Stereo vision based SLAM using Rao-Blackwellised particle filter

We present an algorithm which can realize mobile robot in unknown outdoor environments, which 3D stereo vision simultaneous localization and mapping （SLAM） for means the 6-DOF motion and a sparse but persistent map of natural landmarks be constructed online only with a stereo camera. In mobile robotics research, we extend FastSLAM 2.0 like stereo vision SLAM with ＂pure vision＂ domain to outdoor environments. Unlike popular stochastic motion model used in conventional monocular vision SLAM, we utilize the ideas of structure from motion （SFM） for initial motion estimation, which is more suitable for the robot moving in large-scale outdoor, and textured environments. SIFT features are used as natural landmarks, and its 3D positions are constructed directly through triangulation. Considering the computational complexity and memory consumption, Bkd-tree and Best-Bin-First （BBF） search strategy are utilized for SIFT feature descriptor matching. Results show high accuracy of our algorithm, even in the circumstance of large translation and large rotation movements.

A Method for Determining Surface Free Energy of Bamboo Fiber Materials by Applying Fowkes Theory and Using Computer Aided Machine Vision Based Measurement Technique

The purpose of this study is to develop a standard methodology for measuring the surface free energy (SFE),and its component parts of bamboo fiber materials.The current methods was reviewed to determine the surface tension of natural fibers and the disadvantages of techniques used were discussed.Although numerous techniques have been employed to characterize surface tension of natural fibers,it seems that the credibility of results obtained may often be dubious.In this paper,critical surface tension estimates were obtained from computer aided machine vision based measurement.Data were then analyzed by the least squares method to estimate the components of SFE.SFE was estimated by least squares analysis and also by Schultz' method.By using the Fowkes method the polar and disperse fractions of the surface free energy of bamboo fiber materials can be obtained.Strictly speaking,this method is based on a combination of the knowledge of Fowkes theory. SFE is desirable when adhesion is required,and it avoids some of the limitations of existing studies which has been proposed.The calculation steps described in this research are only intended to explain the methods.The results show that the method that only determines SFE as a single parameter may be unable to differentiate adequately between bamboo fiber materials,but it is feasible and very efficient.In order to obtain the maximum performance from the computer aided machine vision based measurement instruments,this measurement should be recommended and kept available for reference.

Design of vision-based soccer robot using DSP

A new design of vision based soccer robot using the type TMS320F240 of DSPs for MiroSot series is presented. The DSP used enables cost effective control of DC motor, and features fewer external components, lower system cost and better performances than traditional microcontroller. The hardware architecture of robot is firstly presented in detail, and then the software design is briefly discussed. The control structure of decision making subsystem is illuminated also in this paper. The conclusion and prospect are given at last.

Measuring method for micro-diameter based on structured-light vision technology

Based on structured-light vision measurement technology, we study a measuring method for microdiameter. The measurement principle and mathematical model are described. A novel grayscale barycenter extraction algorithm along the radial direction is proposed, which can precisely gather the image coor- dinates of the ellipse-shaped light-stripe centers. The accuracy of the measurement result shows marked improvement by using the algorithm. The method executes circle fitting to the measured three-dimensional （3D） data using linear least square method, which can acquire the diameter, surface profile, and other information of the object effectively. On the scene, a line-structured light vision system using the presented method is applied to measure the curvature radius of metal blades. Experimental results show that the measurement precision of the system is higher than 2 μm.

A novel virtual four-ocular stereo vision system based on single camera for measuring insect motion parameters

A novel virtual four-ocular stereo measurement system based on single high speed camera is proposed for measuring double beating wings of a high speed flapping insect. The principle of virtual monocular system consisting of a few planar mirrors and a single high speed camera is introduced. The stereo vision measurement principle based on optic triangulation is explained. The wing kinematics parameters are measured. Results show that this virtual stereo system not only decreases system cost extremely but also is effective to insect motion measurement.

Hierarchical adaptive stereo matching algorithm for obstacle detection with dynamic programming

An adaptive weighted stereo matching algorithm with multilevel and bidirectional dynamic programming based on ground control points （GCPs） is presented. To decrease time complexity without losing matching precision, using a multilevel search scheme, the coarse matching is processed in typical disparity space image, while the fine matching is processed in disparity-offset space image. In the upper level, GCPs are obtained by enhanced volumetric iterative algorithm enforcing the mutual constraint and the threshold constraint. Under the supervision of the highly reliable GCPs, bidirectional dynamic programming framework is employed to solve the inconsistency in the optimization path. In the lower level, to reduce running time, disparity-offset space is proposed to efficiently achieve the dense disparity image. In addition, an adaptive dual support-weight strategy is presented to aggregate matching cost, which considers photometric and geometric information. Further, post-processing algorithm can ameliorate disparity results in areas with depth discontinuities and related by occlusions using dual threshold algorithm, where missing stereo information is substituted from surrounding regions. To demonstrate the effectiveness of the algorithm, we present the two groups of experimental results for four widely used standard stereo data sets, including discussion on performance and comparison with other methods, which show that the algorithm has not only a fast speed, but also significantly improves the efficiency of holistic optimization.

Bubble behavior characteristics based on virtual binocular stereo vision

The three-dimensional(3D) behavior characteristics of bubble rising in gas-liquid two-phase flow are of great importance to study bubbly flow mechanism and guide engineering practice. Based on the dual-perspective imaging of virtual binocular stereo vision, the 3D behavior characteristics of bubbles in gas-liquid two-phase flow are studied in detail, which effectively increases the projection information of bubbles to acquire more accurate behavior features. In this paper, the variations of bubble equivalent diameter, volume, velocity and trajectory in the rising process are estimated, and the factors affecting bubble behavior characteristics are analyzed. It is shown that the method is real-time and valid, the equivalent diameter of the rising bubble in the stagnant water is periodically changed, and the crests and troughs in the equivalent diameter curve appear alternately. The bubble behavior characteristics as well as the spiral amplitude are affected by the orifice diameter and the gas volume flow.

A quantum‐like approach for text generation from knowledge graphs

Recent text generation methods frequently learn node representations from graph‐based data via global or local aggregation,such as knowledge graphs.Since all nodes are connected directly,node global representation encoding enables direct communication between two distant nodes while disregarding graph topology.Node local representation encoding,which captures the graph structure,considers the connections between nearby nodes but misses out onlong‐range relations.A quantum‐like approach to learning bettercontextualised node embeddings is proposed using a fusion model that combines both encoding strategies.Our methods significantly improve on two graph‐to‐text datasets compared to state‐of‐the‐art models in various experiments.

An objective method for color vision deficiencies measurement based on visual evoked potential

The equi-luminance of color stimulus in normal subjects is characterized by L-cone and M-cone activation in retina. For the protanopes and deuternopes, only the activations of one relevant remaining cone type should be considered. The equi-luminance turning curve was established for the recorded visual evoked potentials (VEPs) of the luminance changes of the red and green color stimulus, and the position of the equi-luminance was used to define the kind and degree of color vision deficiencies. In the test of 47 volunteers we got the VEP traces and the equi-luminance turning curves, which was in accordance with the judgment by the pseudoisochromatic plate used in clinic. The method fulfills the objective and quantitative requirements in color vision deficiencies test.