Mechatronics and Automation

作者： Lei Liu Linsen Xu Jinfu Liu Jiajun Xu Shouqi Chen Gaoxin Cheng Hong Xu Jia Shi University of Science and Technology of China Hefei China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei China

ISBN: (数字)9781728164168

ISBN: (纸本)9781728164175

Mooring location has become increasingly important with the rapid development and utilization of marine resources. The mooring system of the underwater mobile robot is required to be efficient and intelligent. This paper proposes a novel anchoring robot by imitating the excellent inhabitation functions and physiological structure of the razor clam. This bio-inspired robot can autonomously dig holes, anchor, and detach to improve the efficiency of mooring location in marine operations. Specifically, the axe foot of the robot plays an important role in these movements. It contains a screw-cone drill and two soft parts. The screw-cone drill is the main forced part while the robot is in the digging state and the rationality of drill design is proved by mechanics analysis. Moreover, the soft part, which is connected with the upper end of the drill, is analyzed to show the capability of obstacle avoidance. The rationality of the structural design and a good submarine anchoring function of the axe foot are verified by the above analysis.

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Analysis on the Environmental Adaptability of A Reconfigurable Wheel-Tracked Wheel

Analysis on the Environmental Adaptability of A Reconfigurab...

引用

IEEE International Conference on Mechatronics, robotics and Automation (ICMRA)

作者： Lei Liu Linsen Xu Jinfu Liu Shouqi Chen Gaoxin Cheng Jia Shi University of Science and Technology of China Hefei China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei China

The following topics are dealt with: mobile robots; motion control; path planning; human-robot interaction; particle filtering (numerical methods); medical robotics; finite element analysis; robot vision; biomechanics... 详细信息

ISBN: (数字)9781728190327

ISBN: (纸本)9781728190334

关键词： Adaptation models Analytical models Tracking Roads Wheels Finite element analysis Strain

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System Design and Experimental Analysis of an All-environment Mobile robot

System Design and Experimental Analysis of an All-environmen...

引用

作者： Guo, Ziyi Zhu, Yiduo Wang, Meiling Li, Tao Zhao, Hanbin Xu, Linsen Ceccarelli, Marco University of Science and Technology of China Hefei230022 China Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei230031 China Anhui Province Key Laboratory of Biomimetic Sensing and Advanced Robot Technology Hefei230031 China LARM2: Laboratory of Robot Mechatronics Dept of Industrial Engineering University of Rome Tor Vergata Via del Politecnico 1 Roma00133 Italy

Due to complexity of the structure, uncertainty of the dynamic model and poor adaptability of the environment of the traditional mobile robot, this paper proposes an all-environment mobile robot based on coaxial eight-rotor which can adapt to the three environments of water, land and air. This paper first describes the mechanical structure and hardware design of AEM (All-environment Mobile) robot, and then aerodynamics model and hydrodynamic model of the robot are formulated by Newton Euler equations. In the end, the physical prototype is assembled, and experiments are conducted to verify that the AEM robot could achieve the expected three motion modes. © 2019, Springer Nature Switzerland AG.

关键词： Mobile robots

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