Based on photogrammetry technology,a novel localization method of micro-polishing robot,which is restricted within certain working space,is presented in this paper.On the basis of pinhole camera model,a new mathematic...Based on photogrammetry technology,a novel localization method of micro-polishing robot,which is restricted within certain working space,is presented in this paper.On the basis of pinhole camera model,a new mathematical model of vision localization of automated polishing robot is established.The vision localization is based on the distance-constraints of feature points.The method to solve the mathematical model is discussed.According to the characteristics of gray image,an adaptive method of automatic threshold selection based on connected components is presented.The center coordinate of the feature image point is resolved by bilinear interpolation gray square weighted algorithm.Finally,the mathematical model of testing system is verified by global localization test.The experimental results show that the vision localization system in working space has high precision.展开更多
一当场，自我本地化系统为在有深入的 3D 里程碑的 3D 环境起作用的活动机器人被开发。机器人通过合并从 odometry 和单向性的照相机收集的信息的一个地图评估者递归地估计它的姿势。我们为这二个传感器造非线性的模型并且坚持说机器人...一当场，自我本地化系统为在有深入的 3D 里程碑的 3D 环境起作用的活动机器人被开发。机器人通过合并从 odometry 和单向性的照相机收集的信息的一个地图评估者递归地估计它的姿势。我们为这二个传感器造非线性的模型并且坚持说机器人运动和不精密的传感器大小的无常操作应该全部被嵌入并且追踪我们的系统。我们在一个概率的几何学观点和使用 unscented 变换描述无常框架宣传无常，它经历给定的非线性的功能。就我们的机器人的处理力量而言，图象特征在相应投射特征的附近被提取。另外，数据协会被统计距离评估。最后，一系列系统的实验被进行证明我们的系统的可靠、精确的性能。展开更多
To satisfy different positioning accuracy demand in the movement of the service robot, a hierarchical localization method based on vision was proposed considering the positioning cost and computational efficiency. The...To satisfy different positioning accuracy demand in the movement of the service robot, a hierarchical localization method based on vision was proposed considering the positioning cost and computational efficiency. The hierarchical positioning method could be divided into two parts: the localization method based on global vision and the localization method based on binocular vision. The global vision-based localization method was applied to calculate the initial coordinates of the robot and realize real-time rough positioning with the dead-reckoning method in the first stage. In the last stage, the binocular vision-based localization method was adopted to obtain higher positioning accuracy to make sure that the service robot can successfully grab the object. Experiments indicate that the proposed algorithm can accurately evaluate the positioning performance, obtain up to ±2 cm positioning accuracy, and absolutely meet the positioning requirements of the indoor service robot.展开更多
This paper presents a novel vision based localization algorithm from three-line structure ( TLS) .Two types of TLS are investigated: 1) three parallel lines ( Structure I) ; 2) two parallel lines and one orthogonal li...This paper presents a novel vision based localization algorithm from three-line structure ( TLS) .Two types of TLS are investigated: 1) three parallel lines ( Structure I) ; 2) two parallel lines and one orthogonal line ( Structure II) .From single image of either structure,the camera pose can be uniquely computed for vision localization.Contributions of this paper are as follows: 1 ) both TLS structures can be used as simple and practical landmarks,which are widely available in daily life; 2) the proposed algorithm complements existing localization methods,which usually use complex landmarks,especially in the partial blockage conditions; 3) compared with the general Perspective-3-Lines ( P3L) problem,camera pose can be uniquely computed from either structure.The proposed algorithm has been tested with both simulation and real image data.For a typical simulated indoor condition ( 75 cm-size landmark,less than 7.0 m landmark-to-camera distance,and 0.5-pixel image noises) ,the means of localization errors from Structure I and Structure II are less than 3.0 cm.And the standard deviations are less than 3.0 cm and 1.5 cm,respectively.The algorithm is further validated with two actual image experiments.Within a 7.5 m × 7.5 m indoor situation,the overall relative localization errors from Structure I and Structure II are less than 2.2% and 2.3% ,respectively,with about 6.0 m distance.The results demonstrate that the algorithm works well for practical vision localization.展开更多
A hierarchical mobile robot simultaneous localization and mapping (SLAM) method that allows us to obtain accurate maps was presented. The local map level is composed of a set of local metric feature maps that are guar...A hierarchical mobile robot simultaneous localization and mapping (SLAM) method that allows us to obtain accurate maps was presented. The local map level is composed of a set of local metric feature maps that are guaranteed to be statistically independent. The global level is a topological graph whose arcs are labeled with the relative location between local maps. An estimation of these relative locations is maintained with local map alignment algorithm, and more accurate estimation is calculated through a global minimization procedure using the loop closure constraint. The local map is built with Rao-Blackwellised particle filter (RBPF), where the particle filter is used to extending the path posterior by sampling new poses. The landmark position estimation and update is implemented through extended Kalman filter (EKF). Monocular vision mounted on the robot tracks the 3D natural point landmarks, which are structured with matching scale invariant feature transform (SIFT) feature pairs. The matching for multi-dimension SIFT features is implemented with a KD-tree in the time cost of O(lbN). Experiment results on Pioneer mobile robot in a real indoor environment show the superior performance of our proposed method.展开更多
中医(traditional Chinese medicine, TCM)舌诊客观化研究中需要分析的舌象特征很多,不同的舌象特征往往采用单独的方法进行分析,导致分析系统的整体实现复杂度大幅增加。为此,基于持续学习的思想,提出一种中医舌色苔色协同分类方法,该...中医(traditional Chinese medicine, TCM)舌诊客观化研究中需要分析的舌象特征很多,不同的舌象特征往往采用单独的方法进行分析,导致分析系统的整体实现复杂度大幅增加。为此,基于持续学习的思想,提出一种中医舌色苔色协同分类方法,该方法将舌色分类作为旧任务,将苔色分类作为新任务,充分利用2个任务的相似性和相关性,仅通过一个网络结构就同时实现舌色和苔色的准确分类。首先,设计一种基于全局-局部混合注意力机制(global local hybrid attention, GLHA)的双分支网络结构,将网络高层语义特征与低层特征相融合,提升特征的表达能力;然后,提出基于正则化和回放相结合的持续学习策略,使得该网络在学习新任务知识的同时有效防止对旧任务知识的遗忘。在2个自建的中医舌象特征分析数据集上的实验结果表明,提出的协同分类方法可以获得与单个任务相当的分类性能,同时可以将2个分类任务的整体复杂度降低一半左右。其中,舌色分类准确率分别达到93.92%和92.97%,精确率分别达到93.69%和92.87%,召回率分别达到93.96%和93.16%;苔色分类准确率分别达到90.17%和90.26%,精确率分别达到90.05%和90.17%,召回率分别达到90.24%和90.29%。展开更多
基金supported by the National High Technology Research and Development Program of China (Grant No. 2006AA04Z214)the National Natural Science Foundation of China (Grant No. 50575092)
文摘Based on photogrammetry technology,a novel localization method of micro-polishing robot,which is restricted within certain working space,is presented in this paper.On the basis of pinhole camera model,a new mathematical model of vision localization of automated polishing robot is established.The vision localization is based on the distance-constraints of feature points.The method to solve the mathematical model is discussed.According to the characteristics of gray image,an adaptive method of automatic threshold selection based on connected components is presented.The center coordinate of the feature image point is resolved by bilinear interpolation gray square weighted algorithm.Finally,the mathematical model of testing system is verified by global localization test.The experimental results show that the vision localization system in working space has high precision.
基金Supported by National Natural Science Foundation of China(60605023,60775048)Specialized Research Fund for the Doctoral Program of Higher Education(20060141006)
文摘一当场，自我本地化系统为在有深入的 3D 里程碑的 3D 环境起作用的活动机器人被开发。机器人通过合并从 odometry 和单向性的照相机收集的信息的一个地图评估者递归地估计它的姿势。我们为这二个传感器造非线性的模型并且坚持说机器人运动和不精密的传感器大小的无常操作应该全部被嵌入并且追踪我们的系统。我们在一个概率的几何学观点和使用 unscented 变换描述无常框架宣传无常，它经历给定的非线性的功能。就我们的机器人的处理力量而言，图象特征在相应投射特征的附近被提取。另外，数据协会被统计距离评估。最后，一系列系统的实验被进行证明我们的系统的可靠、精确的性能。
基金National Natural Science Foundations of China ( No. 61105101,No. 61075086,No. 60875058 )Hi-Tech Research and Development Programs of China ( No. 2007AA041601,No. 2007AA041602,No. 2007AA041603 )+1 种基金State Key Laboratory of Robotics and System ( HIT) ,China ( No. SKLRS-2010-ZD-06)New Centrury Excellent Talents in University,China
文摘To satisfy different positioning accuracy demand in the movement of the service robot, a hierarchical localization method based on vision was proposed considering the positioning cost and computational efficiency. The hierarchical positioning method could be divided into two parts: the localization method based on global vision and the localization method based on binocular vision. The global vision-based localization method was applied to calculate the initial coordinates of the robot and realize real-time rough positioning with the dead-reckoning method in the first stage. In the last stage, the binocular vision-based localization method was adopted to obtain higher positioning accuracy to make sure that the service robot can successfully grab the object. Experiments indicate that the proposed algorithm can accurately evaluate the positioning performance, obtain up to ±2 cm positioning accuracy, and absolutely meet the positioning requirements of the indoor service robot.
基金Sponsored by the National Natural Science Foundation of China (Grant No. 51208168)the Research Grant from the Department of Education of Liaoning Province (Grant No. L2010060)
文摘This paper presents a novel vision based localization algorithm from three-line structure ( TLS) .Two types of TLS are investigated: 1) three parallel lines ( Structure I) ; 2) two parallel lines and one orthogonal line ( Structure II) .From single image of either structure,the camera pose can be uniquely computed for vision localization.Contributions of this paper are as follows: 1 ) both TLS structures can be used as simple and practical landmarks,which are widely available in daily life; 2) the proposed algorithm complements existing localization methods,which usually use complex landmarks,especially in the partial blockage conditions; 3) compared with the general Perspective-3-Lines ( P3L) problem,camera pose can be uniquely computed from either structure.The proposed algorithm has been tested with both simulation and real image data.For a typical simulated indoor condition ( 75 cm-size landmark,less than 7.0 m landmark-to-camera distance,and 0.5-pixel image noises) ,the means of localization errors from Structure I and Structure II are less than 3.0 cm.And the standard deviations are less than 3.0 cm and 1.5 cm,respectively.The algorithm is further validated with two actual image experiments.Within a 7.5 m × 7.5 m indoor situation,the overall relative localization errors from Structure I and Structure II are less than 2.2% and 2.3% ,respectively,with about 6.0 m distance.The results demonstrate that the algorithm works well for practical vision localization.
基金The National High Technology Research and Development Program (863) of China (No2006AA04Z259)The National Natural Sci-ence Foundation of China (No60643005)
文摘A hierarchical mobile robot simultaneous localization and mapping (SLAM) method that allows us to obtain accurate maps was presented. The local map level is composed of a set of local metric feature maps that are guaranteed to be statistically independent. The global level is a topological graph whose arcs are labeled with the relative location between local maps. An estimation of these relative locations is maintained with local map alignment algorithm, and more accurate estimation is calculated through a global minimization procedure using the loop closure constraint. The local map is built with Rao-Blackwellised particle filter (RBPF), where the particle filter is used to extending the path posterior by sampling new poses. The landmark position estimation and update is implemented through extended Kalman filter (EKF). Monocular vision mounted on the robot tracks the 3D natural point landmarks, which are structured with matching scale invariant feature transform (SIFT) feature pairs. The matching for multi-dimension SIFT features is implemented with a KD-tree in the time cost of O(lbN). Experiment results on Pioneer mobile robot in a real indoor environment show the superior performance of our proposed method.
文摘中医(traditional Chinese medicine, TCM)舌诊客观化研究中需要分析的舌象特征很多,不同的舌象特征往往采用单独的方法进行分析,导致分析系统的整体实现复杂度大幅增加。为此,基于持续学习的思想,提出一种中医舌色苔色协同分类方法,该方法将舌色分类作为旧任务,将苔色分类作为新任务,充分利用2个任务的相似性和相关性,仅通过一个网络结构就同时实现舌色和苔色的准确分类。首先,设计一种基于全局-局部混合注意力机制(global local hybrid attention, GLHA)的双分支网络结构,将网络高层语义特征与低层特征相融合,提升特征的表达能力;然后,提出基于正则化和回放相结合的持续学习策略,使得该网络在学习新任务知识的同时有效防止对旧任务知识的遗忘。在2个自建的中医舌象特征分析数据集上的实验结果表明,提出的协同分类方法可以获得与单个任务相当的分类性能,同时可以将2个分类任务的整体复杂度降低一半左右。其中,舌色分类准确率分别达到93.92%和92.97%,精确率分别达到93.69%和92.87%,召回率分别达到93.96%和93.16%;苔色分类准确率分别达到90.17%和90.26%,精确率分别达到90.05%和90.17%,召回率分别达到90.24%和90.29%。
