General-Purpose Deep Learning Detection and Segmentation Models for Images from a Lidar-Based Camera Sensor.

Over the last decade, robotic perception algorithms have significantly benefited from the rapid advances in deep learning (DL). Indeed, a significant amount of the autonomy stack of different commercial and research platforms relies on DL for situational awareness, especially vision sensors. This work explored the potential of general-purpose DL perception algorithms, specifically detection and segmentation neural networks, for processing image-like outputs of advanced lidar sensors. Rather than processing the three-dimensional point cloud data, this is, to the best of our knowledge, the first work to focus on low-resolution images with a 360° field of view obtained with lidar sensors by encoding either depth, reflectivity, or near-infrared light in the image pixels. We showed that with adequate preprocessing, general-purpose DL models can process these images, opening the door to their usage in environmental conditions where vision sensors present inherent limitations. We provided both a qualitative and quantitative analysis of the performance of a variety of neural network architectures. We believe that using DL models built for visual cameras offers significant advantages due to their much wider availability and maturity compared to point cloud-based perception.

Exploiting redundancy for UWB anomaly detection in infrastructure-free multi-robot relative localization.

Ultra-wideband (UWB) localization methods have emerged as a cost-effective and accurate solution for GNSS-denied environments. There is a significant amount of previous research in terms of resilience of UWB ranging, with non-line-of-sight and multipath detection methods. However, little attention has been paid to resilience against disturbances in relative localization systems involving multiple nodes. This paper presents an approach to detecting range anomalies in UWB ranging measurements from the perspective of multi-robot cooperative localization. We introduce an approach to exploiting redundancy for relative localization in multi-robot systems, where the position of each node is calculated using different subsets of available data. This enables us to effectively identify nodes that present ranging anomalies and eliminate their effect within the cooperative localization scheme. We analyze anomalies created by timing errors in the ranging process, e.g., owing to malfunctioning hardware. However, our method is generic and can be extended to other types of ranging anomalies. Our approach results in a more resilient cooperative localization framework with a negligible impact in terms of the computational workload.

Stockwell transform and semi-supervised feature selection from deep features for classification of BCI signals.

Over the past few years, the processing of motor imagery (MI) electroencephalography (EEG) signals has been attracted for developing brain-computer interface (BCI) applications, since feature extraction and classification of these signals are extremely difficult due to the inherent complexity and tendency to artifact properties of them. The BCI systems can provide a direct interaction pathway/channel between the brain and a peripheral device, hence the MI EEG-based BCI systems seem crucial to control external devices for patients suffering from motor disabilities. The current study presents a semi-supervised model based on three-stage feature extraction and machine learning algorithms for MI EEG signal classification in order to improve the classification accuracy with smaller number of deep features for distinguishing right- and left-hand MI tasks. Stockwell transform is employed at the first phase of the proposed feature extraction method to generate two-dimensional time-frequency maps (TFMs) from one-dimensional EEG signals. Next, the convolutional neural network (CNN) is applied to find deep feature sets from TFMs. Then, the semi-supervised discriminant analysis (SDA) is utilized to minimize the number of descriptors. Finally, the performance of five classifiers, including support vector machine, discriminant analysis, k-nearest neighbor, decision tree, random forest, and the fusion of them are compared. The hyperparameters of SDA and mentioned classifiers are optimized by Bayesian optimization to maximize the accuracy. The presented model is validated using BCI competition II dataset III and BCI competition IV dataset 2b. The performance metrics of the proposed method indicate its efficiency for classifying MI EEG signals.