Visual Servoing from Deep Neural Networks

We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a single real-world image of the scene. A convolutional neural network is fine-tuned using this dataset to estimate the relative pose between two images of the same scene. The output of the network is then employed in a visual servoing control scheme. The method converges robustly even in difficult real-world settings with strong lighting variations and occlusions.A positioning error of less than one millimeter is obtained in experiments with a 6 DOF robot.Comment: fixed authors lis

Automated Classification of Stellar Spectra. II: Two-Dimensional Classification with Neural Networks and Principal Components Analysis

We investigate the application of neural networks to the automation of MK spectral classification. The data set for this project consists of a set of over 5000 optical (3800-5200 AA) spectra obtained from objective prism plates from the Michigan Spectral Survey. These spectra, along with their two-dimensional MK classifications listed in the Michigan Henry Draper Catalogue, were used to develop supervised neural network classifiers. We show that neural networks can give accurate spectral type classifications (sig_68 = 0.82 subtypes, sig_rms = 1.09 subtypes) across the full range of spectral types present in the data set (B2-M7). We show also that the networks yield correct luminosity classes for over 95% of both dwarfs and giants with a high degree of confidence. Stellar spectra generally contain a large amount of redundant information. We investigate the application of Principal Components Analysis (PCA) to the optimal compression of spectra. We show that PCA can compress the spectra by a factor of over 30 while retaining essentially all of the useful information in the data set. Furthermore, it is shown that this compression optimally removes noise and can be used to identify unusual spectra.Comment: To appear in MNRAS. 15 pages, 17 figures, 7 tables. 2 large figures (nos. 4 and 15) are supplied as separate GIF files. The complete paper can be obtained as a single gziped PS file from http://wol.ra.phy.cam.ac.uk/calj/p1.htm

Spatiotemporal Sparse Bayesian Learning with Applications to Compressed Sensing of Multichannel Physiological Signals

Energy consumption is an important issue in continuous wireless telemonitoring of physiological signals. Compressed sensing (CS) is a promising framework to address it, due to its energy-efficient data compression procedure. However, most CS algorithms have difficulty in data recovery due to non-sparsity characteristic of many physiological signals. Block sparse Bayesian learning (BSBL) is an effective approach to recover such signals with satisfactory recovery quality. However, it is time-consuming in recovering multichannel signals, since its computational load almost linearly increases with the number of channels. This work proposes a spatiotemporal sparse Bayesian learning algorithm to recover multichannel signals simultaneously. It not only exploits temporal correlation within each channel signal, but also exploits inter-channel correlation among different channel signals. Furthermore, its computational load is not significantly affected by the number of channels. The proposed algorithm was applied to brain computer interface (BCI) and EEG-based driver's drowsiness estimation. Results showed that the algorithm had both better recovery performance and much higher speed than BSBL. Particularly, the proposed algorithm ensured that the BCI classification and the drowsiness estimation had little degradation even when data were compressed by 80%, making it very suitable for continuous wireless telemonitoring of multichannel signals.Comment: Codes are available at: https://sites.google.com/site/researchbyzhang/stsb