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Camera pose estimation plays a crucial role in tasks such as autonomous driving and robotics, elucidating the direction and position of the camera in relation to a given scene through the estimation of its positional coordinates and angular deviations around the three coordinate axes. To facilitate the understanding of researchers in the realm of camera pose estimation, this paper comprehensively reviewed the current research status and latest progress in this field will. Firstly, it introduced the fundamental principles, evaluation indicators, and pertinent datasets associated with camera pose estimation. Subsequently, the review elaborated and summarized the two-stage model structure method and single-channel model structure method from the two key technologies of scene relationship construction and camera pose calculation. It conducted classification and analysis based on the diverse core algorithms and scene information employed, with performance comparisons drawn from indoor and outdoor public datasets. Lastly, it expounded the current challenges in the field and future development trends. [ABSTRACT FROM AUTHOR]

Continual learning, as a special machine learning paradigm that continuously learns new tasks in non-stationary data streams and can maintain the performance of old tasks, is a hot research topic in fields such as visual computing and autonomous robotics, but at this stage, the catastrophic forgetting problem is still a great challenge for continuous learning. This paper conducted a review study on the catastrophic forgetting problem of continual learning, analyzed the mechanism of catastrophic forgetting problem mitigation and explored the catastrophic forgetting problem solving strategies at three levels, included regularization strategy, replay strategy, dynamic architecture strategy and joint strategy, in terms of model parameters, training data and network architecture. According to the existing literature, this paper condensed the evaluation index of the catastrophic forgetting method and compared the performance of solving strategies for different catastrophic forgetting problems. Finally, it pointed out the future research direction of continual learning, to provide references for the study of continuous learning catastrophic forgetting problems. [ABSTRACT FROM AUTHOR]

Aiming at the problem that the local path planning algorithm is only applicable to single-vehicle robots, this paper proposed a dynamic window algorithm for trailer-type mobile robots. Firstly, it used the equation of multi-vehicle structure to realize the motion control of the trailer mobile robot. Then, it used the evaluation function to evaluate both the tractor and the trailer and add them according to the weights. Finally, for the structural characteristics of the trailer, it added the angle constraint between the tractor and the trailer during the movement to ensure the stability of the motion track. The simulation experiments show that the motion control of the trailer-type mobile robot can satisfy the convergence. At the same time, the proposed algorithm realized the task of the local path planning of the trailer-type mobile robot, and the variation of the angle was beyond the limit during the motion. This research has great reference value for the autonomous navigation of trailer-type mobile robots. [ABSTRACT FROM AUTHOR]

This paper proposed an uncalibrated 3 D robotic arm grabbing method based on improved YOL0v2 in a multi-object environment. Firstly, in order to reduce the depth learning algorithm YOL0v2 detection multi-obj ect bounding box overlapping rate and 3D distance calculation error, it proposed an improved algorithm for YOL0v2. It used this algorithm to detect and identify the target object in the image, obtained the pos ition information of the target object in the RGB image, and then used the K-means + + clustering algorithm to quickly calculate the distance from the target object to the camera according to the depth image information, and estimate the target object size and pose. Simultaneously, it used the improved YOL0v2 to get the bounding box of the gripper and calculated the distance from the robot to the target object. Then the system estimated the distance between the fixture, camera and obj ect in the manipulator coordinate system. Finally, the system used the PID algorithm to control the gripper to grab the object according to the size and posture of the object and the distance from the object to the gripper. The detected boundary boxes of the target obj ect was more accurate based on the improved YOL0v2 than on old one. It also enhanced the distance from the fixture to the object and the size of the object as well as the accuracy of the pose estimation. In addition, in order to avoid complicated calibration, this paper proposed a non-calibration method. The learning scheme was different from the traditional uncalibrated estimation method based on Jacobian matrix, because it had good universality. A simulation experiment shows that the proposed method can accurately classify and locate the objects in the image. The Universal Robot 3 robotic arm uses this framework to verify the effectiveness of capturing objects in a cluttered environment. [ABSTRACT FROM AUTHOR]

In order to solve the problems of warehousing mobile robots autonomous navigation in full dynamic environment, this paper established a mathematical model of robots and dynamic obstacles, designed a platform of environmental awareness based on 2-dimensional lidar, and proposed an improved artificial potential field method. In the traditional artificial potential field method, it introduced the relative speed and relative acceleration to obtain an improved artificial potential field model, which could realize the autonomous movement of the robot in full dynamic environment. It verifies that the improved artificial potential field method is used to plan path, which can effectively avoid the dynamic obstacles and track the dynamic target, and the movement path is smooth. [ABSTRACT FROM AUTHOR]

This paper described the current work of designing a virtual laboratory of coordinate transformation in robotics, which was based on Qt and Ogre3D. It was a drive to cater the requirement of robotics learning and laboratory learning. At the stage of robotics virtual laboratory, the coordinate transformation was focused. It adopted a step and step fashion to show the relationship of Euler-angle, RPY angle, axis/angle, unit quaternion and homogeneous transformation matrix and the space meaning of DH parameter by virtual technologies. Numerical computation along with virtual display provided a detailed illustration of the concept. It detailed described the usage of virtual experiments. To judge the effectiveness of virtual experiments, it arranged a teaching experiment. The experiment result shows that virtual experiments can make the teaching process more reasonable and are bound to play an important role in robotics learning. [ABSTRACT FROM AUTHOR]

Aimed at two different structures configuration of modular manipulator,this paper completed the quantitative comparison analysis of its workspace. Firstly,it derived the kinematics model by using the DH method. Secondly,it built the simulation platform of two different conformation arm based on the robotics toolbox in MATLAB,then solved the workspace of the two arm configuration by applying Monte Carlo method and acquired the point cloud of its workspace by using visual approach. Thirdly,it plotted the 3D workspace of two arm configuration by means of combining computer-aided design software,then analyzed and handled the workspace of two arm configuration quantitatively using SLI index. Lastly,it analyzed the advantages and disadvantages of the two arm configurations by comparing the point cloud of the workspace,the 3D solid workspace and the SLI performance index of two arm configurations,it lays a foundation for subsequent optimization of structure parameters and spatial flexibility research of modular manipulator. [ABSTRACT FROM AUTHOR]

A variety of heterogeneous electronic equipment were difficult to integrated with each other in intelligent home system, this paper adopted a universal plug and play standard to integrate the service robot into the intelligent home system, emphatically introduces the new derivative service. Firstly, it introduced the details of UPnP standard and service robot Rovio. Then, it developed a PC application program as the virtual bridge between the service robot and intelligent home network, and formed a control circuit to control the service robot to provide service for intelligent home system. Finally, it used some practical operation to test the performance of the UPnP Rovio virtual bridge, and demonstrate the possibility of the integration between service robot and intelligent home network by the practical services, such as path tracking, rubbish monitoring and so on, especially, the advanced services show that the huge potential benefits are expected. [ABSTRACT FROM AUTHOR]

This paper presented a production line splicing flexibility technology based on robot 3D simulation technology scheme and set up a robot load boundary model after analyzed the difficulties of the flexible welding line solution. According to the design demand of grid-style flexible fixture from the robot load, it set up the robot selection and quick change device selection scheme based on load boundary model. It presented the design method for flexible grid-style fixture and set up the corresponding scheme and test and stress analysis of grid-style assembly with white body flexible welding production line for example. It researched the off-line programming technology oriented flexible splicing and analyzed the project authorization management and workstation simulation workflow in 3D simulation of robot. It validated the scheme in welding production line in the project production line of the two models ( NL-1 &NL-2 ) in an automobile factory and meet the demand that the two vehicle production line splicing flexibility. [ABSTRACT FROM AUTHOR]

In view of the shortcoming of the old man fall detection based on threshold algorithm and detection method based video is easy to leak privacy, this paper proposed a decision analysis fall detection algorithm based on statistics. The algorithm extracted the behavior of the characteristic value and established the characteristic vector space mainly through the experiment, then used the sampling values and behavior characteristics of space distance to determine whether the behavior matched the falling value of the state space. At the same time, the algorithm introduced the idea of intelligent robot as auxiliary detection. Finally, through the experiment shows that the algorithm has good robustness. [ABSTRACT FROM AUTHOR]