2013 IEEE International Conference on Mechatronics and Automation最新文献_第2页

Real-time SIFT-based object recognition system 基于sift的实时目标识别系统

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618111

Zhao Wang, Han Xiao, Wenhao He, Feng Wen, Kui Yuan

{"title":"Real-time SIFT-based object recognition system","authors":"Zhao Wang, Han Xiao, Wenhao He, Feng Wen, Kui Yuan","doi":"10.1109/ICMA.2013.6618111","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618111","url":null,"abstract":"In this paper a real-time object recognition system is realized, based on the Scale Invariant Feature Transform (SIFT) algorithm. The system mainly contains a display, a camera and an image acquisition and processing board developed by our research team. An FPGA chip and a DSP chip are embedded in the card as the major calculation units, which make real-time computation possible. The whole recognition algorithm is divided into three parts: the detection of SIFT keypoints, the extraction of SIFT descriptors and the final object recognition. In order to achieve real-time detection of SIFT keypoints through hardware computation on FPGA, the original SIFT algorithm is adapted to accommodate the parallel computation and pipelined structure of hardware. Using a mode of DSP invoking a customized FPGA module, a 72-dimensional keypoint descriptor is proposed to save memory space and to cut down the computing cost in keypoints matching. The recognition proceeds by matching individual features to a database of features from known objects using a fast approximate nearest-neighbor search algorithm changed based on the k-d tree and the BBF algorithm. In addition, three matching strategies are adopted to discard the false matches so as to improve the accuracy of recognition. The object recognition functionality is mainly achieved in the DSP. A model database is built and used to test the accuracy and effectiveness of the system.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116407076","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: 22

Real-time scene recognition on embedded system with SIFT keypoints and a new descriptor 基于SIFT关键点和描述符的嵌入式系统实时场景识别

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618104

Han Xiao, Wenhao He, Kui Yuan, Feng Wen

{"title":"Real-time scene recognition on embedded system with SIFT keypoints and a new descriptor","authors":"Han Xiao, Wenhao He, Kui Yuan, Feng Wen","doi":"10.1109/ICMA.2013.6618104","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618104","url":null,"abstract":"The vision system of a mobile robot has to interpret the environment in real time at low power. As a good algorithm for extracting information from images, SIFT (Scale Invariant Feature Transform) is widely used in computer vision. However, the high computational complexity makes it hard to achieve real-time performance of SIFT with pure software. This paper presents a machine vision system implementing the SIFT algorithm on an embedded image processing card, where real-time scene recognition is accomplished with low power consumption through the cooperation between an FPGA (Field Programmable Gate Array) and a DSP (Digital Signal Processor) chip. The original SIFT keypoint detection algorithm is adapted for parallel computation and implemented with a hardware pipeline in the FPGA. Although our current system is designed for 360×288 video frames, this pipelined architecture can be applied to images with arbitrary resolution. Meanwhile, the original 128-dimensional SIFT descriptor is replaced by an 18-dimensional new descriptor which can be generated more efficiently and can be matched according to an absolute distance threshold with the distance defined by infinity-norm. On this basis, a five-branch-tree data structure is designed for fast searching and matching of descriptors, and robust scene recognition is realized through the combination of keypoints. Since our new descriptor allows one keypoint to be matched to several keypoints, which is a distinct property from the original SIFT algorithm, our system can recognize multiple images with overlapping contents simultaneously. In addition, compared with traditional work that needs off-line training, our system can perform fast on-line learning, which is a desirable property for mobile robots.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122067620","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: 12

Fuzzy logic based speed controller for permanent-magnet synchronous motor drive 基于模糊逻辑的永磁同步电机调速控制器

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618139

A. Maamoun, Y. M. Alsayed, A. Shaltout

引用次数: 11

Robust trajectory linearization control of a flexible hypersonic vehicle in the presence of uncertainties 存在不确定性的柔性高超声速飞行器鲁棒轨迹线性化控制

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617946

Z. Pu, Xiang-min Tan, Guoliang Fan, J. Yi

引用次数: 2

Modeling, identification and control of a heavy duty industrial gas turbine 重型工业燃气轮机建模、辨识与控制

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617986

I. Yousefi, M. Yari, M. A. Shoorehdeli

引用次数: 13

Tuning of PID controller for diesel engines using genetic algorithm 基于遗传算法的柴油机PID控制器整定

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618140

N. F. Mohammed, Xiuzhen Ma, E. Song

引用次数: 7

Study on resistance training for upper-limb rehabilitation using an exoskeleton device 利用外骨骼装置进行上肢康复阻力训练的研究

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618040

Zhibin Song, Zhenyu Wang, Shuxiang Guo, Baofeng Gao

{"title":"Study on resistance training for upper-limb rehabilitation using an exoskeleton device","authors":"Zhibin Song, Zhenyu Wang, Shuxiang Guo, Baofeng Gao","doi":"10.1109/ICMA.2013.6618040","DOIUrl":"https://doi.org/10.1109/ICMA.2013.6618040","url":null,"abstract":"Rehabilitation robotics has received more and more attention during the last decades, especially the exoskeleton device for the upper limb rehabilitation, but most of them are heavy and large. In our study, a light and wearable exoskeleton device was proposed, which can be used in home rehabilitation and it can also be used to implement passive and active training. In this paper, we proposed to perform the active rehabilitation based on the upper limb exoskeleton rehabilitation device (ULERD) with variable stiffness elastic actuators, which improves the safety for human-robot interaction and produces adjustable stiffness capacity and resistance training to meet the demand for safe active-passive elbow rehabilitation. It provides a wide approach for human machine interface (HMI) in which the device is non-backdrivable, and at the same time it is difficult to obtain the contact force information directly. The proposed method was verified by the experiments conducted under two conditions with passive DoFs unlocked and with passive DoFs locked during elbow flexion and extension performance. Each experiment has three level resistances provided to the user. The surface electromyography (sEMG) signals derived from biceps and triceps were used to evaluate the efficacy of this method in both experiments.","PeriodicalId":335884,"journal":{"name":"2013 IEEE International Conference on Mechatronics and Automation","volume":"1006 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123321343","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

Deployment analysis of a planar deployable support truss structure 平面可展开支撑桁架结构展开分析

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618099

D. Wang, Rongqiang Liu, Yan Wang, Hongwei Guo, Q. Cong, C. Zhang

引用次数: 5

Heart rate variability detector based on embedded system 基于嵌入式系统的心率变异性检测器

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6617935

Shuangye Chen, Liqing Huang, Dongyue Zheng

引用次数: 0

Research on subareas division problem of maritime search and rescue based on improved Monte Carlo algorithm 基于改进蒙特卡罗算法的海上搜救子区域划分问题研究

2013 IEEE International Conference on Mechatronics and Automation Pub Date : 2013-10-03 DOI: 10.1109/ICMA.2013.6618129

Li Jie, Sun Yao, Zhenxing Zhang

引用次数: 4