Enhancing Binocular Depth Estimation Based on Proactive Perception and Action Cyclic Learning for an Autonomous Developmental Robot

Jin, Yongsik; Lee, Minho

doi:10.1109/tsmc.2017.2779474

Cited by 16 publications

(5 citation statements)

References 31 publications

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“…Recent studies in developmental robotics reveal that developmental learning algorithms effectively reduce learning complexity as robots attempt to build highly autonomous capabilities [28]- [30]. Developmental learning in robotics has been implemented in many ways; however, from a developmental psychology perspective, lifting these constraints can lead robots to progress from a certain competence level to a new and more complex competence level [31].…”

Section: Background Knowledgementioning

confidence: 99%

A Developmental Evolutionary Learning Framework for Robotic Chinese Stroke Writing

Chao

Zhou

et al. 2022

IEEE Trans. Cogn. Dev. Syst.

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Section: Background Knowledgementioning

confidence: 99%

A Developmental Evolutionary Learning Framework for Robotic Chinese Stroke Writing

Chao

Zhou

et al. 2022

IEEE Trans. Cogn. Dev. Syst.

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“…With the rapid development of information optics, computer vision and other fields image-based depth measurement technology has been widely used in unmanned system reconnaissance and fire guidance for it can not only meet the requirements of long-distance reconnaissance, but also not be disturbed by the enemy [1][2] .The traditional camera ranging is mostly based on the principle of binocular vision. It needs to obtain the internal and external parameters of the system through calibration in advance, and calculate the depth data of the target area in the image through the process of pole line correction and image matching [3][4] . However, due to the need for two cameras to work synchronously, the requirements for data processing capacity is high, and there are blind spots for detection in the non-overlapping areas of binocular imaging, so it is difficult to apply to the imaging tracking applications of unmanned systems.…”

Section: Introductionmentioning

confidence: 99%

Research on monocular depth perception method based on zoom image

Han,

Gan

2024

Sixth Conference on Frontiers in Optical Imaging and Technology: Imaging Detection and Target Recognition

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Monocular visual depth measurement technology has an excellent application prospect in the field of reconnaissance and detection in miniature unmanned systems. In this paper, a monocular depth perception method based on zoom image is studied. At first, the basic principle of monocular image depth perception is analyzed according to the geometric optics theory. On this basis, a depth measurement method that combines chain-code method to calculate target area is constructed: two different focal lengths are used to image the object and two independent sets of functions are listed according to the correspondence between the object distance and the focal length. The image area is used to replace the image point vector, and finally the depth of the object is solved. Then, the design and program compilation of monocular zoom measurement algorithm are realized and the measurement accuracy of the algorithm is preliminarily verified by experiments. Finally, three sets of test experiments are designed with the target distance, focal length ratio and target size as parametric variables. The experimental results show that the measurement accuracy of this algorithm appears a downward trend with the decrease of the target size and the increase of the distance, while the monocular zoom measurement can obtain higher accuracy under the condition of large focal length ratio. The research results can provide technical and theoretical basis for the realization of high-performance monocular depth measurement.

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“…This technology also enables three-dimensional object recognition. Various methods exist for obtaining real-world depth information in binocular stereo perception systems, such as passive stereo [ 10 ], active stereo [ 11 ], time-of-flight imaging [ 12 ], and defocus depth [ 13 ]. In this paper, the passive stereo method of binocular stereo systems is employed.…”

Section: Introductionmentioning

confidence: 99%

A Binocular Stereo-Imaging-Perception System with a Wide Field-of-View and Infrared- and Visible Light-Dual-Band Fusion

Zhu,

Zhang,

Zhou

et al. 2024

Sensors

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With the continuous evolution of autonomous driving and unmanned driving systems, traditional limitations such as a limited field-of-view, poor ranging accuracy, and real-time display are becoming inadequate to satisfy the requirements of binocular stereo-perception systems. Firstly, we designed a binocular stereo-imaging-perception system with a wide-field-of-view and infrared- and visible light-dual-band fusion. Secondly we proposed a binocular stereo-perception optical imaging system with a wide field-of-view of 120.3°, which solves the small field-of-view of current binocular stereo-perception systems. Thirdly, For image aberration caused by the wide-field-of-view system design, we propose an ellipsoidal-image-aberration algorithm with a low consumption of memory resources and no loss of field-of-view. This algorithm simultaneously solves visible light and infrared images with an aberration rate of 45% and 47%, respectively. Fourthly, a multi-scale infrared- and visible light-image-fusion algorithm is used, which improves the situational-awareness capabilities of a binocular stereo-sensing system in a scene and enhances image details to improve ranging accuracy. Furthermore, this paper is based on the Taylor model-calibration binocular stereo-sensing system of internal and external parameters for limit correction; the implemented algorithms are integrated into an NVIDIA Jetson TX2 + FPGA hardware framework, enabling near-distance ranging experiments. The fusion-ranging accuracy within 20 m achieved an error of 0.02 m, outperforming both visible light- and infrared-ranging methods. It generates the fusion-ranging-image output with a minimal delay of only 22.31 ms at a frame rate of 50 Hz.

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Enhancing Binocular Depth Estimation Based on Proactive Perception and Action Cyclic Learning for an Autonomous Developmental Robot

Cited by 16 publications

References 31 publications

A Developmental Evolutionary Learning Framework for Robotic Chinese Stroke Writing

A Developmental Evolutionary Learning Framework for Robotic Chinese Stroke Writing

Research on monocular depth perception method based on zoom image

A Binocular Stereo-Imaging-Perception System with a Wide Field-of-View and Infrared- and Visible Light-Dual-Band Fusion

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