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2021 3rd International Conference on Robotics and Computer Vision (ICRCV)最新文献

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Human Pose Estimation Based on Domain of Interest and Part Affinity Field 基于兴趣域和部分关联场的人体姿态估计
2021 3rd International Conference on Robotics and Computer Vision (ICRCV) Pub Date : 2021-08-06 DOI: 10.1109/ICRCV52986.2021.9546961
Shuangye Chen, Jialei Yang
{"title":"Human Pose Estimation Based on Domain of Interest and Part Affinity Field","authors":"Shuangye Chen, Jialei Yang","doi":"10.1109/ICRCV52986.2021.9546961","DOIUrl":"https://doi.org/10.1109/ICRCV52986.2021.9546961","url":null,"abstract":"This paper proposes an effective method to detect the 2D pose estimation of multiple people in an image. Learn human joint points through convolutional network, obtain the attention domain of joint points, classify the attention domain of the joint points, and obtain part affinity field of the information at the same time; combine the attention domain and part of the affinity field information of the joint points, using a greedy algorithm Perform clustering of joint points to finally obtain the human post. Simulation experimental data show that the method in this paper has achieved satisfactory results in performance and accuracy.","PeriodicalId":377887,"journal":{"name":"2021 3rd International Conference on Robotics and Computer Vision (ICRCV)","volume":"20 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132487848","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 Simplified Dynamics Model of Articulated Suspension Vehicle 铰接悬架车辆动力学简化模型研究
2021 3rd International Conference on Robotics and Computer Vision (ICRCV) Pub Date : 2021-08-06 DOI: 10.1109/ICRCV52986.2021.9546968
Yun Wang, Xueyuan Li, Yuzheng Zhu, Ziyong Han, Lei Wang
{"title":"Research on Simplified Dynamics Model of Articulated Suspension Vehicle","authors":"Yun Wang, Xueyuan Li, Yuzheng Zhu, Ziyong Han, Lei Wang","doi":"10.1109/ICRCV52986.2021.9546968","DOIUrl":"https://doi.org/10.1109/ICRCV52986.2021.9546968","url":null,"abstract":"The articulated suspension vehicle, with its characteristics of high maneuverability, high passability and high stability, combines the advantages of leg motion and wheel motion. This paper aims to solve the complexity of centroid dynamics model of the articulated suspension vehicle. Firstly, according to the force equivalent simplification principle, the centroid dynamics model of the articulated suspension vehicle is simplified to a linear inverted pendulum inertial flywheel model. Then, the motion characteristics of the simplified model are analyzed and verified by simulation using the phase plane method. Finally, the conclusion can be obtained: when the initial state of the system is outside the constraint boundary, the maximum attitude adjustment moment cannot adjust the system motion back to the stable state origin.","PeriodicalId":377887,"journal":{"name":"2021 3rd International Conference on Robotics and Computer Vision (ICRCV)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134543638","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
AI-Based Modeling and Control of Robotic Systems: A Brief Tutorial 基于人工智能的机器人系统建模与控制:简单教程
2021 3rd International Conference on Robotics and Computer Vision (ICRCV) Pub Date : 2021-08-06 DOI: 10.1109/ICRCV52986.2021.9546974
Deepak Raina, S. Saha
{"title":"AI-Based Modeling and Control of Robotic Systems: A Brief Tutorial","authors":"Deepak Raina, S. Saha","doi":"10.1109/ICRCV52986.2021.9546974","DOIUrl":"https://doi.org/10.1109/ICRCV52986.2021.9546974","url":null,"abstract":"Accurate modeling and control of robotic systems are often critical to perform complex manipulation tasks. Artificial Intelligence (AI) based approaches have gained widespread popularity to deal with task complexity and uncertainty. This paper gives a detailed overview and tutorial of AI-based approaches for modeling and control of robotic systems. We provide an easy-to-understand explanation of the key AI-based techniques and demonstrate learning an inverse dynamics model and target reaching controller for a 2-link robotic manipulator using state-of-the-art AI-based methods. The experimental results present a thorough analysis of AI-based techniques and validate their advantages over conventional methods. The code used for the examples has also been made open-source for the research community on this link: https://www.github.com/ai-modeling-control. Thus, this paper aims to become a starting point for researchers interested in developing and implementing AI-based methods for robot modeling and control.","PeriodicalId":377887,"journal":{"name":"2021 3rd International Conference on Robotics and Computer Vision (ICRCV)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114479437","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
An Robotic Arm System for Automatic Welding of Bars Based on Image Denoising 基于图像去噪的棒材自动焊接机械臂系统
2021 3rd International Conference on Robotics and Computer Vision (ICRCV) Pub Date : 2021-08-06 DOI: 10.1109/ICRCV52986.2021.9546976
Shuhua Ma, Tiang Tang, Hairong You, Yiding Zhao, Xianchun Ma, Jinhua Wang
{"title":"An Robotic Arm System for Automatic Welding of Bars Based on Image Denoising","authors":"Shuhua Ma, Tiang Tang, Hairong You, Yiding Zhao, Xianchun Ma, Jinhua Wang","doi":"10.1109/ICRCV52986.2021.9546976","DOIUrl":"https://doi.org/10.1109/ICRCV52986.2021.9546976","url":null,"abstract":"Aiming at the low efficiency of current welding robots and the low accuracy of the vision module of the robotic arm system in complex environments, this paper studies an automatic welding robotic arm system based on image denoising. First, this article introduces the overall structure of the robot welding system, and introduces the functions of each part in blocks. Secondly, it focuses on the principle of image denoising. Finally, the results of image denoising and the welding effect of the welding system are in-depth. Discussion and analysis show that this welding system has high accuracy and strong robustness in complex environments.","PeriodicalId":377887,"journal":{"name":"2021 3rd International Conference on Robotics and Computer Vision (ICRCV)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130071848","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
Durability Analysis and Test Research of Vehicle Proving Ground Based on User Road Load Spectrum 基于用户道路荷载谱的车辆试验场耐久性分析与试验研究
2021 3rd International Conference on Robotics and Computer Vision (ICRCV) Pub Date : 2021-08-06 DOI: 10.1109/ICRCV52986.2021.9546975
Rongliang Liang, Zhenya Wu, Shiyu Wu
{"title":"Durability Analysis and Test Research of Vehicle Proving Ground Based on User Road Load Spectrum","authors":"Rongliang Liang, Zhenya Wu, Shiyu Wu","doi":"10.1109/ICRCV52986.2021.9546975","DOIUrl":"https://doi.org/10.1109/ICRCV52986.2021.9546975","url":null,"abstract":"Vehicle durability test is an effective means to evaluate the reliability of key system components. In view of the problems existing in the traditional vehicle durability test method in the vehicle proving ground, a user road load spectrum related design method of vehicle proving ground durability specification is proposed in this study. This method takes the user’s usage into account. Based on the principle that the road damage of users is equivalent to the road damage of proving ground, the load spectrum of users’ road and strengthened road of proving ground is collected by a certain vehicle. The load distribution matrix is obtained by rain flow counting method. Finally, according to the mathematical model of user association, the cycle times of proving ground strengthening road under the condition of equivalent load spectrum of rain flow matrix between user and proving ground are optimized. The strengthening coefficient of proving ground road surface and the durability test specification of vehicle proving ground related to user are obtained.","PeriodicalId":377887,"journal":{"name":"2021 3rd International Conference on Robotics and Computer Vision (ICRCV)","volume":"260 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133594865","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
Mobile Robot Obstacle Avoidance Based on Improved Artificial Potential Field Method 基于改进人工势场法的移动机器人避障
2021 3rd International Conference on Robotics and Computer Vision (ICRCV) Pub Date : 2021-08-06 DOI: 10.1109/ICRCV52986.2021.9546979
Chengfu Jiang, Y. Gao, Pingfa Yang
{"title":"Mobile Robot Obstacle Avoidance Based on Improved Artificial Potential Field Method","authors":"Chengfu Jiang, Y. Gao, Pingfa Yang","doi":"10.1109/ICRCV52986.2021.9546979","DOIUrl":"https://doi.org/10.1109/ICRCV52986.2021.9546979","url":null,"abstract":"Aiming at the defects of the traditional artificial potential field method in the obstacle avoidance process of mobile robots, the problems of unreachable targets and local minimum are analyzed. Introduce the distance index between the robot and the obstacle into the gravitational field function to solve the problem of unreachable target. Get rid of local minimum by applying escape force. Aiming at the problem that the traditional artificial potential field method is not effective in the dynamic environment, it is improved by adding a speed factor to the repulsive force field function. Finally, the improved artificial potential field method is applied in the complex dynamic environment. Using MATLAB to compare and simulate the improved algorithm, the experimental results verify the effectiveness and feasibility of the method.","PeriodicalId":377887,"journal":{"name":"2021 3rd International Conference on Robotics and Computer Vision (ICRCV)","volume":"57 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115289061","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
Mobile Robot Dynamic Path Planning Based on Improved A* Algorithm 基于改进A*算法的移动机器人动态路径规划
2021 3rd International Conference on Robotics and Computer Vision (ICRCV) Pub Date : 2021-08-06 DOI: 10.1109/ICRCV52986.2021.9546972
Tong Sun, Tingren Wang, P. Sun
{"title":"Mobile Robot Dynamic Path Planning Based on Improved A* Algorithm","authors":"Tong Sun, Tingren Wang, P. Sun","doi":"10.1109/ICRCV52986.2021.9546972","DOIUrl":"https://doi.org/10.1109/ICRCV52986.2021.9546972","url":null,"abstract":"In order to solve the problems of large storage, excessive redundant nodes and inflection points of paths, and unsmooth track in the traditional A*algorithm. This paper presents a fusion algorithm of mobile robot path planning based on the improved A* and dynamic window approach. Firstly, selectively expand the neighborhood according to the connection between the node to be expanded and the target node, and reduce the expanded nodes in openlist and closelist. Secondly, according to the key node extraction strategy, eliminate the redundant path nodes and unnecessary inflection points generated by A* tracking. Finally, the dynamic window approach is integrated to carry out real-time dynamic path planning. The Matlab simulation experiment results show that the improved fusion algorithm shortens the path length, and the smoothness and security of the path are also optimized.","PeriodicalId":377887,"journal":{"name":"2021 3rd International Conference on Robotics and Computer Vision (ICRCV)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121986392","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
Kinematics and Stiffness of Active-Passive Hybrid Cable-Driven Robots: Modeling and Analysis 主-被动混合缆索驱动机器人的运动学和刚度:建模与分析
2021 3rd International Conference on Robotics and Computer Vision (ICRCV) Pub Date : 2021-08-06 DOI: 10.1109/ICRCV52986.2021.9546981
Wangru Zhu, Haoxuan Wu, Jianqing Peng
{"title":"Kinematics and Stiffness of Active-Passive Hybrid Cable-Driven Robots: Modeling and Analysis","authors":"Wangru Zhu, Haoxuan Wu, Jianqing Peng","doi":"10.1109/ICRCV52986.2021.9546981","DOIUrl":"https://doi.org/10.1109/ICRCV52986.2021.9546981","url":null,"abstract":"Active-Passive Hybrid Cable-Driven Robots (APHCDRs) are a novel type of cable-driven robots with the design of active-passive-linkage segments. Compared with tradition ones, they are more flexible and have higher maneuverability in confined environment, thus, are widely researched in recent years. However, the workspace and stiffness performance of APHCDRs which are two important properties were rarely studied. In this paper, the generalized kinematic model of APHCDRs is established first. Then, the resolved workspace and stiffness model are proposed. Workspace radius and stiffness are analyzed by considering link length and linkage ratio respectively. Finally, particle swarm optimization (PSO) is used to search for the optimal configurations of APHCDRs which reach maximum workspace area, working radius and maximum stiffness respectively. The analysis results on the workspace and stiffness are useful for optimizing of APHCDRs’ structural design.","PeriodicalId":377887,"journal":{"name":"2021 3rd International Conference on Robotics and Computer Vision (ICRCV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128312929","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
A Novel Kinematic Calibration Method Based on the End Acceleration of the Manipulator 一种基于机械手末端加速度的运动学标定方法
2021 3rd International Conference on Robotics and Computer Vision (ICRCV) Pub Date : 2021-08-06 DOI: 10.1109/ICRCV52986.2021.9546969
Rui Zhou, Hongzhe Jin, Binluan Wang, Mingda Ge, Hong Yin, Jie Zhao
{"title":"A Novel Kinematic Calibration Method Based on the End Acceleration of the Manipulator","authors":"Rui Zhou, Hongzhe Jin, Binluan Wang, Mingda Ge, Hong Yin, Jie Zhao","doi":"10.1109/ICRCV52986.2021.9546969","DOIUrl":"https://doi.org/10.1109/ICRCV52986.2021.9546969","url":null,"abstract":"The kinematic calibration of the manipulator is one of the main methods to improve the absolute positioning accuracy of the end of the manipulator. Due to the disadvantages of the current calibration methods, such as excessively expensive measuring equipment, complex calibration process and numerous calculations, exploring a new calibration method has become a research focus in recent years. This paper proposes a novel kinematic calibration method based on the end acceleration of the manipulator for the first time. This method derives the relationship between the end acceleration of the manipulator and the kinematic parameters by Jacobian matrix. After obtaining the manipulator’s joints data and the end acceleration acquired by the inertial measurement unit attached to the end of the manipulator, these data will be brought into the derived relationship, then using the recursive least squares method to obtain the estimated value of parameters of the manipulator. This calibration method has the advantages of low cost, simple operation and the low requirements for the experimental environment. With the improvement of inertial measurement unit technology, the calibration results of this method will become more and more accurate, and its development prospect is extremely broad.","PeriodicalId":377887,"journal":{"name":"2021 3rd International Conference on Robotics and Computer Vision (ICRCV)","volume":"52 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123784595","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
Investigation of Accelerated Editing Method of Vehicle Road Load Spectrum Based on Pseudo Damage Preservation 基于伪损伤保存的车辆道路载荷谱加速编辑方法研究
2021 3rd International Conference on Robotics and Computer Vision (ICRCV) Pub Date : 2021-08-06 DOI: 10.1109/ICRCV52986.2021.9546965
Rongliang Liang, Zhenya Wu, Shiyu Wu
{"title":"Investigation of Accelerated Editing Method of Vehicle Road Load Spectrum Based on Pseudo Damage Preservation","authors":"Rongliang Liang, Zhenya Wu, Shiyu Wu","doi":"10.1109/ICRCV52986.2021.9546965","DOIUrl":"https://doi.org/10.1109/ICRCV52986.2021.9546965","url":null,"abstract":"The edit and analysis of the vehicle road load spectrum is an effective means to carry out the fatigue durability test and analysis of vehicle and parts. In this paper, an accelerated editing method of road load spectrum based on pseudo damage preservation is proposed based on it. In order to retain 90% of the pseudo damage equivalent of the original load spectrum, the original load spectrum is edited by setting boundary conditions to delete the low amplitude small load, and the acceleration spectrum with 90% of the pseudo damage is generated. Then, the original spectrum and acceleration spectrum are analyzed and compared from the time domain, power spectrum density, statistical value and rain flow count. The results show that the acceleration is obvious based on the load characteristics, statistical characteristics, frequency domain characteristics and rain flow matrix characteristics of the original spectrum, which can replace the original spectrum to carry out fatigue durability test and shorten the test period.","PeriodicalId":377887,"journal":{"name":"2021 3rd International Conference on Robotics and Computer Vision (ICRCV)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127663346","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
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