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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.
In the last 20 years there have been major advances in autonomous robotics. In IoT (Industry 4.0), mobile robots require more intuitive interaction possibilities with humans in order to expand its field of applications. This paper describes a user-friendly setup, which enables a person to lead the robot in an unknown environment. The environment has to be perceived by means of sensory input. For realizing a cost and resource efficient Follow Me application we use a single monocular camera as low-cost sensor. For efficient scaling of our Simultaneous Localization and Mapping (SLAM) algorithm, we integrate an inertial measurement unit (IMU) sensor. With the camera input we detect and track a person. We propose combining state of the art deep learning with Convolutional Neural Network (CNN) and SLAM algorithms functionality on the same input camera image. Based on the output robot navigation is possible. This work presents the specification, workflow for an efficient development of the Follow Me application. Our application’s delivered point clouds are also used for surface construction. For demonstration, we use our platform SCITOS G5 equipped with the afore mentioned sensors. Preliminary tests show the system works robustly in the wild.
We present a new method for detecting gait disorders according to their stadium using cluster methods for sensor data. 21 healthy and 18 Parkinson subjects performed the time up and go test. The time series were segmented into separate steps. For the analysis the horizontal acceleration measured by a mobile sensor system was considered. We used dynamic time warping and hierarchical custering to distinguish the stadiums. A specificity of 92% was achieved.
Digitization of societies changes the way we live, work, learn, communicate, and collaborate. In the age of digital transformation IT environments with a large number of rather small structures like Internet of Things (IoT), microservices, or mobility systems are emerging to support flexible and agile digitized products and services. Adaptable ecosystems with service oriented enterprise architectures are the foundation for self-optimizing, resilient run-time environments and distributed information systems. The resulting business disruptions affect almost all new information processes and systems in the context of digitization. Our aim are more flexible and agile transformations of both business and information technology domains with more flexible enterprise information systems through adaptation and evolution of digital enterprise architectures. The present research paper investigates mechanisms for decision-controlled digitization architectures for Internet of Things and microservices by evolving enterprise architecture reference models and state of the art elements for architectural engineering for micro-granular systems.
Digital enterprise architecture management in tourism : state of the art and future directions
(2018)
The advance of information technology impacts tourism more than many other industries, due to the service character of its products. Most offerings in tourism are immaterial in nature and challenging in coordination. Therefore, the alignment of IT and strategy and digitization is of crucial importance to enterprises in tourism. To cope with the resulting challenges, methods for the management of enterprise architectures are necessary. Therefore, we scrutinize approaches for managing enterprise architectures based on a literature research. We found many areas for future research on the use of enterprise architecture in tourism.
This paper presents a novel multi-modal CNN architecture that exploits complementary input cues in addition to sole color information. The joint model implements a mid-level fusion that allows the network to exploit cross modal interdependencies already on a medium feature-level. The benefit of the presented architecture is shown for the RGB-D image understanding task. So far, state-of-the-art RGB-D CNNs have used network weights trained on color data. In contrast, a superior initialization scheme is proposed to pre-train the depth branch of the multi-modal CNN independently. In an end-to-end training the network parameters are optimized jointly using the challenging Cityscapes dataset. In thorough experiments, the effectiveness of the proposed model is shown. Both, the RGB GoogLeNet and further RGB-D baselines are outperformed with a significant margin on two different tasks: semantic segmentation and object detection. For the latter, this paper shows how to extract object level groundtruth from the instance level annotations in Cityscapes in order to train a powerful object detector.
A 3D face modelling approach for pose-invariant face recognition in a human-robot environment
(2017)
Face analysis techniques have become a crucial component of human-machine interaction in the fields of assistive and humanoid robotics. However, the variations in head-pose that arise naturally in these environments are still a great challenge. In this paper, we present a real-time capable 3D face modelling framework for 2D in-the-wild images that is applicable for robotics. The fitting of the 3D Morphable Model is based exclusively on automatically detected landmarks. After fitting, the face can be corrected in pose and transformed back to a frontal 2D representation that is more suitable for face recognition. We conduct face recognition experiments with non-frontal images from the MUCT database and uncontrolled, in the wild images from the PaSC database, the most challenging face recognition database to date, showing an improved performance. Finally, we present our SCITOS G5 robot system, which incorporates our framework as a means of image pre-processing for face analysis.
This paper provides an introduction to the topic of enterprise social networks (ESN) and illustrates possible applications, potentials, and challenges for future research. It outlines an analysis of research papers containing a literature overview in the field of ESN. Subsequently, single relevant research papers are analysed and further research potentials derived therefrom. This yields seven promising areas for further research: (1) user behaviour; (2) effects of ESN usage; (3) management, leadership, and governance; (4) value assessment and success measurement; (5) cultural effects, (6) architecture and design of ESN; and (7) theories, research designs and methods. This paper characterises these areas and articulates further research directions.
In this paper, we propose a novel fitting method that uses local image features to fit a 3D morphable face model to 2D images. To overcome the obstacle of optimising a cost function that contains a non-differentiable feature extraction operator, we use a learning-based cascaded regression method that learns the gradient direction from data. The method allows to simultaneously solve for shape and pose parameters. Our method is thoroughly evaluated on morphable model generated data and first results on real data are presented. Compared to traditional fitting methods, which use simple raw features like pixel colour or edge maps, local features have been shown to be much more robust against variations in imaging conditions. Our approach is unique in that we are the first to use local features to fit a 3D morphable model. Because of the speed of our method, it is applicable for realtime applications. Our cascaded regression framework is available as an open source library at github.com/patrikhuber/ superviseddescent.
Flash SSDs are omnipresent as database storage. HDD replacement is seamless since Flash SSDs implement the same legacy hardware and software interfaces to enable backward compatibility. Yet, the price paid is high as backward compatibility masks the native behaviour, incurs significant complexity and decreases I/O performance, making it non-robust and unpredictable. Flash SSDs are black-boxes. Although DBMS have ample mechanisms to control hardware directly and utilize the performance potential of Flash memory, the legacy interfaces and black-box architecture of Flash devices prevent them from doing so.
In this paper we demonstrate NoFTL, an approach that enables native Flash access and integrates parts of the Flashmanagement functionality into the DBMS yielding significant performance increase and simplification of the I/O stack. NoFTL is implemented on real hardware based on the OpenSSD research platform. The contributions of this paper include: (i) a description of the NoFTL native Flash storage architecture; (ii) its integration in Shore-MT and (iii) performance evaluation of NoFTL on a real Flash SSD and on an on-line data-driven Flash emulator under TPCB, C,E and H workloads. The performance evaluation results indicate an improvement of at least 2.4x on real hardware over conventional Flash storage; as well as better utilisation of native Flash parallelism.