| 41. |
- Nalpantidis, Lazaros, et al.
(författare)
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Stereovision-based fuzzy obstacle avoidance method
- 2011
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Ingår i: International Journal of Humanoid Robotics. - : World Scientific. - 0219-8436. ; 8:1, s. 169-183
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Tidskriftsartikel (refereegranskat)abstract
- This work presents a stereovision-based obstacle avoidance method for autonomous mobile robots. The decision about the direction on each movement step is based on a fuzzy inference system. The proposed method provides an efficient solution that uses a minimum of sensors and avoids computationally complex processes. The only sensor required is a stereo camera. First, a custom stereo algorithm provides reliable depth maps of the environment in frame rates suitable for a robot to move autonomously. Then, a fuzzy decision making algorithm analyzes the depth maps and deduces the most appropriate direction for the robot to avoid any existing obstacles. The proposed methodology has been tested on a variety of self-captured outdoor images and the results are presented and discussed.
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| 42. |
- Kristoffersson Lind, Simon, et al.
(författare)
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Out-of-Distribution Detection for Adaptive Computer Vision
- 2023
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Ingår i: Image Analysis - 23rd Scandinavian Conference, SCIA 2023, Proceedings. - 1611-3349 .- 0302-9743. - 9783031314377 ; 13886 LNCS, s. 311-325
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Konferensbidrag (refereegranskat)abstract
- It is well known that computer vision can be unreliable when faced with previously unseen imaging conditions. This paper proposes a method to adapt camera parameters according to a normalizing flow-based out-of-distibution detector. A small-scale study is conducted which shows that adapting camera parameters according to this out-of-distibution detector leads to an average increase of 3 to 4% points in mAP, mAR and F1 performance metrics of a YOLOv4 object detector. As a secondary result, this paper also shows that it is possible to train a normalizing flow model for out-of-distribution detection on the COCO dataset, which is larger and more diverse than most benchmarks for out-of-distibution detectors.
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| 43. |
- Borngrund, Carl, 1992-, et al.
(författare)
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Semi-Automatic Video Frame Annotation for Construction Equipment Automation Using Scale-Models
- 2021
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Ingår i: IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society. - : IEEE.
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Konferensbidrag (refereegranskat)abstract
- Data collection and annotation is a time consuming and costly process, yet necessary for machine vision. Automation of construction equipment relies on seeing and detecting different objects in the vehicle’s surroundings. Construction equipment is commonly used to perform frequent repetitive tasks, which are interesting to automate. An example of such a task is the short-loading cycle, where the material is moved from a pile into the tipping body of a dump truck for transport. To complete this task, the wheel loader needs to have the capability to locate the tipping body of the dump truck. The machine vision system also allows the vehicle to detect unforeseen dangers such as other vehicles and more importantly human workers. In this work, we investigate the viability to perform semi-automatic annotation of video data using linear interpolation. The data is collected using scale-models mimicking a wheel-loaders approach towards a dump truck during the short-loading cycle. To measure the viability of this type of solution, the workload is compared to the accuracy of the model, YOLOv3. The results indicate that it is possible to maintain the performance while decreasing the annotation workload by about 95%. This is an interesting result for this application domain, as safety is critical and retaining the vision system performance is more important than decreasing the annotation workload. The fact that the performance seems to retain with a large workload decrease is an encouraging sign.
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| 44. |
- Sun, Jiong, et al.
(författare)
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Tactile Interaction and Social Touch : Classifying Human Touch using a Soft Tactile Sensor
- 2017
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Ingår i: HAI '17. - New York : Association for Computing Machinery (ACM). - 9781450351133 ; , s. 523-526
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Konferensbidrag (refereegranskat)abstract
- This paper presents an ongoing study on affective human-robot interaction. In our previous research, touch type is shown to be informative for communicated emotion. Here, a soft matrix array sensor is used to capture the tactile interaction between human and robot and 6 machine learning methods including CNN, RNN and C3D are implemented to classify different touch types, constituting a pre-stage to recognizing emotional tactile interaction. Results show an average recognition rate of 95% by C3D for classified touch types, which provide stable classification results for developing social touch technology.
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| 45. |
- Thill, Serge
(författare)
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What we need from an embodied cognitive architecture
- 2019
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Ingår i: Cognitive Architectures. - Cham : Springer. - 9783319975498 - 9783319975504 ; , s. 43-57
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Bokkapitel (refereegranskat)abstract
- Given that original purpose of cognitive architectures was to lead to a unified theory of cognition, this chapter considers the possible contributions that cognitive architectures can make to embodied theories of cognition in particular. This is not a trivial question since the field remains very much divided about what embodied cognition actually means, and we will see some example positions in this chapter. It is then argued that a useful embodied cognitive architecture would be one that can demonstrate (a) what precisely the role of the body in cognition actually is, and (b) whether a body is constitutively needed at all for some (or all) cognitive processes. It is proposed that such questions can be investigated if the cognitive architecture is designed so that consequences of varying the precise embodiment on higher cognitive mechanisms can be explored. This is in contrast with, for example, those cognitive architectures in robotics that are designed for specific bodies first; or architectures in cognitive science that implement embodiment as an add-on to an existing framework (because then, that framework is by definition not constitutively shaped by the embodiment). The chapter concludes that the so-called semantic pointer architecture by Eliasmith and colleagues may be one framework that satisfies our desiderata and may be well-suited for studying theories of embodied cognition further.
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| 46. |
- Wzorek, Mariusz, 1978-
(författare)
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Selected Aspects of Navigation and Path Planning in Unmanned Aircraft Systems
- 2011
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Licentiatavhandling (övrigt vetenskapligt/konstnärligt)abstract
- Unmanned aircraft systems (UASs) are an important future technology with early generations already being used in many areas of application encompassing both military and civilian domains. This thesis proposes a number of integration techniques for combining control-based navigation with more abstract path planning functionality for UASs. These techniques are empirically tested and validated using an RMAX helicopter platform used in the UASTechLab at Linköping University. Although the thesis focuses on helicopter platforms, the techniques are generic in nature and can be used in other robotic systems.At the control level a navigation task is executed by a set of control modes. A framework based on the abstraction of hierarchical concurrent state machines for the design and development of hybrid control systems is presented. The framework is used to specify reactive behaviors and for sequentialisation of control modes. Selected examples of control systems deployed on UASs are presented. Collision-free paths executed at the control level are generated by path planning algorithms.We propose a path replanning framework extending the existing path planners to allow dynamic repair of flight paths when new obstacles or no-fly zones obstructing the current flight path are detected. Additionally, a novel approach to selecting the best path repair strategy based on machine learning technique is presented. A prerequisite for a safe navigation in a real-world environment is an accurate geometrical model. As a step towards building accurate 3D models onboard UASs initial work on the integration of a laser range finder with a helicopter platform is also presented.Combination of the techniques presented provides another step towards building comprehensive and robust navigation systems for future UASs.
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