scholarly journals Improving the speed of ball detection process and obstacle detection process in ERSOW robot using omnidirectional vision based on ROS

2021 ◽  
Vol 22 (3) ◽  
pp. 1365
Author(s):  
Muhammad Abdul Haq ◽  
Iwan Kurnianto Wibowo ◽  
Bima Sena Bayu Dewantara
Keyword(s):  
Real Time ◽  
Processing Speed ◽  
Base Station ◽  
Obstacle Detection ◽  
World Model ◽  
Robot Operating System ◽  
Detection Process ◽  
Novel Approach ◽  
Ball Detection ◽  
Computation Speed

This paper presents a novel approach for improving the computation speed of the ball detection and obstacle detection processes in our robot. The conditions of obstacle detection and ball detection in our robot still have a slow processing speed, this condition makes the robot not real-time and the robot's movement is hampered. To build a good world model, things to note are obstacle information and real-time ball detection. The focus of this research is to increase the speed of the process of the ball and obstacle detection around the robot. To increase the speed of the process, it is necessary to optimize the use of the OpenCV library on the robot operating system (ROS) system to divide the process into several small processes so that the work can be optimally divided into threads that have been created. Then, minimize the use of too many frames. This information will be sent to the base station and also for obstacle avoidance purposes.

A REAL-TIME DETECTION ALGORITHM FOR VISION-BASED PEDESTRIAN PROTECTION

2008 ◽  
Vol 05 (01) ◽  
pp. 11-30 ◽  
Author(s):  
GUANGLIN MA ◽  
SU-BIRM PARK ◽  
ALEXANDER IOFFE ◽  
STEFAN MÜLLER-SCHNEIDERS ◽  
ANTON KUMMERT
Keyword(s):  
Real Time ◽  
Pedestrian Detection ◽  
Ground Plane ◽  
Detection Algorithm ◽  
Obstacle Detection ◽  
Low Contrast ◽  
The Road ◽  
Novel Approach ◽  
Real Time Detection ◽  
Flat Ground

This paper discusses the robust, real-time detection of stationary and moving pedestrians utilizing a single car-mounted monochrome camera. First, the system detects potential pedestrians above the ground plane by combining conventional Inverse Perspective Mapping (IPM)-based obstacle detection with the vertical 1D profile evaluation of the IPM detection result. Usage of the vertical profile increases the robustness of detection in low-contrast images as well as the detection of distant pedestrians significantly. A fast digital image stabilization algorithm is used to compensate for erroneous detections whenever the flat ground plane assumption is an inaccurate model of the road surface. Finally, a low-level pedestrian-oriented segmentation and fast symmetry search on the leg region of pedestrians is also presented. A novel approach termed Pedestrian Detection Strip (PDS) is used to improve the calculation time by a factor of six compared to conventional approaches.

A novel approach to the real-time modelling of large urban drainage systems

1997 ◽  
Vol 36 (8-9) ◽  
pp. 19-24 ◽  
Author(s):  
Richard Norreys ◽  
Ian Cluckie
Keyword(s):  
Real Time ◽  
Dynamic Models ◽  
Drainage System ◽  
Radar Data ◽  
Urban Drainage ◽  
Real Time Control ◽  
Empirical Modelling ◽  
Time Control ◽  
Novel Approach ◽  
Non Linear Systems

Conventional UDS models are mechanistic which though appropriate for design purposes are less well suited to real-time control because they are slow running, difficult to calibrate, difficult to re-calibrate in real time and have trouble handling noisy data. At Salford University a novel hybrid of dynamic and empirical modelling has been developed, to combine the speed of the empirical model with the ability to simulate complex and non-linear systems of the mechanistic/dynamic models. This paper details the ‘knowledge acquisition module’ software and how it has been applied to construct a model of a large urban drainage system. The paper goes on to detail how the model has been linked with real-time radar data inputs from the MARS c-band radar.

scholarly journals Real-time Track Obstacle Detection from 3D LIDAR Point Cloud

2021 ◽  
Vol 1910 (1) ◽  
pp. 012002
Author(s):  
Chao He ◽  
Jiayuan Gong ◽  
Yahui Yang ◽  
Dong Bi ◽  
Jianpin Lan ◽  
...  
Keyword(s):  
Real Time ◽  
Point Cloud ◽  
Obstacle Detection ◽  
3D Lidar

scholarly journals Low-Cost Embedded System Using Convolutional Neural Networks-Based Spatiotemporal Feature Map for Real-Time Human Action Recognition

2021 ◽  
Vol 11 (11) ◽  
pp. 4940
Author(s):  
Jinsoo Kim ◽  
Jeongho Cho
Keyword(s):  
Embedded System ◽  
Real Time ◽  
Action Recognition ◽  
Processing Speed ◽  
Recognition Accuracy ◽  
Low Cost ◽  
Human Action Recognition ◽  
Human Action ◽  
Video Data ◽  
Feature Maps

The field of research related to video data has difficulty in extracting not only spatial but also temporal features and human action recognition (HAR) is a representative field of research that applies convolutional neural network (CNN) to video data. The performance for action recognition has improved, but owing to the complexity of the model, some still limitations to operation in real-time persist. Therefore, a lightweight CNN-based single-stream HAR model that can operate in real-time is proposed. The proposed model extracts spatial feature maps by applying CNN to the images that develop the video and uses the frame change rate of sequential images as time information. Spatial feature maps are weighted-averaged by frame change, transformed into spatiotemporal features, and input into multilayer perceptrons, which have a relatively lower complexity than other HAR models; thus, our method has high utility in a single embedded system connected to CCTV. The results of evaluating action recognition accuracy and data processing speed through challenging action recognition benchmark UCF-101 showed higher action recognition accuracy than the HAR model using long short-term memory with a small amount of video frames and confirmed the real-time operational possibility through fast data processing speed. In addition, the performance of the proposed weighted mean-based HAR model was verified by testing it in Jetson NANO to confirm the possibility of using it in low-cost GPU-based embedded systems.

A novel approach for phishing URLs detection using lexical based machine learning in a real-time environment

2021 ◽  
Author(s):  
Brij B. Gupta ◽  
Krishna Yadav ◽  
Imran Razzak ◽  
Konstantinos Psannis ◽  
Arcangelo Castiglione ◽  
...  
Keyword(s):  
Machine Learning ◽  
Real Time ◽  
Novel Approach

scholarly journals A novel approach to optimize the production cost of railway coaches of India using situational-based composite triangular and trapezoidal fuzzy LPP models

2021 ◽  
Author(s):  
Rakesh Kumar ◽  
Gaurav Dhiman ◽  
Neeraj Kumar ◽  
Rajesh Kumar Chandrawat ◽  
Varun Joshi ◽  
...  
Keyword(s):  
Comparative Study ◽  
Real Time ◽  
Production Cost ◽  
Upper Bounds ◽  
Production Costs ◽  
Cost Data ◽  
Novel Approach ◽  
Membership Grade ◽  
Minimum Costs

AbstractThis article offers a comparative study of maximizing and modelling production costs by means of composite triangular fuzzy and trapezoidal FLPP. It also outlines five different scenarios of instability and has developed realistic models to minimize production costs. Herein, the first attempt is made to examine the credibility of optimized cost via two different composite FLP models, and the results were compared with its extension, i.e., the trapezoidal FLP model. To validate the models with real-time phenomena, the Production cost data of Rail Coach Factory (RCF) Kapurthala has been taken. The lower, static, and upper bounds have been computed for each situation, and then systems of optimized FLP are constructed. The credibility of each model of composite-triangular and trapezoidal FLP concerning all situations has been obtained, and using this membership grade, the minimum and the greatest minimum costs have been illustrated. The performance of each composite-triangular FLP model was compared to trapezoidal FLP models, and the intense effects of trapezoidal on composite fuzzy LPP models are investigated.

RSNet: Rail semantic segmentation network for extracting aerial railroad images

2021 ◽  
pp. 1-18
Author(s):  
R.S. Rampriya ◽  
Sabarinathan ◽  
R. Suganya
Keyword(s):  
Real Time ◽  
Visual Processing ◽  
Feature Fusion ◽  
Semantic Segmentation ◽  
Vital Role ◽  
Obstacle Detection ◽  
Aerial Images ◽  
Computationally Efficient ◽  
Fusion Algorithm ◽  
Uav Images

In the near future, combo of UAV (Unmanned Aerial Vehicle) and computer vision will play a vital role in monitoring the condition of the railroad periodically to ensure passenger safety. The most significant module involved in railroad visual processing is obstacle detection, in which caution is obstacle fallen near track gage inside or outside. This leads to the importance of detecting and segment the railroad as three key regions, such as gage inside, rails, and background. Traditional railroad segmentation methods depend on either manual feature selection or expensive dedicated devices such as Lidar, which is typically less reliable in railroad semantic segmentation. Also, cameras mounted on moving vehicles like a drone can produce high-resolution images, so segmenting precise pixel information from those aerial images has been challenging due to the railroad surroundings chaos. RSNet is a multi-level feature fusion algorithm for segmenting railroad aerial images captured by UAV and proposes an attention-based efficient convolutional encoder for feature extraction, which is robust and computationally efficient and modified residual decoder for segmentation which considers only essential features and produces less overhead with higher performance even in real-time railroad drone imagery. The network is trained and tested on a railroad scenic view segmentation dataset (RSSD), which we have built from real-time UAV images and achieves 0.973 dice coefficient and 0.94 jaccard on test data that exhibits better results compared to the existing approaches like a residual unit and residual squeeze net.

scholarly journals Machine Learning Solutions for Bridge Scour Forecast Based on Monitoring Data

2021 ◽  
pp. 036119812110126
Author(s):  
Negin Yousefpour ◽  
Steve Downie ◽  
Steve Walker ◽  
Nathan Perkins ◽  
Hristo Dikanski
Keyword(s):  
Machine Learning ◽  
Real Time ◽  
Monitoring Data ◽  
Sensor Data ◽  
Monitoring Systems ◽  
Bridge Scour ◽  
Scour Monitoring ◽  
Novel Approach ◽  
Bayesian Inference Method ◽  
Water Level Variations

Bridge scour is a challenge throughout the U.S.A. and other countries. Despite the scale of the issue, there is still a substantial lack of robust methods for scour prediction to support reliable, risk-based management and decision making. Throughout the past decade, the use of real-time scour monitoring systems has gained increasing interest among state departments of transportation across the U.S.A. This paper introduces three distinct methodologies for scour prediction using advanced artificial intelligence (AI)/machine learning (ML) techniques based on real-time scour monitoring data. Scour monitoring data included the riverbed and river stage elevation time series at bridge piers gathered from various sources. Deep learning algorithms showed promising in prediction of bed elevation and water level variations as early as a week in advance. Ensemble neural networks proved successful in the predicting the maximum upcoming scour depth, using the observed sensor data at the onset of a scour episode, and based on bridge pier, flow and riverbed characteristics. In addition, two of the common empirical scour models were calibrated based on the observed sensor data using the Bayesian inference method, showing significant improvement in prediction accuracy. Overall, this paper introduces a novel approach for scour risk management by integrating emerging AI/ML algorithms with real-time monitoring systems for early scour forecast.

Sign in / Sign up

Export Citation Format

Share Document