Pose-Assisted Multi-Camera Collaboration for Active Object Tracking

Active Object Tracking (AOT) is crucial to many visionbased applications, e.g., mobile robot, intelligent surveillance. However, there are a number of challenges when deploying active tracking in complex scenarios, e.g., target is frequently occluded by obstacles. In this paper, we extend the single-camera AOT to a multi-camera setting, where cameras tracking a target in a collaborative fashion. To achieve effective collaboration among cameras, we propose a novel Pose-Assisted Multi-Camera Collaboration System, which enables a camera to cooperate with the others by sharing camera poses for active object tracking. In the system, each camera is equipped with two controllers and a switcher: The vision-based controller tracks targets based on observed images. The pose-based controller moves the camera in accordance to the poses of the other cameras. At each step, the switcher decides which action to take from the two controllers according to the visibility of the target. The experimental results demonstrate that our system outperforms all the baselines and is capable of generalizing to unseen environments. The code and demo videos are available on our website https://sites.google.com/view/pose-assistedcollaboration

CRAVES: Controlling Robotic Arm with a Vision-based Economic System

Training a robotic arm to accomplish real-world tasks has been attracting increasing attention in both academia and industry. This work discusses the role of computer vision algorithms in this field. We focus on low-cost arms on which no sensors are equipped and thus all decisions are made upon visual recognition, e.g., real-time 3D pose estimation. This requires annotating a lot of training data, which is not only time-consuming but also laborious. In this paper, we present an alternative solution, which uses a 3D model to create a large number of synthetic data, trains a vision model in this virtual domain, and applies it to real-world images after domain adaptation. To this end, we design a semi-supervised approach, which fully leverages the geometric constraints among keypoints. We apply an iterative algorithm for optimization. Without any annotations on real images, our algorithm generalizes well and produces satisfying results on 3D pose estimation, which is evaluated on two real-world datasets. We also construct a vision-based control system for task accomplishment, for which we train a reinforcement learning agent in a virtual environment and apply it to the real-world. Moreover, our approach, with merely a 3D model being required, has the potential to generalize to other types of multi-rigid-body dynamic systems.Comment: 10 pages, 6 figure

Learning Semantic-Agnostic and Spatial-Aware Representation for Generalizable Visual-Audio Navigation

Visual-audio navigation (VAN) is attracting more and more attention from the robotic community due to its broad applications, \emph{e.g.}, household robots and rescue robots. In this task, an embodied agent must search for and navigate to the sound source with egocentric visual and audio observations. However, the existing methods are limited in two aspects: 1) poor generalization to unheard sound categories; 2) sample inefficient in training. Focusing on these two problems, we propose a brain-inspired plug-and-play method to learn a semantic-agnostic and spatial-aware representation for generalizable visual-audio navigation. We meticulously design two auxiliary tasks for respectively accelerating learning representations with the above-desired characteristics. With these two auxiliary tasks, the agent learns a spatially-correlated representation of visual and audio inputs that can be applied to work on environments with novel sounds and maps. Experiment results on realistic 3D scenes (Replica and Matterport3D) demonstrate that our method achieves better generalization performance when zero-shot transferred to scenes with unseen maps and unheard sound categories

China’s 10-year progress in DC gas-insulated equipment: From basic research to industry perspective

The construction of the future energy structure of China under the 2050 carbon-neutral vision requires compact direct current (DC) gas-insulation equipment as important nodes and solutions to support electric power transmission and distribution of long-distance and large-capacity. This paper reviews China's 10-year progress in DC gas-insulated equipment. Important progresses in basic research and industry perspective are presented, with related scientific issues and technical bottlenecks being discussed. The progress in DC gas-insulated equipment worldwide (Europe, Japan, America) is also reported briefly

Surface charge accumulation of post insulator: Dominant charge transition under different conditions

Abstract An insulator surface charge may be responsible for flashover along the insulator surface. In this study, experimental investigations of post insulator surface charge are performed using a variety of voltage, gas type, and gas pressure conditions. Combining the model of surface charge transport, the dominant charge transition is revealed considering gas partial discharge. The results show that hetero‐polar charge accumulates near the high voltage electrodes on the insulator at one atmospheric pressure with an applied DC voltage ranging from −10 to −60 kV. The area ratio of the hetero‐polar charge increases from 23% to 53%. It also generates a reversed polarity of surface charges. Under −20 kV, the surface charge near the grounded electrode gradually becomes homo‐polar charges with the decrease of SF6 in 0.5 MPa SF6/N2 gas mixtures. In this case, the most dominant pathway for charge accumulation is through the insulation gas rather than the insulator. For the 20%SF6/80%N2 gas mixtures, homo‐polar charge speckles appear near the grounded plate electrode when the pressure of SF6/N2 gas mixtures decreases to 0.1 MPa. This means that the partial discharge occurs in gas side under a lower gas pressure. Refer to the presenting findings, the dominant charge transition on post insulators is provided as an important reference