Real-Time Robot Vision on Low-Performance Computing Hardware

Abstract

Small robots have numerous interesting applications in domains like industry, education, scientific research, and services. For most applications vision is important, however, the limitations of the computing hardware make this a challenging task. In this paper, we address the problem of real-time object recognition and propose the Fast Regions of Interest Search (FROIS) algorithm to quickly find the ROIs of the objects in small robots with low-performance hardware. Subsequently, we use two methods to analyze the ROIs. First, we develop a Convolutional Neural Network on a desktop and deploy it onto the low-performance hardware for object recognition. Second, we adopt the Histogram of Oriented Gradients descriptor and linear Support Vector Machines classifier and optimize the HOG component for faster speed. The experimental results show that the methods work well on our small robots with Raspberry Pi 3 embedded 1.2 GHz ARM CPUs to recognize the objects. Furthermore, we obtain valuable insights about the trade-offs between speed and accuracy.

Reliable distribution of computational load in robot teams

“…Lack of computing resources available to a single robot is a well known issue (Sarker et al 2019;Lan et al 2018). While robots become more and more computationally powerful their computation demands also grow in particular in the areas of image recognition, navigation, and data analysis.…”

Predicting the relationships between gut microbiota and mental disorders with knowledge graphs

“…Let the knowledge graph update itself when it collects information about entities, their properties and attributes, and relationships involving them. To realize the automation of knowledge extraction and regular updating of the database, other advanced technology (including deep learning [43][44][45], neuroevolution [46,47], and evolutionary algorithms [48][49][50], will be employed in our future works.…”

Parameters for the best convergence of an optimization algorithm On-The-Fly

“…Optimization problems often involve words such as maximize or minimize. Optimization is also useful when there are limits or constraints on the resources involved or boundaries restricting the possible solutions [17]. For our problem, we went with an objective function to where we had to find the minima.…”