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Structure-aware Roadview Synthesis for Testing Autonomous Perception 用于测试自主感知的结构感知路景综合
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274834
Zihang Lin, Chi Zhang, Yuehu Liu, Li Li, Le Wang
{"title":"Structure-aware Roadview Synthesis for Testing Autonomous Perception","authors":"Zihang Lin, Chi Zhang, Yuehu Liu, Li Li, Le Wang","doi":"10.1109/ICUS50048.2020.9274834","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274834","url":null,"abstract":"To understanding the generalization of visual perception for autonomous vehicles, sufficient and diverse enough test samples need to be extracted from traffic scenarios. However, the “long-tailed” effect makes it exhausted and expensive to acquire data from tail categories e.g. scenarios backboned with S-shape winding roads. Instead of rendering semi-realistic images in graphics engines like Unity 3D, we propose to synthesis road views with given projection of any road structure by exploiting the statistical relationship between virtual-real image pairs. To tackle non-uniform structural misalignments in the learning data, we introduce a latent structure similarity constraint in the genre of cycle consistency. In this case, synthesized views can better retain the required road’s geometry while being rendered with realism. Experimental results demonstrate the effectiveness of the proposed method even when large and massive misalignments exist in training pairs. Further study reveals the direct or indirect impact on autonomous perception caused by road’s varying geometry.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127504348","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Scale-aware Semi-Direct Monocular Visual Odometry with Points and Lines 带有点和线的比例感知半直接单目视觉里程计
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274870
Shuang Guo, Y. Zhang, Yang Chen, Lianxia Sun
{"title":"Scale-aware Semi-Direct Monocular Visual Odometry with Points and Lines","authors":"Shuang Guo, Y. Zhang, Yang Chen, Lianxia Sun","doi":"10.1109/ICUS50048.2020.9274870","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274870","url":null,"abstract":"Most monocular visual odometry algorithms based on point features have achieved remarkable performance in recent years. However, the existing monocular visual odometry systems have an inherent limitation that the absolute scale cannot be restored. And compared with point features, lines provide far richer information about the structure of the environment. In city or in the so-called “Manhattan worlds” we can obtain abundant line features as a complement to point features. This paper extends PL-SVO [1], a system that combines both points and line segments, by introducing CNN-based monocular depth prediction module. We add this module to the mapping thread in PL-SVO, overcoming the scale ambiguity limitation of the monocular visual odometry. CNN-predicted depth map providing strong prior is employed to initialize the mean and the variance of depth filters corresponding to point and line features. The proposed algorithm called CNN-PL-SVO has been thoroughly evaluated through both popular public datasets (such as KITTI and Karlsruhe) and real-world experiments on our mobile robot platform. The comparison results with state-of the-art monocular approaches (ORB-SLAM and DSO) reveal that our method achieves better performance, in terms of scale consistency and Sim (3) estimation accuracy.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126346868","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A foreground-focused action recognition algorithm for intelligent unmanned systems 一种面向前景的智能无人系统动作识别算法
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274862
Jingyu Li, Xiao Kang, Lu Jin, Yue Wu, D. Hai, Bo Su
{"title":"A foreground-focused action recognition algorithm for intelligent unmanned systems","authors":"Jingyu Li, Xiao Kang, Lu Jin, Yue Wu, D. Hai, Bo Su","doi":"10.1109/ICUS50048.2020.9274862","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274862","url":null,"abstract":"A foreground-focused action recognition algorithm based on convolutional neural network for intelligent unmanned systems is presented in this paper. The algorithm consists of the foreground extraction part and the action recognition part. For the foreground extraction part which can be considered as an object detection task, a convolutional neural network-based single-shot model with the spatial pyramid pooling structure and Mish activation function is developed to achieve a better performance. For the action recognition part, a Convolution-3D modified model is proposed which applies the 3D convolution kernel to obtain temporospatial features. To avoid the distortion of the foreground target, the padding form of the foreground extracted by the object detector is used as an input of the action recognition part. The algorithm can be applied to intelligent unmanned systems, being able to make a real-time performance of accurate action recognition.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"59 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124188044","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
UAV Decision-making System Based on the Rough Set theory and the Optimal Genetic Algorithm 基于粗糙集理论和最优遗传算法的无人机决策系统
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9275002
Wendi Sun, Mingrui Hao
{"title":"UAV Decision-making System Based on the Rough Set theory and the Optimal Genetic Algorithm","authors":"Wendi Sun, Mingrui Hao","doi":"10.1109/ICUS50048.2020.9275002","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9275002","url":null,"abstract":"Air combat decision-making is a critical issue in Unmanned Air Vehicle automatic combat. Precise and efficient maneuvering strategies are extremely important for the final victory. Quantitative research has been conducted on the maneuver strategy. In this study, a knowledge-based maneuver action library for air combat was established by the Rough Set Theory, which can help quick response to the battlefield situation. Since not all influence factors of battlefield situation are that significant and the computing source is finite, the rough set model was simplified to increase reaction rate. This paper introduced an advanced genetic algorithm to reduce the attributes of rough sets, taking the purity of each attribute into account, so as to make the condition attribute as close to 1 or 0 as possible. As a result, the reducing accuracy of the whole decision-making system is improved. The simulation results show that the rough set model built in this paper is efficient, feasible and reasonable, and the algorithm can support the air combat maneuver strategy decision system.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121568765","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Research on Roll-in Dynamics and Acceleration Characteristics of Spherical Robot for Engineering Monitoring 工程监测用球形机器人滚入动力学与加速度特性研究
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274887
Jia Ma, Haitao Zhang, Runze Zhao, Zhe Ma
{"title":"Research on Roll-in Dynamics and Acceleration Characteristics of Spherical Robot for Engineering Monitoring","authors":"Jia Ma, Haitao Zhang, Runze Zhao, Zhe Ma","doi":"10.1109/ICUS50048.2020.9274887","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274887","url":null,"abstract":"In order to grasp the acceleration characteristics of spherical robot during movement, and then optimize the performance of the robot, together with solving the problem of the actual environment adaptability of the robot in the process of engineering monitoring, Lagrangian equation method and simulation test method are used to study the Rolling dynamics of spherical robot, which contributes to the kinetic model of the robot in rolling on the flat; the characteristic of simple harmonic oscillation of acceleration and velocity in the process of uniform velocity roll-in is discovered; the coupling relationship between the structural characteristics of the robot center of gravity position and weight ratio and acceleration characteristics is clarified. This paper summarizes how to optimize the structure of the robot to control the acceleration oscillation frequency, and then realizes the method to improve the robot motion performance. It provides the theoretical foundation for the study of complex dynamics, manipulation and control of spherical engineering monitoring robot and the application of large-scale engineering.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"99 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115005987","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Group Daily Arrival Prediction Based on A Hybrid Model Combing Autoregressive Integrated Moving Average Model and Back Propagation Neural Network 基于自回归综合移动平均模型与反向传播神经网络相结合的混合模型的群体日到达预测
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274970
Xiaoling Zhu, Xi Zhang, Ge Shi, Yashen Wang
{"title":"Group Daily Arrival Prediction Based on A Hybrid Model Combing Autoregressive Integrated Moving Average Model and Back Propagation Neural Network","authors":"Xiaoling Zhu, Xi Zhang, Ge Shi, Yashen Wang","doi":"10.1109/ICUS50048.2020.9274970","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274970","url":null,"abstract":"To solve the problem of predicting daily arrival number of people belonging to a specific group, this paper proposes a hybrid model which integrates linear component (from ARIMA model) with non-linear component (from BP neural network). The experimental results indicate that, hybrid methodology that has both linear and nonlinear modeling capabilities is a good strategy for practical use.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130337274","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Research Status and Application of the Cooperative Guidance Technology for Aerial Vehicle Swarm Systems Based on Spatiotemporal Coordination 基于时空协调的飞行器群系统协同制导技术研究现状及应用
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274939
Yanyan Wang, Jianquan Yuan, Qingxi Chi, Mingrui Hao
{"title":"Research Status and Application of the Cooperative Guidance Technology for Aerial Vehicle Swarm Systems Based on Spatiotemporal Coordination","authors":"Yanyan Wang, Jianquan Yuan, Qingxi Chi, Mingrui Hao","doi":"10.1109/ICUS50048.2020.9274939","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274939","url":null,"abstract":"From the perspective of military demand for swarm fight, it is point out that the cooperative guidance technology of multiple aerial vehicles based on spatiotemporal coordination is a key technology to effectively improve penetration probability and combat effectiveness. Then, in view of the development status of cooperative guidance technology for multiple aerial vehicles, it introduces thoughts on technology development at home and abroad based on time coordination, space coordination and spatiotemporal coordination, perspectively. Finally, the cooperative guidance technology of multiple aerial vehicles is summarized, and the future development direction is prospected.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133775634","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Research on the Technology of Cooperative Dual-Station position Based on Passive Radar System 基于无源雷达系统的协同双站定位技术研究
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9275019
Peng Siting, Zhao Qian, Ma Yichao, Jiang Jixiang
{"title":"Research on the Technology of Cooperative Dual-Station position Based on Passive Radar System","authors":"Peng Siting, Zhao Qian, Ma Yichao, Jiang Jixiang","doi":"10.1109/ICUS50048.2020.9275019","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9275019","url":null,"abstract":"When the aircraft adopt passive sensors to detect external conditions, the detection information we can directly get is the aspect Angle of target. However, the position, velocity, acceleration and other information of target need to be calculated through the relevant algorithm estimates. It need more passive sensor to work together in order to get more the target location information, because a single passive sensor can only give the arriving orientation and time of target signal. In view of the complex weather and sea wave situation at marine surrounding, a Cooperative dual-station positioning technology based on passive sensors is studied, and a Cooperative filtering method based on the theory of consensus is adopted to verify the algorithm performance and engineering significance through relevant simulation.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"125 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133212611","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
The Effects and Design Optimization of Backlash Nonlinearity in the Actuator of Aerospace Vehicle 航天飞行器作动器间隙非线性的影响及设计优化
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/icus50048.2020.9274942
Zhu Mingjia, She Zhiyong
{"title":"The Effects and Design Optimization of Backlash Nonlinearity in the Actuator of Aerospace Vehicle","authors":"Zhu Mingjia, She Zhiyong","doi":"10.1109/icus50048.2020.9274942","DOIUrl":"https://doi.org/10.1109/icus50048.2020.9274942","url":null,"abstract":"Ordinary the control system of the aerospace vehicle (ASV) is designed basing on itself linear system. However, there are some non-linear parts in the actuator which can effects flight attitude control. Using the methods of analyzing linear system cannot identify the factors influencing the control system. This paper use description function to analyze the effects for control system. On that basis, this paper put forward a new approach which changes control system by adding series leading correction and reducing gain. Meanwhile, this article proposed an optimal design scheme considering nonlinearity of ASV.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"54 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134476776","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
ADRC Based Attitude Control System Design for Unmanned Helicopter 基于自抗扰控制器的无人直升机姿态控制系统设计
2020 3rd International Conference on Unmanned Systems (ICUS) Pub Date : 2020-11-27 DOI: 10.1109/ICUS50048.2020.9274848
Xia Lu, Zang Xiheng, Meng Xianfeng, Wang Heqiang, Zhang Yang, Chen Yang
{"title":"ADRC Based Attitude Control System Design for Unmanned Helicopter","authors":"Xia Lu, Zang Xiheng, Meng Xianfeng, Wang Heqiang, Zhang Yang, Chen Yang","doi":"10.1109/ICUS50048.2020.9274848","DOIUrl":"https://doi.org/10.1109/ICUS50048.2020.9274848","url":null,"abstract":"Unmanned helicopter is a typically nonlinear, strong coupling, complex multi-input multi-output system, which has poorly stable reserve and is vulnerable to external interference. To solve this issue, an active-disturbance-rejection controller (ADRC) based design methodology for unmanned helicopter’s attitude control system is proposed. A mathematical model of unmanned helicopter is first established, and its attitude dynamic characteristics are analyzed. Moreover, an ADRC algorithm based attitude controller is designed in the frequency domain, the leading compensation of the system is realized by adjusting the angular rate control parameters of the observer. In addition, the closed-loop simulation test and comparison analysis of attitude control are carried out by PID algorithm and ADRC algorithm, respectively. The results reveal that the ADRC algorithm based attitude controller estimates the system state through the extended state observer, both the bandwidth of the closed-loop control system and the robust stability of the unmanned helicopter are improved.","PeriodicalId":110715,"journal":{"name":"2020 3rd International Conference on Unmanned Systems (ICUS)","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133646220","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
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