2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)最新文献_第3页

Research on Key Technologies and System Construction of Smart Mine 智能矿山关键技术与系统建设研究

2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2020-07-01 DOI: 10.1109/ACIRS49895.2020.9162625

Zhu Qin, Siyuan Chen, Xiliang Xu, Minghui Zhao

引用次数: 4

[Copyright notice] (版权)

2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2020-07-01 DOI: 10.1109/acirs49895.2020.9162622

引用次数: 0

Real-World Object Recognition for Robot Based on Lightweight Deep Multimodal Distance Learning 基于轻量级深度多模态远程学习的机器人真实世界物体识别

2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2020-07-01 DOI: 10.1109/acirs49895.2020.9162600

Xu Zhang, Bin Xue, Feng Jing

引用次数: 0

Ship Detection Based on Superpixel-Level Hybrid Non-local MRF for SAR Imagery 基于超像素级混合非局部磁共振成像的SAR图像舰船检测

2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2020-07-01 DOI: 10.1109/acirs49895.2020.9162609

Xu Zhang, Tao Xie, Liqun Ren, Linna Yang

{"title":"Ship Detection Based on Superpixel-Level Hybrid Non-local MRF for SAR Imagery","authors":"Xu Zhang, Tao Xie, Liqun Ren, Linna Yang","doi":"10.1109/acirs49895.2020.9162609","DOIUrl":"https://doi.org/10.1109/acirs49895.2020.9162609","url":null,"abstract":"Speckle noise interference and inshore ship detection have remained difficult problems associated with the detection of ships in SAR images. The segmentation method based on the Markov random field (MRF) model can classify the pixels of an image for target detection. However, the traditional MRF method is not robust against speckle noise and cannot use the high-level information of the image. To overcome these problems, this paper proposes a hybrid non-local MRF model based on superpixel segmentation for the detection of ship targets at sea and in dock areas in SAR images. Superpixel segmentation can segment an SAR image into blocks of pixels with similar attributes to suppress the effect of coherent speckle noise in the image. In addition, a hybrid non-local energy function is proposed, and it can comprehensively consider local and non-local information and greatly improve the accuracy of image segmentation. The experimental results show that the proposed method can improve the detection accuracy and significantly reduce the false alarm rate compared with the those of the traditional MRF method.","PeriodicalId":293428,"journal":{"name":"2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130440195","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

Image Preprocessing of Obstacle Avoidance for Underground Unmanned Aerial Vehicle Based on Monocular Vision 基于单目视觉的地下无人机避障图像预处理

2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2020-07-01 DOI: 10.1109/acirs49895.2020.9162606

Minghui Zhao, Dongbo Wang, Xiliang Xu, Siyuan Chen, Zhu Qin

引用次数: 0

A Reverse Planning Method of Autonomous Parking Path 自主停车路径的逆向规划方法

2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2020-07-01 DOI: 10.1109/ACIRS49895.2020.9162616

R. Zou, Shaoping Wang, Zhiling Wang, Pan Zhao, Pengfei Zhou

{"title":"A Reverse Planning Method of Autonomous Parking Path","authors":"R. Zou, Shaoping Wang, Zhiling Wang, Pan Zhao, Pengfei Zhou","doi":"10.1109/ACIRS49895.2020.9162616","DOIUrl":"https://doi.org/10.1109/ACIRS49895.2020.9162616","url":null,"abstract":"The traditional parking path planning method based on geometric curve has the characteristics of simple calculation and high real-time performance, but it needs high requirements for initial parking position. In practical application, when the vehicle deviates from the path, the automatic parking task will be terminated in order to ensure safety and prevent collision. In this paper, an improved method is proposed. Firstly, according to the location of the target point of the parking space, the reverse driving method is used; according to the collision constraints and the minimum parking space constraints, the parking starting area is generated, which solves the problem of high requirements for the parking initial position based on the planning method. Then, the parking area is sampled to generate a smooth parking area based on the method of state space sampling, which can realize the dynamic adjustment of the parking track and solve the problem that the vehicle cannot complete the parking when it deviates from the planned path. Finally, the simulation software is applied to verify the results. The experimental results show that the method is effective.","PeriodicalId":293428,"journal":{"name":"2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)","volume":"331 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134330703","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

System Design of an Automated Drilling Device for Neurosurgical Applications 神经外科用自动钻孔装置的系统设计

2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2020-07-01 DOI: 10.1109/acirs49895.2020.9162612

Sriram Marisetty, Pavan Kumar Pothula, Pon Deepika, C. K. Vinay, Vikas Vazhayil, Madhav Rao

{"title":"System Design of an Automated Drilling Device for Neurosurgical Applications","authors":"Sriram Marisetty, Pavan Kumar Pothula, Pon Deepika, C. K. Vinay, Vikas Vazhayil, Madhav Rao","doi":"10.1109/acirs49895.2020.9162612","DOIUrl":"https://doi.org/10.1109/acirs49895.2020.9162612","url":null,"abstract":"Mechanical drilling and perforation of bone is one of the most standard practices followed in neurosurgery, but is a highly specialised task performed by trained neurosurgeons. Craniotomy refers to removing part of the skull bone to access the underlying tissues, which is currently performed manually involving a series of precautionary procedures. The non-planar surface of the brain makes the manual drilling process over a series of marked points less accurate. Guided robotic drilling is one such alternative towards the contemporary craniotomy method that leads to increased accuracy, thereby minimizing permanent secondary damages to the patient under treatment. The paper proposes a design towards achieving the first step in building an autonomous neurosurgical tool for craniotomy practices over a non-planar surface. The proposed device caters towards reaching to a specified target location in the surgical space, and orient the drilling head system perpendicular to the specified point on the non-planar surface to perform needle insertion, or deep drilling. In addition, the proposed tool follows the guided path in a perpendicular orientation along the series of drilling points on a non-planar skull surface, where the skull surface is derived from IR imaging of the patient in the operative field. The real-time 3D model of the patient’s head is reconstructed post multiple scanning from the handheld portable IR camera. The developed autonomous drilling system is driven by the path planned and annotated by the neurosurgeon on the 3D model generated from the handheld IR camera in the intraoperative space. The autonomous drill positioning system is validated experimentally on a 3D printed human head, and the system placement, along with the orientation errors and accuracy in guided path showed promising results.","PeriodicalId":293428,"journal":{"name":"2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2020-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133812737","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

Robot Swarm Flocking on a 2D Triangular Graph 二维三角图上的机器人群体群集

2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2020-07-01 DOI: 10.1109/acirs49895.2020.9162599

A. Cheraghi, Asma Ben Janete, Kalman Graffi

引用次数: 4

Usage of Operating System Kernel Paradigms to Build Modern Simulation Platforms for Autonomous Driving 使用操作系统内核范式构建现代自动驾驶仿真平台

2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2020-07-01 DOI: 10.1109/acirs49895.2020.9162620

Max Paul Bauer, Anthony Ngo, Michael M. Resch

引用次数: 0

Parametric Design of Elevator Car Wall Based on GA-SVM Method 基于GA-SVM方法的电梯轿厢壁参数化设计

2020 5th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS) Pub Date : 2020-07-01 DOI: 10.1109/ACIRS49895.2020.9162604

Yuxin Zheng, Runfeng Zhang, Xiaohan Yuan

引用次数: 0