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2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)最新文献

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Robotic and document analysis cross-fertilization: Improving place cells based robot navigation 机器人和文件分析的交叉受精:改进基于位置细胞的机器人导航
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838838
Dalia Marcela Rojas-Castro, A. Revel, M. Ménard
{"title":"Robotic and document analysis cross-fertilization: Improving place cells based robot navigation","authors":"Dalia Marcela Rojas-Castro, A. Revel, M. Ménard","doi":"10.1109/ICARCV.2016.7838838","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838838","url":null,"abstract":"This paper proposes a place cell model allowing place recognition in the context of robot autonomous navigation. The robustness of this approach lies in the fact that even if one or several patterns characterizing the place are removed or not visible anymore, a place can still be recognized. The recognition process in this work is improved with respect to the state-of-the-art place cells approach. Additionally, the interconnection of the modules is made such that the robot is able to learn new places as it navigates and interacts with the environment to get to its final destination. Experimental results validate the advantage of the incremental learning allowing the robot to cope with any unforeseen changes and thus adapting itself to the environment.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127835420","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
Consensus of linear multi-agent systems with communication delays under dynamic networks 动态网络下具有通信延迟的线性多智能体系统的一致性
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838664
Maobin Lu, Lu Liu
{"title":"Consensus of linear multi-agent systems with communication delays under dynamic networks","authors":"Maobin Lu, Lu Liu","doi":"10.1109/ICARCV.2016.7838664","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838664","url":null,"abstract":"In this paper, the consensus problem for linear multi-agent systems subject to non-uniform time-varying communication delays and jointly connected switching networks is investigated. Both distributed dynamic state feedback control law and distributed dynamic output feedback control law are proposed. By establishing some technical lemmas, it is shown that the proposed distributed control laws can solve the consensus problem.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127403879","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
View planning for 3D shape reconstruction of buildings with unmanned aerial vehicles 基于无人机的建筑物三维形状重建视图规划
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838774
Wei Jing, Joseph Polden, P. Y. Tao, Wei-ming Lin, K. Shimada
{"title":"View planning for 3D shape reconstruction of buildings with unmanned aerial vehicles","authors":"Wei Jing, Joseph Polden, P. Y. Tao, Wei-ming Lin, K. Shimada","doi":"10.1109/ICARCV.2016.7838774","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838774","url":null,"abstract":"This paper presents a novel view planning method to generate suitable viewpoints for the reconstruction of the 3D shape of buildings, based on publicly available 2D map data. The proposed method first makes use of 2D map data, along with estimated height information, to generate a rough 3D model of the target building. Randomized sampling procedures are then employed to generate a set of initial candidate viewpoints for the reconstruction process. The most suitable viewpoints are selected from the candidate viewpoint set by first formulating a modified Set Covering Problem (SCP) which considers image registration constraints, as well as uncertainties present in the rough 3D model. A neighborhood greedy search algorithm is proposed to solve this SCP problem and select a series of individual viewpoints deemed most suitable for the 3D reconstruction task. The paper concludes with both computational and real-world field tests to demonstrate the overall effectiveness of the proposed method.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132766886","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: 25
Mean square detectability of multi-output networked systems over finite-state fading channels 有限状态衰落信道下多输出网络系统的均方可检测性
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838666
Wei Chen, Yuanyuan Zou, Y. Niu, Nan Xiao
{"title":"Mean square detectability of multi-output networked systems over finite-state fading channels","authors":"Wei Chen, Yuanyuan Zou, Y. Niu, Nan Xiao","doi":"10.1109/ICARCV.2016.7838666","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838666","url":null,"abstract":"This paper studies the mean square quadratic (MSQ) detectability for multi-output networked systems over finite-state fading channels. The unreliability from the plant output to the estimator input is described by multiplicative noises. A finite-state random process is introduced to model time-varying fading channels. Necessary and sufficient conditions for MSQ detectability are given in the form of algebraic Riccati equations or linear matrix inequalities. In addition, explicit conditions on network for MSQ detectability over finite-state independent identically distributed (i.i.d.) fading channels are presented in terms of the Mahler measure of the unstable and multi-output plant. Finally, application to Gilbert-Elliott channels (GECs) is provided to demonstrate the derived results.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130758360","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
Unified particle-based coupling algorithm for stable soft tissue-blood interaction 基于统一粒子的软组织-血液稳定耦合算法
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838659
X. Shao, Baoyi Wang, Meihua Zhao
{"title":"Unified particle-based coupling algorithm for stable soft tissue-blood interaction","authors":"X. Shao, Baoyi Wang, Meihua Zhao","doi":"10.1109/ICARCV.2016.7838659","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838659","url":null,"abstract":"The stable physical simulation of soft tissue-blood interaction is indispensable for virtual surgery. In this paper a novel unified particle-based algorithm, eliminating the need to define an interface for coupling different models, is presented to simulate soft tissue-blood interaction based on Smoothed Particle Hydrodynamics (SPH). In this method tissue-blood interaction is treated as fluid-fluid interaction with large rest density ratio, therefore interaction forces between particles can be computed by unified SPH model. Moreover, a simple penetration detection and velocity correction is adopted to prevent blood leaking into soft tissue. In order to strengthen interaction simulation realism, a surface tension model with a stable and accurate surface curvature calculation are provided. The experimental results show that this model is capable of animating the realistic and stable soft tissue-blood interaction.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130805201","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
Jaya algorithm for solving urban traffic signal control problem 求解城市交通信号控制问题的Jaya算法
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838661
K. Gao, Yicheng Zhang, Ali Sadollah, R. Su
{"title":"Jaya algorithm for solving urban traffic signal control problem","authors":"K. Gao, Yicheng Zhang, Ali Sadollah, R. Su","doi":"10.1109/ICARCV.2016.7838661","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838661","url":null,"abstract":"This paper studies a large-scale urban traffic signal control problem (LUTSCP). A centralized model is developed for describing the LUTSCP in a scheduling framework. The objective is to minimize the total network-wise delay in a fixed time window. We have implemented a recently developed algorithm, so called Jaya, to solve the LUTSCP. The population initialization is based on the four stages of traffic signal in Singapore. A simple new solution generation strategy is proposed to improve the performance of the Jaya. A neighborhood search operator is proposed based on the characteristics of LUTSCP to improve the search performance in local search space. Experiments are carried out using the traffic signal data from Singapore traffic network. The performance of the new strategy for generating feasible solution and the neighborhood search operator are evaluated and discussed. The optimization results obtained by standard Jaya algorithm and its variants are compared to those by existing traffic signal control system. The comparisons and discussions verify that the Jaya algorithm and its variants are superior over the existing traffic light control. In future work, we will compare the performance of Jaya algorithm to existing intelligent algorithms in literature.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117005300","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: 10
Fast localization for emergency monitoring and rescue in disaster scenarios based on WSN 基于WSN的灾害场景应急监测与救援快速定位
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838790
M. Lu, Xiaoguang Zhao, Yikun Huang
{"title":"Fast localization for emergency monitoring and rescue in disaster scenarios based on WSN","authors":"M. Lu, Xiaoguang Zhao, Yikun Huang","doi":"10.1109/ICARCV.2016.7838790","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838790","url":null,"abstract":"Natural disasters, such as earthquake, typhoon and flood, have caused great loss of lives and property each year, which makes emergency monitoring and rescue an imperative problem to be addressed. In this paper, we designed a novel monitoring and rescue system based on wireless sensor network (WSN) for disaster scenarios, which combines environment monitoring, information transmission, and emergency localization. In our system, fast localization through WSN is a crucial technique for searching and rescuing. We proposed an improved weighted centroid algorithm with adaptive error correction to increase localization accuracy of sensor networks with sparse anchors. This method based on received signal strength indication (RSSI) is low cost, expandable, easy to implement, and suitable for disaster rescues.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131179943","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: 6
Distributed controller design for multi-agent systems with stochastic upper-triangular nonlinear dynamics 具有随机上三角非线性动力学的多智能体系统的分布式控制器设计
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838667
Wuquan Li, Hui Wang, Xin Yu
{"title":"Distributed controller design for multi-agent systems with stochastic upper-triangular nonlinear dynamics","authors":"Wuquan Li, Hui Wang, Xin Yu","doi":"10.1109/ICARCV.2016.7838667","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838667","url":null,"abstract":"This paper studies the distributed controller design for multi-agent systems (MASs) with stochastic upper-triangular nonlinear dynamics under the directed network topology. By developing the distributed low-gain homogeneous domination method, distributed controllers are designed. By using the algebraic graph theory and stochastic analysis method, it can be proved that the followers can achieve mean square bounded output tracking of the leader while keeping all the states of the closed-loop system bounded in probability. Finally, a simulation example is given to illustrate the efficiency of the distributed controllers.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128495484","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
Bounded iterative thresholding for lumen region detection in endoscopic images 内窥镜图像中腔腔区域检测的有界迭代阈值
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838722
P. Elango, S. Lam
{"title":"Bounded iterative thresholding for lumen region detection in endoscopic images","authors":"P. Elango, S. Lam","doi":"10.1109/ICARCV.2016.7838722","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838722","url":null,"abstract":"The development of a fully automated robotic endoscopic steering system has been an active area of research for more than a decade. This paper aims at proposing a hardware-efficient iterative thresholding strategy to locate the lumen region in captured endoscopic images in order to enhance traditional endoscopes with certain degree of autonomy and intelligence. The proposed method is characterized by a definite requirement on the number of iterations of thresholding in order to detect the lumen region. The proposed algorithm has been demonstrated to be robust against varying characteristics using real endoscopic sample images. The reduction in the number of operations required by the proposed method can be up to 71% compared to a previously reported method. FPGA synthesis results of the proposed approach confirm its viability for real-time realization.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134240748","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
Low speed vehicle localization using WiFi fingerprinting 使用WiFi指纹进行低速车辆定位
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838772
Dinh-Van Nguyen, M. V. Recalde, F. Nashashibi
{"title":"Low speed vehicle localization using WiFi fingerprinting","authors":"Dinh-Van Nguyen, M. V. Recalde, F. Nashashibi","doi":"10.1109/ICARCV.2016.7838772","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838772","url":null,"abstract":"Recently, the problem of fully autonomous navigation of vehicle has gained major interest from research institutes and private companies. In general, these researches rely on GPS in fusion with other sensors to track vehicle in outdoor environment. However, as indoor environment such as car park is also an important scenario for vehicle navigation, the lack of GPS poses a serious problem. This study presents an approach to use WiFi Fingerprinting as a replacement for GPS information in order to allow seamlessly transition of localization architecture from outdoor to indoor environment. Often, movement speed of vehicle in indoor environment is low (10–12km/h) in comparison to outdoor scene but still surpasses human walking speed (3–5km/h, which is usually maximum movement speed for effective WiFi localization). This paper proposes an ensemble classification method together with a motion model in order to deal with the above issue. Experiments show that proposed method is capable of imitating GPS behavior on vehicle tracking.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"67 4","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"113985268","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: 17
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