A position estimation system for mobile robots using a monocular image of a 3-D landmark

Robotica ◽  
1994 ◽  
Vol 12 (5) ◽  
pp. 431-441 ◽  
Author(s):  
Kyoung C. Koh ◽  
Jae S. Kim ◽  
Hyung S. Cho
Keyword(s):  
Neural Network ◽  
Mobile Robot ◽  
Estimation Algorithm ◽  
Position Estimation ◽  
Camera System ◽  
System A ◽  
The Neural Network ◽  
Monocular Image ◽  
Estimation System ◽  
Learning Data

SUMMARYThis paper presents an absolute position estimation system for a mobile robot moving on a flat surface. In this system, a 3-D landmark with four coplanar points and a non-coplanar point is utilized to improve the accuracy of position estimation and to guide the robot during navigation. Applying theoretical analysis, we investigate the image sensitivity of the proposed 3-D landmark compared with the conventional 2-D landmark. In the camera calibration stage of the experiments, we employ a neural network as a computational tool. The neural network is trained from a set of learning data collected at various points around the mark so that the extrinsic and intrinsic parameters of the camera system can be resolved. The overall estimation algorithm from the mark identification to the position determination is implemented in a 32-bit personal computer with an image digitizer and an arithmetic accelerator. To demonstrate the effectiveness of the proposed 3-D landmark and the neural network-based calibration scheme, a series of navigation experiments were performed on a wheeled mobile robot (LCAR) in an indoor environment. The results show the feasibility of the position estimation system applicable to mobile robot's real-time navigation.

Neural Network for Automatic Analysis of Motility Data

1994 ◽  
Vol 33 (01) ◽  
pp. 157-160 ◽  
Author(s):  
S. Kruse-Andersen ◽  
J. Kolberg ◽  
E. Jakobsen
Keyword(s):  
Neural Network ◽  
Muscular Activity ◽  
Recording System ◽  
Automatic Analysis ◽  
Biologically Relevant ◽  
System A ◽  
The Neural Network ◽  
Valuable Method ◽  
Motor Abnormalities ◽  
Trained Network

Abstract:Continuous recording of intraluminal pressures for extended periods of time is currently regarded as a valuable method for detection of esophageal motor abnormalities. A subsequent automatic analysis of the resulting motility data relies on strict mathematical criteria for recognition of pressure events. Due to great variation in events, this method often fails to detect biologically relevant pressure variations. We have tried to develop a new concept for recognition of pressure events based on a neural network. Pressures were recorded for over 23 hours in 29 normal volunteers by means of a portable data recording system. A number of pressure events and non-events were selected from 9 recordings and used for training the network. The performance of the trained network was then verified on recordings from the remaining 20 volunteers. The accuracy and sensitivity of the two systems were comparable. However, the neural network recognized pressure peaks clearly generated by muscular activity that had escaped detection by the conventional program. In conclusion, we believe that neu-rocomputing has potential advantages for automatic analysis of gastrointestinal motility data.

Neuron Optimization Based PID Approach for Cutting Force Control

2006 ◽  
Vol 315-316 ◽  
pp. 85-89
Author(s):  
S. Jiang ◽  
Yan Shen Xu ◽  
J. Wu
Keyword(s):  
Neural Network ◽  
Controller Design ◽  
Open Loop ◽  
Network Control ◽  
Neural Network Control ◽  
System A ◽  
The Neural Network ◽  
Nc Milling ◽  
Hidden Layer ◽  
Control Principle

To improve the cutting efficiency, one of key approaches is to control with constant force in the full depth working condition. And the controller design is vital to realize the real-time feasibility and robustness of the system. A neuron optimization based PID approach is proposed in this paper and adopted in the NC cutting process. This approach optimizes the parameters of PID controller real-timely with the neural network control principle. It not only overcomes the mismatch of the open-loop system model which occurred in constant PID control, but also solves the contradiction between the calculation speed and precision in the neural network which caused by the node choosing of the hidden layer. At last, the simulation has been carried out on a NC milling machine to prove the validity and effectiveness of the proposed approach.

Domain Randomization for Detection and Position Estimation of Multiples of a Single Object With Applications to Localizing Bolts on Structures

2019 ◽  
Author(s):  
Ezra Ameperosa ◽  
Pranav A. Bhounsule
Keyword(s):  
Neural Network ◽  
Convolutional Neural Network ◽  
Position Estimation ◽  
Learning Approaches ◽  
Single Object ◽  
Automated Method ◽  
The Neural Network ◽  
Periodic Maintenance ◽  
Camera Position ◽  
Periodic Replacement

Abstract Periodic replacement of fasteners such as bolts are an integral part of many structures (e.g., airplanes, cars, ships) and require periodic maintenance that may involve either their tightening or replacement. Current manual practices are time consuming and costly especially due to the large number of bolts. Thus, an automated method that is able to visually detect and localize bolt positions would be highly beneficial. In this paper, we demonstrate the use of deep neural network using domain randomization for detecting and localizing multiple bolts on a workpiece. In contrast to previous deep learning approaches that require training on real images, the use of domain randomization allows for all training to be done in simulation. The key idea here is to create a wide variety of computer generated synthetic images by varying the texture, color, camera position and orientation, distractor objects, and noise, and train the neural network on these images such that the neural network is robust to scene variability and hence provides accurate results when deployed on real images. Using domain randomization, we train two neural networks, a faster regional convolutional neural network for detecting the bolt and predicting a bounding box, and a regression convolutional neural network for estimating the x- and y-position of the bolt relative to the coordinates fixed to the workpiece. Our results indicate that in the best case we are able to detect bolts with 85% accuracy and are able to predict the position of 75% of bolts within 1.27 cm. The novelty of this work is in the use of domain randomization to detect and localize: (1) multiples of a single object, and (2) small sized objects (0.6 cm × 2.5 cm).

An Optimizing Design Approach for the Fiber Manufacturing Based on the Immune Genetic Algorithm-Optimized Neural Network

2011 ◽  
Vol 267 ◽  
pp. 19-24
Author(s):  
Hui Zhong Zhu ◽  
Yong Sheng Ding ◽  
Xiao Liang ◽  
Kuang Rong Hao ◽  
Hua Ping Wang
Keyword(s):  
Neural Network ◽  
Genetic Algorithm ◽  
Immune Genetic Algorithm ◽  
System A ◽  
The Neural Network ◽  
Proposed Model ◽  
Optimizing Design ◽  
Spinning Process ◽  
Fiber Manufacturing ◽  
Network Component

A novel neural network-based approach with immune genetic algorithm is proposed to conduct the optimizing design for the industrial filament manufacturing system. A new model is proposed in this paper to acquire better filament quality during such process. The proposed model was a combination of two components, namely, a traditional neural network which is used to simulate and an immune genetic algorithm-based part which is to improve the performance of the neural network component. Simulation results demonstrate that the proposed method can efficiently demonstrate the spinning process of filament and conduct the prediction of the filament quality with the production parameters as input data. Meanwhile, the proposed method enjoys faster speed and more precise accuracy, compared with traditional methods.

Sign in / Sign up

Export Citation Format

Share Document