4,812 research outputs found
Learning Pose Estimation for UAV Autonomous Navigation and Landing Using Visual-Inertial Sensor Data
In this work, we propose a robust network-in-the-loop control system for autonomous navigation and landing of an Unmanned-Aerial-Vehicle (UAV). To estimate the UAV’s absolute pose, we develop a deep neural network (DNN) architecture for visual-inertial odometry, which provides a robust alternative to traditional methods. We first evaluate the accuracy of the estimation by comparing the prediction of our model to traditional visual-inertial approaches on the publicly available EuRoC MAV dataset. The results indicate a clear improvement in the accuracy of the pose estimation up to 25% over the baseline. Finally, we integrate the data-driven estimator in the closed-loop flight control system of Airsim, a simulator available as a plugin for Unreal Engine, and we provide simulation results for autonomous navigation and landing
Visual Feedback Without Geometric Features Against Occlusion: A Walsh Basis
Date of Online Publication: 09 January 2018For a visual feedback without geometric features, this brief suggests to apply a basis made by the Walsh functions in order to reduce the off-line experimental cost. Depending on the resolution, the feedback is implementable and achieves the closed-loop stability of dynamical systems as long as the input-output linearity on matrix space exists. Remarkably, a part of the whole occlusion effects is rejected, and the remaining part is attenuated. The validity is confirmed by the experimental feedback for nonplanar sloshing
Bootstrapping bilinear models of robotic sensorimotor cascades
We consider the bootstrapping problem, which consists in learning a model of the agent's sensors and actuators starting from zero prior information, and we take the problem of servoing as a cross-modal task to validate the learned models. We study the class of bilinear dynamics sensors, in which the derivative of the observations are a bilinear form of the control commands and the observations themselves. This class of models is simple yet general enough to represent the main phenomena of three representative robotics sensors (field sampler, camera, and range-finder), apparently very different from one another. It also allows a bootstrapping algorithm based on hebbian learning, and that leads to a simple and bioplausible control strategy. The convergence properties of learning and control are demonstrated with extensive simulations and by analytical arguments
Active Vision for Scene Understanding
Visual perception is one of the most important sources of information for both humans and robots. A particular challenge is the acquisition and interpretation of complex unstructured scenes. This work contributes to active vision for humanoid robots. A semantic model of the scene is created, which is extended by successively changing the robot\u27s view in order to explore interaction possibilities of the scene
Active Vision for Scene Understanding
Visual perception is one of the most important sources of information for both humans and robots. A particular challenge is the acquisition and interpretation of complex unstructured scenes. This work contributes to active vision for humanoid robots. A semantic model of the scene is created, which is extended by successively changing the robot's view in order to explore interaction possibilities of the scene
EventCap: Monocular 3D Capture of High-Speed Human Motions using an Event Camera
The high frame rate is a critical requirement for capturing fast human motions. In this setting, existing markerless image-based methods are constrained by the lighting requirement, the high data bandwidth and the consequent high computation overhead. In this paper, we propose EventCap --- the first approach for 3D capturing of high-speed human motions using a single event camera. Our method combines model-based optimization and CNN-based human pose detection to capture high-frequency motion details and to reduce the drifting in the tracking. As a result, we can capture fast motions at millisecond resolution with significantly higher data efficiency than using high frame rate videos. Experiments on our new event-based fast human motion dataset demonstrate the effectiveness and accuracy of our method, as well as its robustness to challenging lighting conditions
Coordinated optimization of visual cortical maps (I) Symmetry-based analysis
In the primary visual cortex of primates and carnivores, functional
architecture can be characterized by maps of various stimulus features such as
orientation preference (OP), ocular dominance (OD), and spatial frequency. It
is a long-standing question in theoretical neuroscience whether the observed
maps should be interpreted as optima of a specific energy functional that
summarizes the design principles of cortical functional architecture. A
rigorous evaluation of this optimization hypothesis is particularly demanded by
recent evidence that the functional architecture of OP columns precisely
follows species invariant quantitative laws. Because it would be desirable to
infer the form of such an optimization principle from the biological data, the
optimization approach to explain cortical functional architecture raises the
following questions: i) What are the genuine ground states of candidate energy
functionals and how can they be calculated with precision and rigor? ii) How do
differences in candidate optimization principles impact on the predicted map
structure and conversely what can be learned about an hypothetical underlying
optimization principle from observations on map structure? iii) Is there a way
to analyze the coordinated organization of cortical maps predicted by
optimization principles in general? To answer these questions we developed a
general dynamical systems approach to the combined optimization of visual
cortical maps of OP and another scalar feature such as OD or spatial frequency
preference.Comment: 90 pages, 16 figure
Towards dynamical network biomarkers in neuromodulation of episodic migraine
Computational methods have complemented experimental and clinical
neursciences and led to improvements in our understanding of the nervous
systems in health and disease. In parallel, neuromodulation in form of electric
and magnetic stimulation is gaining increasing acceptance in chronic and
intractable diseases. In this paper, we firstly explore the relevant state of
the art in fusion of both developments towards translational computational
neuroscience. Then, we propose a strategy to employ the new theoretical concept
of dynamical network biomarkers (DNB) in episodic manifestations of chronic
disorders. In particular, as a first example, we introduce the use of
computational models in migraine and illustrate on the basis of this example
the potential of DNB as early-warning signals for neuromodulation in episodic
migraine.Comment: 13 pages, 5 figure
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