scholarly journals SqueezeFace: Integrative Face Recognition Methods with LiDAR Sensors

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Kyoungmin Ko ◽  
Hyunmin Gwak ◽  
Nalinh Thoummala ◽  
Hyun Kwon ◽  
SungHwan Kim
Keyword(s):  
Face Recognition ◽  
Image Data ◽  
Spatial Location ◽  
Point Clouds ◽  
Depth Information ◽  
Depth Maps ◽  
Spatially Adaptive ◽  
Proposed Model ◽  
High Discriminatory Power ◽  
Face Spoofing

In this paper, we propose a robust and reliable face recognition model that incorporates depth information such as data from point clouds and depth maps into RGB image data to avoid false facial verification caused by face spoofing attacks while increasing the model’s performance. The proposed model is driven by the spatially adaptive convolution (SAC) block of SqueezeSegv3; this is the attention block that enables the model to weight features according to their importance of spatial location. We also utilize large-margin loss instead of softmax loss as a supervision signal for the proposed method, to enforce high discriminatory power. In the experiment, the proposed model, which incorporates depth information, had 99.88% accuracy and an F 1 score of 93.45%, outperforming the baseline models, which used RGB data alone.

scholarly journals Real-Time Fruit Recognition and Grasping Estimation for Robotic Apple Harvesting

Sensors ◽  
2020 ◽  
Vol 20 (19) ◽  
pp. 5670
Author(s):  
Hanwen Kang ◽  
Hongyu Zhou ◽  
Xing Wang ◽  
Chao Chen
Keyword(s):  
Image Data ◽  
Point Clouds ◽  
Robotic Arm ◽  
Depth Information ◽  
Agricultural Industry ◽  
Weight One ◽  
Rgb Images ◽  
Robotic Harvesting ◽  
Instance Segmentation ◽  
Indoor And Outdoor

Robotic harvesting shows a promising aspect in future development of agricultural industry. However, there are many challenges which are still presented in the development of a fully functional robotic harvesting system. Vision is one of the most important keys among these challenges. Traditional vision methods always suffer from defects in accuracy, robustness, and efficiency in real implementation environments. In this work, a fully deep learning-based vision method for autonomous apple harvesting is developed and evaluated. The developed method includes a light-weight one-stage detection and segmentation network for fruit recognition and a PointNet to process the point clouds and estimate a proper approach pose for each fruit before grasping. Fruit recognition network takes raw inputs from RGB-D camera and performs fruit detection and instance segmentation on RGB images. The PointNet grasping network combines depth information and results from the fruit recognition as input and outputs the approach pose of each fruit for robotic arm execution. The developed vision method is evaluated on RGB-D image data which are collected from both laboratory and orchard environments. Robotic harvesting experiments in both indoor and outdoor conditions are also included to validate the performance of the developed harvesting system. Experimental results show that the developed vision method can perform highly efficient and accurate to guide robotic harvesting. Overall, the developed robotic harvesting system achieves 0.8 on harvesting success rate and cycle time is 6.5 s.

Registration and Fusion of UAV LiDAR System Sequence Images and Laser Point Clouds

2020 ◽  
Author(s):  
Jiayong Yu ◽  
Longchen Ma ◽  
Maoyi Tian, ◽  
Xiushan Lu
Keyword(s):  
Point Cloud ◽  
Image Data ◽  
Point Clouds ◽  
Optical Image ◽  
Point Cloud Data ◽  
Feature Points ◽  
Lidar System ◽  
Registration Accuracy ◽  
Cloud Data ◽  
Intensity Image

The unmanned aerial vehicle (UAV)-mounted mobile LiDAR system (ULS) is widely used for geomatics owing to its efficient data acquisition and convenient operation. However, due to limited carrying capacity of a UAV, sensors integrated in the ULS should be small and lightweight, which results in decrease in the density of the collected scanning points. This affects registration between image data and point cloud data. To address this issue, the authors propose a method for registering and fusing ULS sequence images and laser point clouds, wherein they convert the problem of registering point cloud data and image data into a problem of matching feature points between the two images. First, a point cloud is selected to produce an intensity image. Subsequently, the corresponding feature points of the intensity image and the optical image are matched, and exterior orientation parameters are solved using a collinear equation based on image position and orientation. Finally, the sequence images are fused with the laser point cloud, based on the Global Navigation Satellite System (GNSS) time index of the optical image, to generate a true color point cloud. The experimental results show the higher registration accuracy and fusion speed of the proposed method, thereby demonstrating its accuracy and effectiveness.

scholarly journals Considering the dynamic refueling behavior in locating electric vehicle charging stations

2014 ◽  
Vol II-2 ◽  
pp. 41-46 ◽  
Author(s):  
K. Liu ◽  
X.H. Sun
Keyword(s):  
Influence Factors ◽  
Spatial Location ◽  
Location Model ◽  
Electric Vehicle Charging ◽  
Charging Time ◽  
Proposed Model ◽  
Key Issues ◽  
Charging Stations ◽  
Dual Objectives ◽  
Ev Charging

Electric vehicles (EVs) will certainly play an important role in addressing the energy and environmental challenges at current situation. However, location problem of EV charging stations was realized as one of the key issues of EVs launching strategy. While for the case of locating EV charging stations, more influence factors and constraints need to be considered since the EVs have some special attributes. The minimum requested charging time for EVs is usually more than 30minutes, therefore the possible delay time due to waiting or looking for an available station is one of the most important influence factors. In addition, the intention to purchase and use of EVs that also affects the location of EV charging stations is distributed unevenly among regions and should be considered when modelling. Unfortunately, these kinds of time-spatial constraints were always ignored in previous models. Based on the related research of refuelling behaviours and refuelling demands, this paper developed a new concept with dual objectives of minimum waiting time and maximum service accessibility for locating EV charging stations，named as Time-Spatial Location Model (TSLM). The proposed model and the traditional flow-capturing location model are applied on an example network respectively and the results are compared. Results demonstrate that time constraint has great effects on the location of EV charging stations. The proposed model has some obvious advantages and will help energy providers to make a viable plan for the network of EV charging stations.

scholarly journals Geometric Modelling of Octagonal Lamp Poles

2014 ◽  
Vol XL-5 ◽  
pp. 145-150 ◽  
Author(s):  
T. O. Chan ◽  
D. D. Lichti
Keyword(s):  
Point Cloud ◽  
Geometric Model ◽  
Real Data ◽  
Point Clouds ◽  
Circular Cone ◽  
Basic Point ◽  
The Real ◽  
Cone Model ◽  
Proposed Model ◽  
Pole Point

Lamp poles are one of the most abundant highway and community components in modern cities. Their supporting parts are primarily tapered octagonal cones specifically designed for wind resistance. The geometry and the positions of the lamp poles are important information for various applications. For example, they are important to monitoring deformation of aged lamp poles, maintaining an efficient highway GIS system, and also facilitating possible feature-based calibration of mobile LiDAR systems. In this paper, we present a novel geometric model for octagonal lamp poles. The model consists of seven parameters in which a rotation about the z-axis is included, and points are constrained by the trigonometric property of 2D octagons after applying the rotations. For the geometric fitting of the lamp pole point cloud captured by a terrestrial LiDAR, accurate initial parameter values are essential. They can be estimated by first fitting the points to a circular cone model and this is followed by some basic point cloud processing techniques. The model was verified by fitting both simulated and real data. The real data includes several lamp pole point clouds captured by: (1) Faro Focus 3D and (2) Velodyne HDL-32E. The fitting results using the proposed model are promising, and up to 2.9 mm improvement in fitting accuracy was realized for the real lamp pole point clouds compared to using the conventional circular cone model. The overall result suggests that the proposed model is appropriate and rigorous.

Hybrid feature descriptor and probabilistic neuro-fuzzy system for face recognition

Sensor Review ◽  
2018 ◽  
Vol 38 (3) ◽  
pp. 269-281 ◽  
Author(s):  
Hima Bindu ◽  
Manjunathachari K.
Keyword(s):  
Feature Extraction ◽  
Face Recognition ◽  
Recognition System ◽  
Feature Descriptor ◽  
Global Features ◽  
Fuzzy Classifier ◽  
Content Type ◽  
Face Recognition System ◽  
Neuro Fuzzy ◽  
Proposed Model

Purpose This paper aims to develop the Hybrid feature descriptor and probabilistic neuro-fuzzy system for attaining the high accuracy in face recognition system. In recent days, facial recognition (FR) systems play a vital part in several applications such as surveillance, access control and image understanding. Accordingly, various face recognition methods have been developed in the literature, but the applicability of these algorithms is restricted because of unsatisfied accuracy. So, the improvement of face recognition is significantly important for the current trend. Design/methodology/approach This paper proposes a face recognition system through feature extraction and classification. The proposed model extracts the local and the global feature of the image. The local features of the image are extracted using the kernel based scale invariant feature transform (K-SIFT) model and the global features are extracted using the proposed m-Co-HOG model. (Co-HOG: co-occurrence histograms of oriented gradients) The proposed m-Co-HOG model has the properties of the Co-HOG algorithm. The feature vector database contains combined local and the global feature vectors derived using the K-SIFT model and the proposed m-Co-HOG algorithm. This paper proposes a probabilistic neuro-fuzzy classifier system for the finding the identity of the person from the extracted feature vector database. Findings The face images required for the simulation of the proposed work are taken from the CVL database. The simulation considers a total of 114 persons form the CVL database. From the results, it is evident that the proposed model has outperformed the existing models with an improved accuracy of 0.98. The false acceptance rate (FAR) and false rejection rate (FRR) values of the proposed model have a low value of 0.01. Originality/value This paper proposes a face recognition system with proposed m-Co-HOG vector and the hybrid neuro-fuzzy classifier. Feature extraction was based on the proposed m-Co-HOG vector for extracting the global features and the existing K-SIFT model for extracting the local features from the face images. The proposed m-Co-HOG vector utilizes the existing Co-HOG model for feature extraction, along with a new color gradient decomposition method. The major advantage of the proposed m-Co-HOG vector is that it utilizes the color features of the image along with other features during the histogram operation.

Registration and Fusion of UAV LiDAR System Sequence Images and Laser Point Clouds

2021 ◽  
Vol 65 (1) ◽  
pp. 10501-1-10501-9
Author(s):  
Jiayong Yu ◽  
Longchen Ma ◽  
Maoyi Tian ◽  
Xiushan Lu
Keyword(s):  
Point Cloud ◽  
Image Data ◽  
Point Clouds ◽  
Optical Image ◽  
Point Cloud Data ◽  
Feature Points ◽  
Lidar System ◽  
Registration Accuracy ◽  
Cloud Data ◽  
Intensity Image

Abstract The unmanned aerial vehicle (UAV)-mounted mobile LiDAR system (ULS) is widely used for geomatics owing to its efficient data acquisition and convenient operation. However, due to limited carrying capacity of a UAV, sensors integrated in the ULS should be small and lightweight, which results in decrease in the density of the collected scanning points. This affects registration between image data and point cloud data. To address this issue, the authors propose a method for registering and fusing ULS sequence images and laser point clouds, wherein they convert the problem of registering point cloud data and image data into a problem of matching feature points between the two images. First, a point cloud is selected to produce an intensity image. Subsequently, the corresponding feature points of the intensity image and the optical image are matched, and exterior orientation parameters are solved using a collinear equation based on image position and orientation. Finally, the sequence images are fused with the laser point cloud, based on the Global Navigation Satellite System (GNSS) time index of the optical image, to generate a true color point cloud. The experimental results show the higher registration accuracy and fusion speed of the proposed method, thereby demonstrating its accuracy and effectiveness.

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