On-line Scene Understanding for Closed Loop Control
نویسندگان
چکیده
This paper describes a rapid on-line system able to compute the semantics of outdoor scenes using dense stereo perception. Our main focus is to aid a robot to discover collision-free routes as an alternative to explore the environment during fall-back planning (localiser failure). The general scene understanding problem is formulated in a probabilistic framework that combines machine learning with continuous convex regularisation. In order to learn distinctive scene labels, our system relies on shallow classifiers in combination with a suite of contextual features derived from depth and colour cues. The proposed system is heterogeneous taking advantage of simultaneous GPGPU and multithreaded CPU to carry out important tasks such as dense depth map estimation, multi-labelling prediction and image segmentation. Extensive experiments on the KITTI dataset support the robustness of out system to derive collisionfree local routes. An accompanied video validates the system at live execution in an outdoor experiment with a wheeled robot exploring over hundreds of metres of trajectory. Supplementary material: https://youtu.be/nvlAf4B-mFY
منابع مشابه
Dynamic Load Carrying Capacity of Mobile-Base Flexible-Link Manipulators: Feedback Linearization Control Approach
This paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (DLCC) for mobile-base flexible-link manipulators. In previously proposed methods in the literature of DLCC calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...
متن کاملControl of Flexible Link Robot using a Closed Loop Input-Shaping Approach
This paper is has addressed the Single Flexible Link Robot. The dynamical model is derived using Euler-Lagrange equation and then a proper controller is designed to suppress a vibration based-on Input-Shaping (IS) method. But, IS control method is an open loop strategy. Due to the weakness of open loop control systems, a closed loop IS control system is proposed. The achieved closed loop c...
متن کاملA Closed Loop Control of Quadratic Boost Converter Using PID Controller
This paper presents an implementation of open loop and closed loop control of Quadratic boost converter using PID controller. Quadratic boost converter consists of boost converter and fly back converter driven by a single switch. Quadratic boost converter QBC is designed especially for regulating the DC interface between various micro sources and dc-ac inverter to electricity grid. Quadratic b...
متن کامل3D Scene and Object Classification Based on Information Complexity of Depth Data
In this paper the problem of 3D scene and object classification from depth data is addressed. In contrast to high-dimensional feature-based representation, the depth data is described in a low dimensional space. In order to remedy the curse of dimensionality problem, the depth data is described by a sparse model over a learned dictionary. Exploiting the algorithmic information theory, a new def...
متن کامل