2,507 research outputs found

    Navigace mobilních robotů v neznámém prostředí s využitím měření vzdáleností

    Get PDF
    The ability of a robot to navigate itself in the environment is a crucial step towards its autonomy. Navigation as a subtask of the development of autonomous robots is the subject of this thesis, focusing on the development of a method for simultaneous localization an mapping (SLAM) of mobile robots in six degrees of freedom (DOF). As a part of this research, a platform for 3D range data acquisition based on a continuously inclined laser rangefinder was developed. This platform is presented, evaluating the measurements and also presenting the robotic equipment on which the platform can be fitted. The localization and mapping task is equal to the registration of multiple 3D images into a common frame of reference. For this purpose, a method based on the Iterative Closest Point (ICP) algorithm was developed. First, the originally implemented SLAM method is presented, focusing on the time-wise performance and the registration quality issues introduced by the implemented algorithms. In order to accelerate and improve the quality of the time-demanding 6DOF image registration, an extended method was developed. The major extension is the introduction of a factorized registration, extracting 2D representations of vertical objects called leveled maps from the 3D point sets, ensuring these representations are 3DOF invariant. The extracted representations are registered in 3DOF using ICP algorithm, allowing pre-alignment of the 3D data for the subsequent robust 6DOF ICP based registration. The extended method is presented, showing all important modifications to the original method. The developed registration method was evaluated using real 3D data acquired in different indoor environments, examining the benefits of the factorization and other extensions as well as the performance of the original ICP based method. The factorization gives promising results compared to a single phase 6DOF registration in vertically structured environments. Also, the disadvantages of the method are discussed, proposing possible solutions. Finally, the future prospects of the research are presented.Schopnost lokalizace a navigace je podmínkou autonomního provozu mobilních robotů. Předmětem této disertační práce jsou navigační metody se zaměřením na metodu pro simultánní lokalizaci a mapování (SLAM) mobilních robotů v šesti stupních volnosti (6DOF). Nedílnou součástí tohoto výzkumu byl vývoj platformy pro sběr 3D vzdálenostních dat s využitím kontinuálně naklápěného laserového řádkového scanneru. Tato platforma byla vyvinuta jako samostatný modul, aby mohla být umístěna na různé šasi mobilních robotů. Úkol lokalizace a mapování je ekvivalentní registraci více 3D obrazů do společného souřadného systému. Pro tyto účely byla vyvinuta metoda založená na algoritmu Iterative Closest Point Algorithm (ICP). Původně implementovaná verze navigační metody využívá ICP s akcelerací pomocí kd-stromů přičemž jsou zhodnoceny její kvalitativní a výkonnostní aspekty. Na základě této analýzy byly vyvinuty rozšíření původní metody založené na ICP. Jednou z hlavních modifikací je faktorizace registračního procesu, kdy tato faktorizace je založena na redukci dat: vytvoření 2D „leveled“ map (ve smyslu jednoúrovňových map) ze 3D vzdálenostních obrazů. Pro tuto redukci je technologicky i algoritmicky zajištěna invariantnost těchto map vůči třem stupňům volnosti. Tyto redukované mapy jsou registrovány pomocí ICP ve zbylých třech stupních volnosti, přičemž získaná transformace je aplikována na 3D data za účelem před-registrace 3D obrazů. Následně je provedena robustní 6DOF registrace. Rozšířená metoda je v disertační práci v popsána spolu se všemi podstatnými modifikacemi. Vyvinutá metoda byla otestována a zhodnocena s využitím skutečných 3D vzdálenostních dat naměřených v různých vnitřních prostředích. Jsou zhodnoceny přínosy faktorizace a jiných modifikací ve srovnání s původní jednofázovou 6DOF registrací, také jsou zmíněny nevýhody implementované metody a navrženy způsoby jejich řešení. Nakonec následuje návrh budoucího výzkumu a diskuse o možnostech dalšího rozvoje.

    Rethinking Spatiotemporal Feature Learning: Speed-Accuracy Trade-offs in Video Classification

    Full text link
    Despite the steady progress in video analysis led by the adoption of convolutional neural networks (CNNs), the relative improvement has been less drastic as that in 2D static image classification. Three main challenges exist including spatial (image) feature representation, temporal information representation, and model/computation complexity. It was recently shown by Carreira and Zisserman that 3D CNNs, inflated from 2D networks and pretrained on ImageNet, could be a promising way for spatial and temporal representation learning. However, as for model/computation complexity, 3D CNNs are much more expensive than 2D CNNs and prone to overfit. We seek a balance between speed and accuracy by building an effective and efficient video classification system through systematic exploration of critical network design choices. In particular, we show that it is possible to replace many of the 3D convolutions by low-cost 2D convolutions. Rather surprisingly, best result (in both speed and accuracy) is achieved when replacing the 3D convolutions at the bottom of the network, suggesting that temporal representation learning on high-level semantic features is more useful. Our conclusion generalizes to datasets with very different properties. When combined with several other cost-effective designs including separable spatial/temporal convolution and feature gating, our system results in an effective video classification system that that produces very competitive results on several action classification benchmarks (Kinetics, Something-something, UCF101 and HMDB), as well as two action detection (localization) benchmarks (JHMDB and UCF101-24).Comment: ECCV 2018 camera read

    Renormalization of Crumpled Manifolds

    Get PDF
    We consider a model of D-dimensional tethered manifold interacting by excluded volume in R^d with a single point. By use of intrinsic distance geometry, we first provide a rigorous definition of the analytic continuation of its perturbative expansion for arbitrary D, 0 < D < 2. We then construct explicitly a renormalization operation, ensuring renormalizability to all orders. This is the first example of mathematical construction and renormalization for an interacting extended object with continuous internal dimension, encompassing field theory.Comment: 10 pages (1 figure, included), harvmac, SPhT/92-15

    XNect: Real-time Multi-Person 3D Motion Capture with a Single RGB Camera

    Full text link
    We present a real-time approach for multi-person 3D motion capture at over 30 fps using a single RGB camera. It operates successfully in generic scenes which may contain occlusions by objects and by other people. Our method operates in subsequent stages. The first stage is a convolutional neural network (CNN) that estimates 2D and 3D pose features along with identity assignments for all visible joints of all individuals.We contribute a new architecture for this CNN, called SelecSLS Net, that uses novel selective long and short range skip connections to improve the information flow allowing for a drastically faster network without compromising accuracy. In the second stage, a fully connected neural network turns the possibly partial (on account of occlusion) 2Dpose and 3Dpose features for each subject into a complete 3Dpose estimate per individual. The third stage applies space-time skeletal model fitting to the predicted 2D and 3D pose per subject to further reconcile the 2D and 3D pose, and enforce temporal coherence. Our method returns the full skeletal pose in joint angles for each subject. This is a further key distinction from previous work that do not produce joint angle results of a coherent skeleton in real time for multi-person scenes. The proposed system runs on consumer hardware at a previously unseen speed of more than 30 fps given 512x320 images as input while achieving state-of-the-art accuracy, which we will demonstrate on a range of challenging real-world scenes.Comment: To appear in ACM Transactions on Graphics (SIGGRAPH) 202

    Multiple scattering of light by atoms with internal degeneracy

    Full text link
    An analytical microscopic theory for the resonant multiple scattering of light by cold atoms with arbitrary internal degeneracy is presented. It permits to calculate the average amplitude and the average intensity for one-photon states of the full transverse electromagnetic field in a dilute medium of unpolarized atoms. Special emphasis is laid upon an analysis in terms of irreducible representations of the rotation group. It allows to sum explicitly the ladder and maximally crossed diagrams, giving the average intensity in the Boltzmann approximation and the interference corrections responsible for weak localization and coherent backscattering. The exact decomposition into field modes shows that the atomic internal degeneracy contributes to the depolarization of the average intensity and suppresses the interference corrections. Static as well as dynamic quantities like the transport velocity, diffusion constants and relaxation times for all field modes and all atomic transitions are derived.Comment: Corrected minor errors. Slightly extended version of the article appeared in prin

    XNect: Real-time Multi-person 3D Human Pose Estimation with a Single RGB Camera

    No full text
    We present a real-time approach for multi-person 3D motion capture at over 30 fps using a single RGB camera. It operates in generic scenes and is robust to difficult occlusions both by other people and objects. Our method operates in subsequent stages. The first stage is a convolutional neural network (CNN) that estimates 2D and 3D pose features along with identity assignments for all visible joints of all individuals. We contribute a new architecture for this CNN, called SelecSLS Net, that uses novel selective long and short range skip connections to improve the information flow allowing for a drastically faster network without compromising accuracy. In the second stage, a fully-connected neural network turns the possibly partial (on account of occlusion) 2D pose and 3D pose features for each subject into a complete 3D pose estimate per individual. The third stage applies space-time skeletal model fitting to the predicted 2D and 3D pose per subject to further reconcile the 2D and 3D pose, and enforce temporal coherence. Our method returns the full skeletal pose in joint angles for each subject. This is a further key distinction from previous work that neither extracted global body positions nor joint angle results of a coherent skeleton in real time for multi-person scenes. The proposed system runs on consumer hardware at a previously unseen speed of more than 30 fps given 512x320 images as input while achieving state-of-the-art accuracy, which we will demonstrate on a range of challenging real-world scenes
    corecore