Human-robot interaction has received a lot of attention as collaborative robots became widely utilized in many industrial fields. Among techniques for human-robot interaction, collision identification is an indispensable element in collaborative robots to prevent fatal accidents. This paper proposes a deep learning method for identifying external collisions in 6-DoF articulated robots. The proposed method expands the idea of CollisionNet, which was previously proposed for collision detection, to identify the locations of external forces. The key contribution of this paper is uncertainty-aware knowledge distillation for improving the accuracy of a deep neural network. Sample-level uncertainties are estimated from a teacher network, and larger penalties are imposed for uncertain samples during the training of a student network. Experiments demonstrate that the proposed method is effective for improving the performance of collision identification.
To achieve full autonomy of unmanned aerial vehicles (UAVs), obstacle detection and avoidance are indispensable parts of visual recognition systems. In particular, detecting transmission lines is an important topic due to the potential risk of accidents while operating at low altitude. Even though many studies have been conducted to detect transmission lines, there still remains many challenges due to their thin shapes in diverse backgrounds. Moreover, most previous methods require a significant level of human involvement to generate pixel-level ground truth data. In this paper, we propose a transmission line detection algorithm based on weakly supervised learning and unpaired image-to-image translation. The proposed algorithm only requires image-level labels, and a novel attention module, which is called parallel dilated attention (PDA), improves the detection accuracy by recalibrating channel importance based on the information from various receptive fields. Finally, we construct a refinement network based on unpaired image-to-image translation in order that the prediction map is guided to detect line-shaped objects. The proposed algorithm outperforms the state-of-the-art method by 2.74% in terms of F1-score, and experimental results demonstrate that the proposed method is effective for detecting transmission lines in both quantitative and qualitative aspects.
Depth estimation is an inverse projection problem that estimates pixel-level distances from a single image. Although, supervised methods have shown promising results, it has intrinsic limitations in requiring ground truth depth from an external sensor. On the other hand, self-supervised depth estimation relieves the burden for collecting calibrated training data, while there is still a large performance gap between supervised and self-supervised methods. The objective of this study is to reduce the performance gap in supervised and self-supervised depth estimation. The loss function of previous self-supervised methods is mainly based on a photometric error, which is indirectly computed from synthesized images using depth and pose estimates. In this paper, we argue that direct depth cue is more effective to train a depth estimation network. To obtain the direct depth cue, we employed a knowledge distillation technique, which is a teacher-student learning framework. The teacher network was trained in a self-supervised manner based on a photometric error, and its predictions were utilized to train a student network. We constructed a multi-scale dense prediction transformer with Monte Carlo dropout, and multi-scale distillation loss was proposed to train the student network based on the ensemble of stochastic estimates. Experiments were conducted on the KITTI and Make3D datasets, and our proposed method achieved the state-of-the-art accuracy in self-supervised depth estimation. Our code is publicly available at https://github.com/ji-min-song/KD-of-MS-DPT.
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