Glass Recognition and Map Optimization Method for Mobile Robot Based on Boundary Guidance

Current research on autonomous mobile robots focuses primarily on perceptual accuracy and autonomous performance.In commercial and domestic constructions,concrete,wood,and glass are typically used.Laser and visual mapping or planning algorithms are highly accurate in mapping wood panels and concrete walls.However,indoor and outdoor glass curtain walls may fail to perceive these transparent materials.In this study,a novel indoor glass recognition and map optimization method based on boundary guidance is proposed.First,the status of glass recognition techniques is analyzed comprehensively.Next,a glass image segmentation network based on boundary data guidance and the optimization of a planning map based on depth repair are proposed.Finally,map optimization and path-planning tests are conducted and compared using different algorithms.The results confirm the favorable adaptability of the proposed method to indoor transparent plates and glass curtain walls.Using the proposed method,the recognition accuracy of a public test set increases to 94.1%.After adding the planning map,incorrect coverage redundancies for two test scenes reduce by 59.84%and 55.7%.Herein,a glass recognition and map optimization method is proposed that offers sufficient capacity in perceiving indoor glass materials and recognizing indoor no-entry regions.

DISCRETE BIDIRECTIONAL ASSOCIATIVE MEMORY WITH LEARNING FUNCTION

In this paper we propose a new discrete bidirectional associative memory (DBAM) which is derived from our previous continuous linear bidirectional associative memory (LBAM). The DBAM performs bidirectionally the optimal associative mapping proposed by Kohonen. Like LBAM and NBAM proposed by one of the present authors,the present BAM ensures the guaranteed recall of all stored patterns,and possesses far higher capacity compared with other existing BAMs,and like NBAM, has the strong ability to suppress the noise occurring in the output patterns and therefore reduce largely the spurious patterns. The derivation of DBAM is given and the stability of DBAM is proved. We also derive a learning algorithm for DBAM,which has iterative form and make the network learn new patterns easily. Compared with NBAM the present BAM can be easily implemented by software.

Fast and Accurate Machine Learning Inverse Lithography Using Physics Based Feature Maps and Specially Designed DCNN

Inverse lithography technology(ILT)is intended to achieve optimal mask design to print a lithography target for a given lithography process.Full chip implementation of rigorous inverse lithography remains a challenging task because of enormous computational resource requirements and long computational time.To achieve full chip ILT solution,attempts have been made by using machine learning techniques based on deep convolution neural network(DCNN).The reported input for such DCNN is the rasterized images of the lithography target;such pure geometrical input requires DCNN to possess considerable number of layers to learn the optical properties of the mask,the nonlinear imaging process,and the rigorous ILT algorithm as well.To alleviate the difficulties,we have proposed the physics based optimal feature vector design for machine learning ILT in our early report.Although physics based feature vector followed by feedforward neural network can provide the solution to machine learning ILT,the feature vector is long and it can consume considerable amount of memory resource in practical implementation.To improve the resource efficiency,we proposed a hybrid approach in this study by combining first few physics based feature maps with a specially designed DCNN structure to learn the rigorous ILT algorithm.Our results show that this approach can make machine learning ILT easy,fast and more accurate.

TOPOLOGICAL STRUCTURE OF EFFICIENT SET OF OPTIMIZATION PROBLEM OF SET－VALUED MAPPING

This paper is concerned with the topological structure of efficient sets for optimizationproblem of set-valued mapping. It is proved that these sets are closed or. connected under someconditions on cone-continuity, cone-convexity and cone-quasiconvexity.

Optimal transport maps on infinite dimensional spaces

We will give a survey on results concerning Girsanov transforma- tions, transportation cost inequalities, convexity of entropy, and optimal transport maps on some infinite dimensional spaces. Some open Problems will be arisen.