6 research outputs found
Inclined Image Recognition for Aerial Mapping using Deep Learning and Tree based Models
One of the important capabilities of an unmanned aerial vehicle (UAV) is aerial mapping. Aerial mapping is an image registration problem, i.e., the problem of transforming different sets of images into one coordinate system. In image registration, the quality of the output is strongly influenced by the quality of input (i.e., images captured by the UAV). Therefore, selecting the quality of input images becomes important and one of the challenging task in aerial mapping because the ground truth in the mapping process is not given before the UAV flies. Typically, UAV takes images in sequence irrespective of its flight orientation and roll angle. These may result in the acquisition of bad quality images, possibly compromising the quality of mapping results, and increasing the computational cost of a registration process. To address these issues, we need a recognition system that is able to recognize images that are not suitable for the registration process. In this paper, we define these unsuitable images as âinclined images,â i.e., images captured by UAV that are not perpendicular to the ground. Although we can calculate the inclination angle using a gyroscope attached to the UAV, our interest here is to recognize these inclined images without the use of additional sensors in order to mimic how humans perform this task visually. To realize that, we utilize a deep learning method with the combination of tree-based models to build an inclined image recognition system. We have validated the proposed system with the images captured by the UAV. We collected 192 images and labelled them with two different levels of classes (i.e., coarse- and fine-classification). We compared this with several models and the results showed that our proposed system yielded an improvement of accuracy rate up to 3%
Childârobot relationship formation: A narrative review of empirical research
This narrative review aimed to elucidate which robot-related characteristics predict relationship formation between typically-developing children and social robots in terms of closeness and trust. Moreover, we wanted to know to what extent relationship formation can be explained by childrenâs experiential and cognitive states during interaction with a robot. We reviewed 86 journal articles and conference proceedings published between 2000 and 2017. In terms of predictors, robotsâ responsiveness and role, as well as strategic and emotional interaction between robot and child, increased closeness between the child and the robot. Findings about whether robot features predict childrenâs trust in robots were inconsistent. In terms of childrenâs experiential and cognitive states during interaction with a robot, robot characteristics and interaction styles were associated with two experiential states: engagement and enjoyment/liking. The literature hardly addressed the impact of experiential and cognitive states on closeness and trust. Comparisons of childrenâs interactions with robots, adults, and objects showed that robots are perceived as neither animate nor inanimate, and that they are entities with whom children will likely form social relationships. Younger children experienced more enjoyment, were less sensitive to a robotâs interaction style, and were more prone to anthropomorphic tendencies and effects than older children. Tailoring a robotâs sex to that of a child mainly appealed to boys
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An emotion and memory model for social robots : a long-term interaction
In this thesis, we investigate the role of emotions and memory in social robotic companions. In particular, our aim is to study the effect of an emotion and memory model towards sustaining engagement and promoting learning in a long-term interaction. Our Emotion and Memory model was based on how humans create memory under various emotional events/states. The model enabled the robot to create a memory account of user's emotional events during a long-term child-robot interaction. The robot later adapted its behaviour through employing the developed memory in the following interactions with the users. The model also had an autonomous decision-making mechanism based on reinforcement learning to select behaviour according to the user preference measured through user's engagement and learning during the task. The model was implemented on the NAO robot in two different educational setups. Firstly, to promote user's vocabulary learning and secondly, to inform how to calculate area and perimeter of regular and irregular shapes. We also conducted multiple long-term evaluations of our model with children at the primary schools to verify its impact on their social engagement and learning. Our results showed that the behaviour generated based on our model was able to sustain social engagement. Additionally, it also helped children to improve their learning. Overall, the results highlighted the benefits of incorporating memory during child-Robot Interaction for extended periods of time. It promoted personalisation and reflected towards creating a child-robot social relationship in a long-term interaction
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