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Efficient and robust 3D object reconstruction based on monocular SLAM and CNN semantic segmentation
(2019)
Various applications implement slam technology, especially in the field of robot navigation. We show the advantage of slam technology for independent 3d object reconstruction. To receive a point cloud of every object of interest void of its environment, we leverage deep learning. We utilize recent cnn deep learning research for accurate semantic segmentation of objects. In this work, we propose two fusion methods for cnn-based semantic segmentation and slam for the 3d reconstruction of objects of interest in order to obtain a more robustness and efficiency. As a major novelty, we introduce a cnn-based masking to focus slam only on feature points belonging to every single object. Noisy, complex or even non-rigid features in the background are filtered out, improving the estimation of the camera pose and the 3d point cloud of each object. Our experiments are constrained to the reconstruction of industrial objects. We present an analysis of the accuracy and performance of each method and compare the two methods describing their pros and cons.
3D assisted 2D face recognition involves the process of reconstructing 3D faces from 2D images and solving the problem of face recognition in 3D. To facilitate the use of deep neural networks, a 3D face, normally represented as a 3D mesh of vertices and its corresponding surface texture, is remapped to image-like square isomaps by a conformal mapping. Based on previous work, we assume that face recognition benefits more from texture. In this work, we focus on the surface texture and its discriminatory information content for recognition purposes. Our approach is to prepare a 3D mesh, the corresponding surface texture and the original 2D image as triple input for the recognition network, to show that 3D data is useful for face recognition. Texture enhancement methods to control the texture fusion process are introduced and we adapt data augmentation methods. Our results show that texture-map-based face recognition can not only compete with state-of-the-art systems under the same precon ditions but also outperforms standard 2D methods from recent years.
”I have never seen one who loves virtue as much as he loves beauty,” Confucius once said. If beauty is more important as goodness, it becomes clear why people invest so much effort in their first impression. The aesthetic of faces has many aspects and there is a strong correlation to all characteristics of humans, like age and gender. Often, research on aesthetics by social and ethic scientists lacks sufficient labelled data and the support of machine vision tools. In this position paper we propose the Aesthetic-Faces dataset, containing training data which is labelled by Chinese and German annotators. As a combination of three image subsets, the AF-dataset consists of European, Asian and African people. The research communities in machine learning, aesthetics and social ethics can benefit from our dataset and our toolbox. The toolbox provides many functions for machine learning with state-of-the-art CNNs and an Extreme-Gradient-Boosting regressor, but also 3D Morphable Model technolo gies for face shape evaluation and we discuss how to train an aesthetic estimator considering culture and ethics.
Deep learning-based fabric defect detection methods have been widely investigated to improve production efficiency and product quality. Although deep learning-based methods have proved to be powerful tools for classification and segmentation, some key issues remain to be addressed when applied to real applications. Firstly, the actual fabric production conditions of factories necessitate higher real-time performance of methods. Moreover, fabric defects as abnormal samples are very rare compared with normal samples, which results in data imbalance. It makes model training based on deep learning challenging. To solve these problems, an extremely efficient convolutional neural network, Mobile-Unet, is proposed to achieve the end-to-end defect segmentation. The median frequency balancing loss function is used to overcome the challenge of sample imbalance. Additionally, Mobile-Unet introduces depth-wise separable convolution, which dramatically reduces the complexity cost and model size of the network. It comprises two parts: encoder and decoder. The MobileNetV2 feature extractor is used as the encoder, and then five deconvolution layers are added as the decoder. Finally, the softmax layer is used to generate the segmentation mask. The performance of the proposed model has been evaluated by public fabric datasets and self-built fabric datasets. In comparison with other methods, the experimental results demonstrate that segmentation accuracy and detection speed in the proposed method achieve state-of-the-art performance.
With the continuous development of economy, consumers pay more attention to the demand for personalization clothing. However, the recommendation quality of the existing clothing recommendation system is not enough to meet the user’s needs. When browsing online clothing, facial expression is the salient information to understand the user’s preference. In this paper, we propose a novel method to automatically personalize clothing recommendation based on user emotional analysis. Firstly, the facial expression is classified by multiclass SVM. Next, the user’s multi-interest value is calculated using expression intensity that is obtained by hybrid RCNN. Finally, the multi-interest value is fused to carry out personalized recommendation. The experimental results show that the proposed method achieves a significant improvement over other algorithms.
Annotations of character IDs in news images are critical as ground truth for news retrieval and recommendation system. Universality and accuracy optimization of deep neural network models constitutes the key technology to improve the precision and computing efficiency of automatic news character identification, which is attracting increased attention globally. This paper explores the optimized deep neural network model for automatic focus personage identification in multi-lingual news. First, the face model of the focus personage is trained by using the corresponding face images from German news as positive samples. Next, the scheme of Recurrent Convolutional Neural Network (RCNN) + Bi-directional Long-Short Term Memory (Bi-LSTM) + Conditional Random Field (CRF) is utilized to label the focus name, and the RCNN-RCNN encoder–decoder is applied to translate names of people into multiple languages. Third, face features are described by combining the advantages of Local Gabor Binary Pattern Histogram Sequence (LGBPHS) and RCNN, and iterative quantization (ITQ) is used to binarize codes. Finally, a name semantic network is built for different domains. Experiments are performed on a dataset which comprises approximately 100,000 news images. The experimental results demonstrate that the proposed method achieves a significant improvement over other algorithms.
This paper presents a permanent magnet tubular linear generator system for powering passive sensors using vertical vibration harvesting energy. The system consists of a permanent magnet tubular linear vibration generator and electric circuits. By using the design of mechanical resonant movers, the generator is capable of converting low frequencies small amplitude vertical vibration energy into more regular sinusoidal electrical energy. The distribution of the magnetic field and electromotive force are calculated by Finite Element Analysis. The characteristics of the linear vibration generator system are observed. The experimental results show the generator can produce about 0.4W~1.6W electrical power when the vibration source's amplitude is fixed on 2mm and the frequencies are between 13Hz and 22Hz.
Deep learning-based EEG detection of mental alertness states from drivers under ethical aspects
(2021)
One of the most critical factors for a successful road trip is a high degree of alertness while driving. Even a split second of inattention or sleepiness in a crucial moment, will make the difference between life and death. Several prestigious car manufacturers are currently pursuing the aim of automated drowsiness identification to resolve this problem. The path between neuro-scientific research in connection with artificial intelligence and the preservation of the dignity of human individual’s and its inviolability, is very narrow. The key contribution of this work is a system of data analysis for EEGs during a driving session, which draws on previous studies analyzing heart rate (ECG), brain waves (EEG), and eye function (EOG). The gathered data is hereby treated as sensitive as possible, taking ethical regulations into consideration. Obtaining evaluable signs of evolving exhaustion includes techniques that obtain sleeping stage frequencies, problematic are hereby the correlated interference’s in the signal. This research focuses on a processing chain for EEG band splitting that involves band-pass filtering, principal component analysis (PCA), independent component analysis (ICA) with automatic artefact severance, and fast fourier transformation (FFT). The classification is based on a step-by-step adaptive deep learning analysis that detects theta rhythms as a drowsiness predictor in the pre-processed data. It was possible to obtain an offline detection rate of 89% and an online detection rate of 73%. The method is linked to the simulated driving scenario for which it was developed. This leaves space for more optimization on laboratory methods and data collection during wakefulness-dependent operations.
For collision and obstacle avoidance as well as trajectory planning, robots usually generate and use a simple 2D costmap without any semantic information about the detected obstacles. Thus a robot’s path planning will simply adhere to an arbitrarily large safety margin around obstacles. A more optimal approach is to adjust this safety margin according to the class of an obstacle. For class prediction, an image processing convolutional neural network can be trained. One of the problems in the development and training of any neural network is the creation of a training dataset. The first part of this work describes methods and free open source software, allowing a fast generation of annotated datasets. Our pipeline can be applied to various objects and environment settings and is extremely easy to use to anyone for synthesising training data from 3D source data. We create a fully synthetic industrial environment dataset with 10 k physically-based rendered images and annotations. Our da taset and sources are publicly available at https://github.com/LJMP/synthetic-industrial-dataset. Subsequently, we train a convolutional neural network with our dataset for costmap safety class prediction. We analyse different class combinations and show that learning the safety classes end-to-end directly with a small dataset, instead of using a class lookup table, improves the quantity and precision of the predictions.
Fault diagnosis of rolling bearings is an essential process for improving the reliability and safety of the rotating machinery. It is always a major challenge to ensure fault diag- nosis accuracy in particular under severe working conditions. In this article, a deep adversarial domain adaptation (DADA) model is proposed for rolling bearing fault diagnosis. This model con- structs an adversarial adaptation network to solve the commonly encountered problem in numerous real applications: the source domain and the target domain are inconsistent in their distribution. First, a deep stack autoencoder (DSAE) is combined with representative feature learning for dimensionality reduction, and such a combination provides an unsupervised learning method to effectively acquire fault features. Meanwhile, domain adaptation and recognition classification are implemented using a Softmax classifier to augment classification accuracy. Second, the effects of the number of hidden layers in the stack autoencoder network, the number of neurons in each hidden layer, and the hyperparameters of the proposed fault diagnosis algorithm are analyzed. Third, comprehensive analysis is performed on real data to vali- date the performance of the proposed method; the experimental results demonstrate that the new method outperforms the existing machine learning and deep learning methods, in terms of classification accuracy and generalization ability.