2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)最新文献_第5页

Consensus conditions of continuous-time multi-agent systems under the $G$-expectation frame 连续时间多智能体系统在$G$期望框架下的一致性条件

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581137

Li Zhang, Shuai Liu, Xin Tai

引用次数: 0

Feature-Based and Convolutional Neural Network Fusion Method for Visual Relocalization 基于特征和卷积神经网络的视觉再定位融合方法

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581204

Li Wang, Ruifeng Li, Jingwen Sun, S. H. Soon, C. K. Quah, Lijun Zhao

{"title":"Feature-Based and Convolutional Neural Network Fusion Method for Visual Relocalization","authors":"Li Wang, Ruifeng Li, Jingwen Sun, S. H. Soon, C. K. Quah, Lijun Zhao","doi":"10.1109/ICARCV.2018.8581204","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581204","url":null,"abstract":"Relocalization is one of the necessary modules for mobile robots in long-term autonomous movement in an environment. Currently, visual relocalization algorithms mainly include feature-based methods and CNN-based (Convolutional Neural Network) methods. Feature-based methods can achieve high localization accuracy in feature-rich scenes, but the error is quite large or it even fails in cases with motion blur, texture-less scene and changing view angle. CNN-based methods usually have better robustness but poor localization accuracy. For this reason, a visual relocalization algorithm that combines the advantages of the two methods is proposed in this paper. The BoVW (Bag of Visual Words) model is used to search for the most similar image in the training dataset. PnP (Perspective n Points) and RANSAC (Random Sample Consensus) are employed to estimate an initial pose. Then the number of inliers is utilized as a criterion whether the feature-based method or the CNN-based method is to be leveraged. Compared with a previous CNN-based method, PoseNet, the average position error is reduced by 45.6% and the average orientation error is reduced by 67.4% on Microsoft's 7-Scenes datasets, which verifies the effectiveness of the proposed algorithm.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130494632","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

Stable Gait Optimization for Small-Sized Humanoid Robot Using CFO 基于CFO的小型人形机器人稳定步态优化

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581188

T. T. Huan, Khuu Bach Thy, Nguyen Ho Hieu Trung, H. Anh

引用次数: 6

Calibration of a Rotating Laser Range Finder using Intensity Features 利用强度特征校准旋转激光测距仪

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581350

Kavindie Katuwandeniya, Ravindra Ranasinghe, Lakshitha Dantanarayana, G. Dissanayake, Dikai Liu

{"title":"Calibration of a Rotating Laser Range Finder using Intensity Features","authors":"Kavindie Katuwandeniya, Ravindra Ranasinghe, Lakshitha Dantanarayana, G. Dissanayake, Dikai Liu","doi":"10.1109/ICARCV.2018.8581350","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581350","url":null,"abstract":"This paper presents an algorithm for calibrating a “3D range sensor” constructed using a two-dimensional laser range finder (LRF), that is rotated about an axis using a motor to obtain a three-dimensional point cloud. The sensor assembly is modelled as a two degree of freedom open kinematic chain, with one joint corresponding to the axis of the internal mirror in the LRF and the other joint set along the axis of the motor used to rotate the body of the LRF. In the application described in this paper, the sensor unit is mounted on a robot arm used for infrastructure inspection. The objective of the calibration process is to obtain the coordinate transform required to compute the locations of the 3D points with respect to the robot coordinate frame. Proposed strategy uses observations of a set of markers arbitrarily placed in the environment. Distances between these markers are measured and a metric multidimensional scaling is used to obtain the coordinates of the markers with respect to a local coordinate frame. Intensity associated with each beam point of a laser scan is used to locate the reflective markers in the 3D point cloud and a least squares problem is formulated to compute the relationship between the robot coordinate frame, LRF coordinate frame and the marker coordinate frame. Results from experiments using the robot, LRF combination to map a cavity inside a steel bridge structure are presented to demonstrate the effectiveness of the calibration process.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"385 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126734361","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

Detection and Compensation of Motion Error for Nanomanipulation Platform in Scanning Electron Microscope

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581134

Mingyu Wang, Yaqiong Wang, Zhan Yang, Tao Chen, Lining Sun, T. Fukuda

{"title":"Detection and Compensation of Motion Error for Nanomanipulation Platform in Scanning Electron Microscope","authors":"Mingyu Wang, Yaqiong Wang, Zhan Yang, Tao Chen, Lining Sun, T. Fukuda","doi":"10.1109/ICARCV.2018.8581134","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581134","url":null,"abstract":"Nanomanipulation system based on scanning electron microscope(SEM) with good real-time visual feedback and nanoscale observation resolution had high operability in a vacuum working environment. Different nanomanipulation tasks of carbon nanotubes (CNTs) are carried out through the nanomanipulation system in SEM. Nanomanipulation platform existed inherent manufacture errors, installation errors and other errors, and imprecise nanomanipulation system were also time-consuming and laborious for operators. This paper presentes a method of combining the visual feedback and feedforward control to detect and compensate the motion error of the multi-dimensional SmarAct nanomanipulation platform in the nanomanipulation system in SEM. This method reduces the motion error in the X-Y direction and achieved higher operating accuracy. At the different step speed, the motion error in the X direction and Y direction is 135.7nm and 112.9nm respectively. After the feedforward compensation, the motion error in the X direction and Y direction reduces to 61.3nm and 54.1nm respectively.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121499486","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

Reciprocal Collision Avoidance for Nonholonomic Mobile Robots 非完整移动机器人的互反避碰

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581239

Lei Wang, Zhengguo Li, C. Wen, Renjie He, Fanghong Guo

引用次数: 5

Nash Equilibrium Seeking for Games in Hybrid Systems 混合系统博弈的纳什均衡寻优

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581159

Maojiao Ye

{"title":"Nash Equilibrium Seeking for Games in Hybrid Systems","authors":"Maojiao Ye","doi":"10.1109/ICARCV.2018.8581159","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581159","url":null,"abstract":"Nash equilibrium seeking for games in a class of hybrid systems is investigated in this paper. Different from the existing works, the players in the present game framework are composite of a set of continuous-time players and a set of discrete-time players. Nash equilibrium seeking for such a hybrid game is challenging as some players update their actions in continuous time while the remainders update their actions in discrete time. To accommodate the hybrid games, we firstly consider a case in which the players update their actions according to the hybrid gradient play (i.e., the continuous-time players update their actions according to the continuous-time gradient play with sampled information flow while the discrete-time players update their actions according to the discrete-time gradient play). Then, we consider the case in which the players have restricted access to their opponents' actions. A hybrid consensus-based strategy is proposed for this case. The stability of the Nash equilibrium under the proposed hybrid seeking strategies is theoretically proven by utilizing Lyapunov stability analysis. Lastly, the hybrid seeking strategies are validated through a numerical example.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"68 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116043042","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: 5

Cooperative Landing Control of Vertical Take Off and Landing Aircrafts on Oscillating Platform 摆动平台垂直起降飞机协同着陆控制

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581377

Guofeng Chen

引用次数: 0

Camera Based Decision Making at Roundabouts for Autonomous Vehicles 自动驾驶汽车环形交叉路口基于摄像头的决策

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581347

Weichao Wang, Q. Meng, P. Chung

{"title":"Camera Based Decision Making at Roundabouts for Autonomous Vehicles","authors":"Weichao Wang, Q. Meng, P. Chung","doi":"10.1109/ICARCV.2018.8581347","DOIUrl":"https://doi.org/10.1109/ICARCV.2018.8581347","url":null,"abstract":"Being able to join roundabouts correctly is crucial for an autonomous vehicle to maintain not only its own safety but also a normal traffic order for others. In order to know the right time and speed for entering roundabouts, the location, speed and direction of the approaching vehicles need to be taken into consideration. This study investigated the feasibility of leveraging computer vision and machine learning to help autonomous vehicles decide to wait or to enter when reaching roundabouts. A grid-based image processing approach with a single camera at normal roundabouts (GBIPA-SC-NR) is proposed in this paper to characterize traffic situations that can be used for machine learning algorithms to learn the roundabout joining criteria. Video road clips recorded when human drivers reach and then join various roundabouts at different locations were utilised for this learning process, with a selection of four supervised classification algorithms (i.e. the Support Vector Machines, Random Forests, K-Nearest Neighbours, and Decision Tree). The trained classifiers using the proposed approach were evaluated on 507 test videos captured at roundabouts, where the SVM showed the best performance with a 90.28% classification accuracy. This result suggests that the proposed grid-based image processing method can be applied to effectively help autonomous vehicles made the right decision when reaching a roundabout.","PeriodicalId":395380,"journal":{"name":"2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124895803","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: 9

Performance Enhancement of Predictive Functional Control Using Disturbance Observer and Zero Phase Error Tracking Controller 用扰动观测器和零相位误差跟踪控制器增强预测函数控制性能

2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2018-11-01 DOI: 10.1109/ICARCV.2018.8581128

T. Satoh, N. Saito, J. Nagase, N. Saga

引用次数: 0