PoseEstimation | Convolutional Neural Network for Real Time robot pose | Robotics library
kandi X-RAY | PoseEstimation Summary
kandi X-RAY | PoseEstimation Summary
Localization is an important issue for navigation, including, self-driving car and indoor navigation for service robots. SLAM has a good performance in indoor localization. Commonly used sensors are mainly divided into lasers or cameras. The advantage of laser SLAM is its high localization accuracy. However, the lack of image information leads to restrictions on some applications, such as finding objects. Visual SLAM relies on RGB image and depth map. It also has good localization performance. Because having RGB images makes it possible to develop more applications in the future. The disadvantage is that a large number of features extracting and matching, cause a large amount of computation. It is easily influenced by missing features, dynamic light sources, and human disturbance. Therefore, this research will focus on the pose estimation only by RGB image, without features extracting and matching. The robot pose is directly regressing by RGB image to achieve the purpose of indoor navigation. In recent years, deep learning and convolutional neural network (CNN) have achieved good results in many computer vision studies. It can train the entire neural network end-to-end and learn features from the data. There have some studies shown that it is possible to use deep learning to estimate pose by RGB images, such as PoseNet and MapNet. In this study, we use laser SLAM to collect the data, including RGB images and robot pose which is used as the training pairs required by PoseNet and MapNet. Our target is to regress the robot pose based on the current RGB image. Finally, apply this system on the real robot Turtlebot3 Waffle Pi, and combined it with path planning and speed control system which develope by ourself to achieve the goal of navigation.
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Trending Discussions on PoseEstimation
QUESTION
I am working on a Capsule Network implementation that should be customizable. I found a code that is pretty straightforward (https://towardsdatascience.com/implementing-capsule-network-in-tensorflow-11e4cca5ecae). I used the code and changed it to my needs.
However, I the code does not score the same accuracy on a test dataset (MNIST) as other implementations and the paper "Dynamic Routing between Capsules" suggest. Is there a possible mistake in the implementation of the capsule network? The code uses tf subclassing to create the CapsNet model. Heres the class of the model:
...ANSWER
Answered 2022-Feb-17 at 14:10While not having looked at your code in detail 1% difference is really not a lot when working with deep learning. The difference might be cause by a different (random) weight initialisation or slightly different gradients that lead to a different learning trajectory. Re-training the network might thus lead to slightly different results each time.
QUESTION
I have installed TensorFlow_hub from conda by doing this:
conda install -c conda-forge tensorflow-hub
However, when I try to import tensorflow_hub anywhere, I get this error;
...ANSWER
Answered 2021-Dec-20 at 07:17The environment mentioned below are worked for me
tensorflow-2.4.1
tensorflow-estimator-2.4.0
tensorflow-gpu-2.4.1
tensorflow-hub-0.12.0
Downgarde tensorflow-estimator to 2.4.0
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Install PoseEstimation
You can use PoseEstimation like any standard Python library. You will need to make sure that you have a development environment consisting of a Python distribution including header files, a compiler, pip, and git installed. Make sure that your pip, setuptools, and wheel are up to date. When using pip it is generally recommended to install packages in a virtual environment to avoid changes to the system.
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