多点路径规划matlab代码-FillFactorEstimatorForConstructionVehicles:FillFactorEst

上传者: 38500664 | 上传时间: 2022-05-05 20:53:48 | 文件大小: 80.2MB | 文件类型: ZIP
多点路径规划指标FillFactorEstimatorFor ConstructionVehicles 结果可视化 图1:容量估算和存储桶检测 图2:输入描述 提交给“用于工程车辆的填充因子估计和铲斗检测的基于神经网络的方法”论文的数据集和源代码已提交给 抽象的 铲斗填充系数对于测量工程车辆的生产率至关重要,这是一次铲斗中铲斗中装载的物料的百分比。 另外,铲斗的位置信息对于铲斗轨迹规划也是必不可少的。 已经进行了一些研究,以通过最先进的计算机视觉方法对其进行测量,但是未考虑应用系统对各种环境条件的鲁棒性。 在这项研究中,我们旨在填补这一空白,并包括六个独特的环境设置。 图像由立体相机捕获,并用于生成点云,然后再构建为3D地图。 最初提出了这种新颖的深度学习预处理管道,并且该可行性已通过本研究验证。 此外,采用多任务学习(MTL)来开发两个任务之间的正相关关系:填充因子预测和存储桶检测。 因此,经过预处理后,将3D映射转发到带有改进的残差神经网络(ResNet)的卷积神经网络(Faster R-CNN)的更快区域。 填充因子的值是通过分类和基于概率的方法获得的,这是新颖的,并且可以实现启

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