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Deep Learning Based Local Path Planning Method For Moving Robots, Zesen Liu, Sheng Bi, Chuanhong Guo, Yankui Wang, Min Dong
Deep Learning Based Local Path Planning Method For Moving Robots, Zesen Liu, Sheng Bi, Chuanhong Guo, Yankui Wang, Min Dong
Journal of System Simulation
Abstract: In order to integrate visual information into the robot navigation process, improve the robot's recognition rate of various types of obstacles, and reduce the occurrence of dangerous events, a local path planning network based on two-dimensional CNN and LSTM is designed, and a local path planning approach based on deep learning is proposed. The network uses the image from camera and the global path to generate the current steering angle required for obstacle avoidance and navigation. A simulated indoor scene is built for training and validating the network. A path evaluation method that uses the total length and the …
Incremental Image Dehazing Algorithm Based On Multiple Transfer Attention, Jinyang Wei, Keping Wang, Yi Yang, Shumin Fei
Incremental Image Dehazing Algorithm Based On Multiple Transfer Attention, Jinyang Wei, Keping Wang, Yi Yang, Shumin Fei
Journal of System Simulation
Abstract: In order to improve the processing ability of the depth-neural network dehazing algorithm to the supplementary data set, and to make the network differently process the image features of different importance to improve the dehazing ability of the network, an incremental dehazing algorithm based on multiple migration of attention is proposed. The teacher's attention generation network in the form of Encoder-Decoder extracts the multiple attention of labels and haze, which is used it as the label of the characteristic migration media network to constrain the network training to form the migration media attention as close as possible to the …
Catnet: Cross-Modal Fusion For Audio-Visual Speech Recognition, Xingmei Wang, Jianchen Mi, Boquan Li, Yixu Zhao, Jiaxiang Meng
Catnet: Cross-Modal Fusion For Audio-Visual Speech Recognition, Xingmei Wang, Jianchen Mi, Boquan Li, Yixu Zhao, Jiaxiang Meng
Research Collection School Of Computing and Information Systems
Automatic speech recognition (ASR) is a typical pattern recognition technology that converts human speeches into texts. With the aid of advanced deep learning models, the performance of speech recognition is significantly improved. Especially, the emerging Audio–Visual Speech Recognition (AVSR) methods achieve satisfactory performance by combining audio-modal and visual-modal information. However, various complex environments, especially noises, limit the effectiveness of existing methods. In response to the noisy problem, in this paper, we propose a novel cross-modal audio–visual speech recognition model, named CATNet. First, we devise a cross-modal bidirectional fusion model to analyze the close relationship between audio and visual modalities. Second, …
Action Recognition Model Of Directed Attention Based On Cosine Similarity, Chen Li, Ming He, Chen Dong, Wei Li
Action Recognition Model Of Directed Attention Based On Cosine Similarity, Chen Li, Ming He, Chen Dong, Wei Li
Journal of System Simulation
Abstract: Aiming at the lack of directionality of traditional dot product attention, this paper proposes a directed attention model (DAM) based on cosine similarity. To effectively represent the direction relationship between the spatial and temporal features of video frames, the paper defines the relationship function in the attention mechanism using the cosine similarity theory, which can remove the absolute value of the relationship between features. To reduce the computational burden of the attention mechanism, the operation is decomposed from two dimensions of time and space. The computational complexity is further optimized by combining linear attention operation. The experiment is divided …