2019 IEEE 15th International Conference on Control and Automation (ICCA)最新文献_第6页

Fast Loop Closure Detection via Binary Content 通过二进制内容快速闭环检测

2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899937

Han Wang, Juncheng Li, Maopeng Ran, Lihua Xie

{"title":"Fast Loop Closure Detection via Binary Content","authors":"Han Wang, Juncheng Li, Maopeng Ran, Lihua Xie","doi":"10.1109/ICCA.2019.8899937","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899937","url":null,"abstract":"Loop closure detection plays an important role in reducing localization drift in Simultaneous Localization And Mapping (SLAM). It aims to find repetitive scenes from historical data to reset localization. To tackle the loop closure problem, existing methods often leverage on the matching of visual features, which achieve good accuracy but require high computational resources. However, feature point based methods ignore the patterns of image, i.e., the shape of the objects as well as the distribution of objects in an image. It is believed that this information is usually unique for a scene and can be utilized to improve the performance of traditional loop closure detection methods. In this paper we leverage and compress the information into a binary image to accelerate an existing fast loop closure detection method via binary content. The proposed method can greatly reduce the computational cost without sacrificing recall rate. It consists of three parts: binary content construction, fast image retrieval and precise loop closure detection. No offline training is required. Our method is compared with the state-of-the-art loop closure detection methods and the results show that it outperforms the traditional methods at both recall rate and speed.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"198 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114874809","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

A New Approach to Haptic Rendering by Position Control 基于位置控制的触觉渲染新方法

2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899956

Yang Wang, Lei Feng, Kjell Andersson

引用次数: 1

A Cognitive Load Assessment Method Considering Individual Differences in Eye Movement Data 考虑个体眼动数据差异的认知负荷评估方法

2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899595

Jun Chen, Qilin Zhang, Long Cheng, Xudong Gao, Lin Ding

引用次数: 6

Three-dimensional Path Following for an Underactuated AUV Adopted Adaptive Sliding Mode Control 欠驱动水下航行器三维路径跟踪采用自适应滑模控制

2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899979

Yunbiao Jiang, Chen Guo, Haomiao Yu, Yanan Han, Chuang Zhang

引用次数: 0

Optimal Trajectory Generation for Quadrotor with Suspended Load Under Swing Angle Constraint 摆角约束下悬载四旋翼最优轨迹生成

2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899662

Jian-Bo Su, J. Bak, Jong-Hoon Hyun

引用次数: 4

A Fast Optimization Method for Automatic Train Stop Control 列车自动停车控制的快速优化方法

2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899543

Lingfeng Wang, L. Xia, H. Ye, Ming Jiang, J. Wang, Yijing Wang

引用次数: 1

Analysis and design of gain-scheduling blade-pitch controllers for wind turbine down-regulation* 风电机组降压增益调度桨距控制器的分析与设计

2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899611

W. Lio, C. Galinos, A. M. Urbán

引用次数: 7

Improved Convergence Rates of P-EXTRA for Non-smooth Distributed optimization 改进的P-EXTRA非光滑分布优化收敛速度

2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899909

Xuyang Wu, Jie Lu

引用次数: 2

Blast furnace condition data clustering based on combination of T-distributed stochastic neighbor embedding and spectral clustering 基于t分布随机邻居嵌入与谱聚类相结合的高炉工况数据聚类

2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899670

Xu Fang, Sen Zhang, Xiaoli Su, Baoyong Zhao, Wendong Xiao, Yixin Yin, Fenhua Wang

{"title":"Blast furnace condition data clustering based on combination of T-distributed stochastic neighbor embedding and spectral clustering","authors":"Xu Fang, Sen Zhang, Xiaoli Su, Baoyong Zhao, Wendong Xiao, Yixin Yin, Fenhua Wang","doi":"10.1109/ICCA.2019.8899670","DOIUrl":"https://doi.org/10.1109/ICCA.2019.8899670","url":null,"abstract":"T-distributed stochastic neighbor embedding (t-SNE) dimension reduction technique are combined with Spectral clustering algorithm to mine and analyze the historical condition data of the blast furnace, and the clustering results are divided into different furnace conditions. The nonlinear dimensionality reduction algorithm tSNE finds the rule in the data by recognizing the observed pattern based on the similarity of data points with multiple features. Most nonlinear techniques except tSNE can not retain local structure and global structure of the data. At the same time, the clustering problem of dataset is transformed into the optimal partitioning problem of graph by spectral clustering, which reduces the impact of blast furnace operating point drift. The test based on the field history library shows its accuracy. At the same time, the data of the blast furnace condition data can be visualized, and the difference between different furnace conditions is demonstrated, which provides convenience for the research of the blast furnace condition in the future. Finally, based on historical data, the well-trained model can also be used for prediction, and it is effective and convenient for the blast furnace operator to adjust the abnormal furnace condition.","PeriodicalId":130891,"journal":{"name":"2019 IEEE 15th International Conference on Control and Automation (ICCA)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116992172","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: 4

Obstacle Avoidance Based on Virtual Repulsive Potential Fields under Limited Perceptions 有限感知下基于虚拟排斥势场的避障算法

2019 IEEE 15th International Conference on Control and Automation (ICCA) Pub Date : 2019-07-01 DOI: 10.1109/ICCA.2019.8899996

Jianfa Wu, Honglun Wang, Na Li

引用次数: 0