Abstract. Detecting objects, estimating their pose and recovering 3D shape information are critical problems in many vision and robotics applications. This paper addresses the above needs by proposing a new method called DEHV -Depth-Encoded Hough Voting detection scheme. Inspired by the Hough voting scheme introduced in , DEHV incorporates depth information into the process of learning distributions of image features (patches) representing an object category. DEHV takes advantage of the interplay between the scale of each object patch in the image and its distance (depth) from the corresponding physical patch attached to the 3D object. DEHV jointly detects objects, infers their categories, estimates their pose, and infers/decodes objects depth maps from either a single image (when no depth maps are available in testing) or a single image augmented with depth map (when this is available in testing). Extensive quantitative and qualitative experimental analysis on existing datasets [6,9,22] and a newly proposed 3D table-top object category dataset shows that our DEHV scheme obtains competitive detection and pose estimation results as well as convincing 3D shape reconstruction from just one single uncalibrated image. Finally, we demonstrate that our technique can be successfully employed as a key building block in two application scenarios (highly accurate 6 degrees of freedom (6 DOF) pose estimation and 3D object modeling).
Abstract-This paper presents an approach for automatically synthesizing and re-synthesizing a hybrid controller that guarantees a robot will exhibit a user-defined high-level behavior while exploring a partially known workspace (map).The approach includes dynamically adjusting the discrete abstraction of the workspace as new regions are detected by the robot's sensors, automatically rewriting the specification (formally defined using Linear Temporal Logic) and re-synthesizing the control while preserving the robot state and its history of task completion. The approach is implemented within the LTLMoP toolkit and is demonstrated using a Pioneer 3-DX in the lab.
High-quality and high-fidelity removal of noise in the Electrocardiogram (ECG) signal is of great significance to the auxiliary diagnosis of ECG diseases. In view of the single function of traditional denoising methods and the insufficient performance of signal details after denoising, a new method of ECG denoising based on the combination of the Generative Adversarial Network (GAN) and Residual Network is proposed. The method adopted in this paper is based on the GAN structure, and it restructures the generator and discriminator. In the generator network, residual blocks and Skip-Connecting are used to deepen the network structure and better capture the in-depth information in the ECG signal. In the discriminator network, the ResNet framework is used. In order to optimize the noise reduction process and solve the lack of local relevance considering the global ECG problem, the differential function and overall function of the maximum local difference are added in the loss function in this paper. The experimental results prove that the method used in this article has better performance than the current excellent S-Transform (S-T) algorithm, Wavelet Transform (WT) algorithm, Stacked Denoising Autoencoder (S-DAE) algorithm, and Improved Denoising Autoencoder (I-DAE) algorithm. Experiments show that the Root Mean Square Error (RMSE) of this method in the Massachusetts Institute of Technology and Beth Israel Hospital (MIT-BIH) noise pressure database is 0.0102, and the Signal-to-Noise Ratio (SNR) is 40.8526 dB, which is compared with that of the most advanced experimental methods. Our method improves the SNR by 88.57% on average. Besides the three noise intensities for comparison experiments, additional noise reduction experiments are also performed under four noise intensities in our paper. The experimental results verify the scientific nature of the model, which is that our method can effectively retain the important information conveyed by the original signal.
Sparse representation (SR) or sparse coding (SC), which assumes the data vector can be sparse represented by linear combination over basis vectors, has been successfully applied in machine learning and computer vision tasks. In order to solve sparse representation problem, regularization technique is applied to constrain the sparsity of coefficients of linear representation. In this paper, a reconstruction-error-based adaptive regularization parameter estimation method is proposed to improve the representation ability of SR. The adaptive regularization parameter aims to balance the reconstruction error and the sparsity of coefficient vector and to minimize reconstruction error. Substantial experiments are performed on some benchmark databases. Simulation results demonstrate that this adaptive regularization parameter estimation method can find a proper parameter for each test sample, consequently, can improve the accuracy of SR and eliminate a time-consuming cross-validation process.
This paper addresses the challenge of incorporating event memory into the automatic synthesis of hybrid controllers for high-level reactive robot behavior. The goal is to provide a natural, concise grammar for specifying high-level tasks that require remembering past events, and to ensure that the required memory is correctly updated during controller execution. To this end, a structured English grammar for specifying high level behavior is provided that automatically performs memory operations, without requiring explicit definition from the specification designer. This grammar admits intuitive, unambiguous specifications for tasks that implicitly use memory for purposes including non-repeated goals, strictly ordered action sequences, etc. The proposed framework also guarantees the correctness of memory operations during continuous execution. The approach is implemented within the LTLMoP toolkit for reactive mission planning.
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