Sensor Data Fusion for a Mobile Robot Using Neural Networks

Mobile robots must be capable to obtain an accurate map of their surroundings to move within it. To detect different materials that might be undetectable to one sensor but not others it is necessary to construct at least a two-sensor fusion scheme. With this, it is possible to generate a 2D occupancy map in which glass obstacles are identified. An artificial neural network is used to fuse data from a tri-sensor (RealSense Stereo camera, 2D 360° LiDAR, and Ultrasonic Sensors) setup capable of detecting glass and other materials typically found in indoor environments that may or may not be visible to traditional 2D LiDAR sensors, hence the expression improved LiDAR. A preprocessing scheme is implemented to filter all the outliers, project a 3D pointcloud to a 2D plane and adjust distance data. With a Neural Network as a data fusion algorithm, we integrate all the information into a single, more accurate distance-to-obstacle reading to finally generate a 2D Occupancy Grid Map (OGM) that considers all sensors information. The Robotis Turtlebot3 Waffle Pi robot is used as the experimental platform to conduct experiments given the different fusion strategies. Test results show that with such a fusion algorithm, it is possible to detect glass and other obstacles with an estimated root-mean-square error (RMSE) of 3 cm with multiple fusion strategies.

On the plasma quasineutrality under oscillatory confinement based on a nanosecond vacuum discharge

One of the main problems for inertial electrostatic confinement devices with electron injection is the space charge neutralization. This work is devoted to the analysis of the problem of plasma quasineutrality in the scheme of plasma oscillatory confinement based on nanosecond vacuum discharge (NVD). Electrodynamics modeling of the processes of aneutronic fusion of proton–boron showed that the plasma in the NVD, and especially on the discharge axis, really corresponds to a quasineutral regime, which is rather different from the well-known scheme of periodically oscillating plasma spheres (POPS). In this case, small oscillations in the NVD are a mechanism of resonant ion heating, unlike coherent compressions in the original POPS model. The scaling of the fusion power turns out to be close to the fusion scheme with POPS, but differs significantly in the values of the parameter of quasineutrality and the compression ratio.

A Decentralized Sensor Fusion Scheme for Multi Sensorial Fault Resilient Pose Estimation

This article proposes a novel decentralized two-layered and multi-sensorial based fusion architecture for establishing a novel resilient pose estimation scheme. As it will be presented, the first layer of the fusion architecture considers a set of distributed nodes. All the possible combinations of pose information, appearing from different sensors, are integrated to acquire various possibilities of estimated pose obtained by involving multiple extended Kalman filters. Based on the estimated poses, obtained from the first layer, a Fault Resilient Optimal Information Fusion (FR-OIF) paradigm is introduced in the second layer to provide a trusted pose estimation. The second layer incorporates the output of each node (constructed in the first layer) in a weighted linear combination form, while explicitly accounting for the maximum likelihood fusion criterion. Moreover, in the case of inaccurate measurements, the proposed FR-OIF formulation enables a self resiliency by embedding a built-in fault isolation mechanism. Additionally, the FR-OIF scheme is also able to address accurate localization in the presence of sensor failures or erroneous measurements. To demonstrate the effectiveness of the proposed fusion architecture, extensive experimental studies have been conducted with a micro aerial vehicle, equipped with various onboard pose sensors, such as a 3D lidar, a real-sense camera, an ultra wide band node, and an IMU. The efficiency of the proposed novel framework is extensively evaluated through multiple experimental results, while its superiority is also demonstrated through a comparison with the classical multi-sensorial centralized fusion approach.

A Measurement Framework for Explicit and Implicit Urban Traffic Sensing

Urban traffic sensing has been investigated extensively by different real-time sensing approaches due to important applications such as navigation and emergency services. Basically, the existing traffic sensing approaches can be classified into two categories by sensing natures, i.e., explicit and implicit sensing. In this article, we design a measurement framework called EXIMIUS for a large-scale data-driven study to investigate the strengths and weaknesses of two sensing approaches by using two particular systems for traffic sensing as concrete examples. In our investigation, we utilize TB-level data from two systems: (i) GPS data from five thousand vehicles, (ii) signaling data from three million cellphone users, from the Chinese city Hefei. Our study adopts a widely used concept called crowdedness level to rigorously explore the impacts of contexts on traffic conditions including population density, region functions, road categories, rush hours, holidays, weather, and so on, based on various context data. We quantify the strengths and weaknesses of these two sensing approaches in different scenarios and then we explore the possibility of unifying two sensing approaches for better performance by using a truth discovery-based data fusion scheme. Our results provide a few valuable insights for urban sensing based on explicit and implicit data from transportation and telecommunication domains.

Detail-preserving depth estimation from a single image based on modified fully convolutional residual network and gradient network

Predicting a convincing depth map from a monocular single image is a daunting task in the field of computer vision. In this paper, we propose a novel detail-preserving depth estimation (DPDE) algorithm based on a modified fully convolutional residual network and gradient network. Specifically, we first introduce a new deep network that combines the fully convolutional residual network (FCRN) and a U-shaped architecture to generate the global depth map. Meanwhile, an efficient feature similarity-based loss term is introduced for training this network better. Then, we devise a gradient network to generate the local details of the scene based on gradient information. Finally, an optimization-based fusion scheme is proposed to integrate the depth and depth gradients to generate a reliable depth map with better details. Three benchmark RGBD datasets are evaluated from the perspective of qualitative and quantitative, the experimental results show that the designed depth prediction algorithm is superior to several classic depth prediction approaches and can reconstruct plausible depth maps.

A Performance–Consumption Balanced Scheme of Multi-Hop Quantum Networks for Teleportation

Teleportation is an important protocol in quantum communication. Realizing teleportation between arbitrary nodes in multi-hop quantum networks is of great value. Most of the existing multi-hop quantum networks are based on Bell states or Greeberger–Horne–Zeilinger (GHZ) states. Bell state is more susceptible to noise than GHZ states after purification, but generating a GHZ state consumes more basic states. In this paper, a new quantum multi-hop network scheme is proposed to improve the interference immunity of the network and avoid large consumption at the same time. Teleportation is realized in a network based on entanglement swapping, fusion, and purification. To ensure the robustness of the system, we also design the purification algorithm. The simulation results show the successful establishment of entanglement with high fidelity. Cirq is used to verify the network on the Noisy Intermediate-Scale Quantum (NISQ) platform. The robustness of the fusion scheme is better than the Bell states scheme, especially with the increasing number of nodes. This paper provides a solution to balance the performance and consumption in a multi-hop quantum network.

An Interval Iteration Based Multilevel Thresholding Algorithm for Brain MR Image Segmentation

In this paper, we propose an interval iteration multilevel thresholding method (IIMT). This approach is based on the Otsu method but iteratively searches for sub-regions of the image to achieve segmentation, rather than processing the full image as a whole region. Then, a novel multilevel thresholding framework based on IIMT for brain MR image segmentation is proposed. In this framework, the original image is first decomposed using a hybrid L1 − L0 layer decomposition method to obtain the base layer. Second, we use IIMT to segment both the original image and its base layer. Finally, the two segmentation results are integrated by a fusion scheme to obtain a more refined and accurate segmentation result. Experimental results showed that our proposed algorithm is effective, and outperforms the standard Otsu-based and other optimization-based segmentation methods.