Abstract: Since the vision system application in industrial environment for autonomous purposes is required intensely, the image recognition technique becomes an important research topic. Here, deep learning algorithm is employed in image system to recognize the industrial object and integrate with a 7A6 Series Manipulator for object automatic gripping task. PC and Graphic Processing Unit (GPU) are chosen to construct the 3D Vision Recognition System. Depth Camera (Intel RealSense SR300) is employed to extract the image for object recognition and coordinate derivation. The YOLOv2 scheme is adopted in Convolution neural network (CNN) structure for object classification and center point prediction. Additionally, image processing strategy is used to find the object contour for calculating the object orientation angle. Then, the specified object location and orientation information are sent to robotic controller. Finally, a six-axis manipulator can grasp the specific object in a random environment based on the user command and the extracted image information. The experimental results show that YOLOv2 has been successfully employed to detect the object location and category with confidence near 0.9 and 3D position error less than 0.4 mm. It is useful for future intelligent robotic application in industrial 4.0 environment.
Abstract: Convolutional Neural Networks (CNN) have
demonstrated their effectiveness in synthesizing 3D views of object
instances at various viewpoints. Given the problem where one
have limited viewpoints of a particular object for classification, we
present a pose normalization architecture to transform the object to
existing viewpoints in the training dataset before classification to
yield better classification performance. We have demonstrated that
this Pose Normalization Network (PNN) can capture the style of
the target object and is able to re-render it to a desired viewpoint.
Moreover, we have shown that the PNN improves the classification
result for the 3D chairs dataset and ShapeNet airplanes dataset
when given only images at limited viewpoint, as compared to a
CNN baseline.
Abstract: Hyperspectral imagery (HSI) typically provides a
wealth of information captured in a wide range of the
electromagnetic spectrum for each pixel in the image. Hence, a
pixel in HSI is a high-dimensional vector of intensities with a
large spectral range and a high spectral resolution. Therefore, the
semantic interpretation is a challenging task of HSI analysis. We
focused in this paper on object classification as HSI semantic
interpretation. However, HSI classification still faces some issues,
among which are the following: The spatial variability of spectral
signatures, the high number of spectral bands, and the high cost
of true sample labeling. Therefore, the high number of spectral
bands and the low number of training samples pose the problem of
the curse of dimensionality. In order to resolve this problem, we
propose to introduce the process of dimensionality reduction trying
to improve the classification of HSI. The presented approach is a
semi-supervised band selection method based on spatial hypergraph
embedding model to represent higher order relationships with
different weights of the spatial neighbors corresponding to the
centroid of pixel. This semi-supervised band selection has been
developed to select useful bands for object classification. The
presented approach is evaluated on AVIRIS and ROSIS HSIs
and compared to other dimensionality reduction methods. The
experimental results demonstrate the efficacy of our approach
compared to many existing dimensionality reduction methods for
HSI classification.