scholarly journals A Deep Learning Method for Target Pose Estimation of Planetary Surface

2021 ◽  
Vol 1948 (1) ◽  
pp. 012026
Author(s):  
Huang Lu ◽  
Mao Xiaoyan ◽  
Xing Yan
Keyword(s):  
Deep Learning ◽  
Pose Estimation ◽  
Planetary Surface ◽  
Learning Method

Simulation and deep learning on point clouds for robot grasping

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Zhengtuo Wang ◽  
Yuetong Xu ◽  
Guanhua Xu ◽  
Jianzhong Fu ◽  
Jiongyan Yu ◽  
...  
Keyword(s):  
Deep Learning ◽  
Pose Estimation ◽  
Point Clouds ◽  
Estimation Algorithm ◽  
Training Data ◽  
Learning Method ◽  
Data Set ◽  
Content Type ◽  
Experimental Platform ◽  
Robot Grasping

Purpose In this work, the authors aim to provide a set of convenient methods for generating training data, and then develop a deep learning method based on point clouds to estimate the pose of target for robot grasping. Design/methodology/approach This work presents a deep learning method PointSimGrasp on point clouds for robot grasping. In PointSimGrasp, a point cloud emulator is introduced to generate training data and a pose estimation algorithm, which, based on deep learning, is designed. After trained with the emulation data set, the pose estimation algorithm could estimate the pose of target. Findings In experiment part, an experimental platform is built, which contains a six-axis industrial robot, a binocular structured-light sensor and a base platform with adjustable inclination. A data set that contains three subsets is set up on the experimental platform. After trained with the emulation data set, the PointSimGrasp is tested on the experimental data set, and an average translation error of about 2–3 mm and an average rotation error of about 2–5 degrees are obtained. Originality/value The contributions are as follows: first, a deep learning method on point clouds is proposed to estimate 6D pose of target; second, a convenient training method for pose estimation algorithm is presented and a point cloud emulator is introduced to generate training data; finally, an experimental platform is built, and the PointSimGrasp is tested on the platform.

scholarly journals Siamese Reconstruction Network: Accurate Image Reconstruction from Human Brain Activity by Learning to Compare

2019 ◽  
Vol 9 (22) ◽  
pp. 4749
Author(s):  
Lingyun Jiang ◽  
Kai Qiao ◽  
Linyuan Wang ◽  
Chi Zhang ◽  
Jian Chen ◽  
...  
Keyword(s):  
Deep Learning ◽  
Human Brain ◽  
Brain Activity ◽  
Feature Space ◽  
Training Data ◽  
Reconstruction Method ◽  
Learning Method ◽  
Training Samples ◽  
Visual Reconstruction ◽  
Relationship Of

Decoding human brain activities, especially reconstructing human visual stimuli via functional magnetic resonance imaging (fMRI), has gained increasing attention in recent years. However, the high dimensionality and small quantity of fMRI data impose restrictions on satisfactory reconstruction, especially for the reconstruction method with deep learning requiring huge amounts of labelled samples. When compared with the deep learning method, humans can recognize a new image because our human visual system is naturally capable of extracting features from any object and comparing them. Inspired by this visual mechanism, we introduced the mechanism of comparison into deep learning method to realize better visual reconstruction by making full use of each sample and the relationship of the sample pair by learning to compare. In this way, we proposed a Siamese reconstruction network (SRN) method. By using the SRN, we improved upon the satisfying results on two fMRI recording datasets, providing 72.5% accuracy on the digit dataset and 44.6% accuracy on the character dataset. Essentially, this manner can increase the training data about from n samples to 2n sample pairs, which takes full advantage of the limited quantity of training samples. The SRN learns to converge sample pairs of the same class or disperse sample pairs of different class in feature space.

A Deep Learning Method for Frame Selection in Videos for Structure from Motion Pipelines

2021 ◽  
Author(s):  
Francesco Banterle ◽  
Rui Gong ◽  
Massimiliano Corsini ◽  
Fabio Ganovelli ◽  
Luc Van Gool ◽  
...  
Keyword(s):  
Deep Learning ◽  
Structure From Motion ◽  
Learning Method ◽  
Frame Selection

scholarly journals Integrating Machine/Deep Learning Methods and Filtering Techniques for Reliable Mineral Phase Segmentation of 3D X-ray Computed Tomography Images

Energies ◽  
2021 ◽  
Vol 14 (15) ◽  
pp. 4595
Author(s):  
Parisa Asadi ◽  
Lauren E. Beckingham
Keyword(s):  
Machine Learning ◽  
Deep Learning ◽  
Random Forest ◽  
Ct Images ◽  
Ct Imaging ◽  
Learning Method ◽  
Learning Methods ◽  
X Ray ◽  
Machine Learning Methods ◽  
Filtering Techniques

X-ray CT imaging provides a 3D view of a sample and is a powerful tool for investigating the internal features of porous rock. Reliable phase segmentation in these images is highly necessary but, like any other digital rock imaging technique, is time-consuming, labor-intensive, and subjective. Combining 3D X-ray CT imaging with machine learning methods that can simultaneously consider several extracted features in addition to color attenuation, is a promising and powerful method for reliable phase segmentation. Machine learning-based phase segmentation of X-ray CT images enables faster data collection and interpretation than traditional methods. This study investigates the performance of several filtering techniques with three machine learning methods and a deep learning method to assess the potential for reliable feature extraction and pixel-level phase segmentation of X-ray CT images. Features were first extracted from images using well-known filters and from the second convolutional layer of the pre-trained VGG16 architecture. Then, K-means clustering, Random Forest, and Feed Forward Artificial Neural Network methods, as well as the modified U-Net model, were applied to the extracted input features. The models’ performances were then compared and contrasted to determine the influence of the machine learning method and input features on reliable phase segmentation. The results showed considering more dimensionality has promising results and all classification algorithms result in high accuracy ranging from 0.87 to 0.94. Feature-based Random Forest demonstrated the best performance among the machine learning models, with an accuracy of 0.88 for Mancos and 0.94 for Marcellus. The U-Net model with the linear combination of focal and dice loss also performed well with an accuracy of 0.91 and 0.93 for Mancos and Marcellus, respectively. In general, considering more features provided promising and reliable segmentation results that are valuable for analyzing the composition of dense samples, such as shales, which are significant unconventional reservoirs in oil recovery.

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