Artificial Intelligence and Robotics Commons^™

Representation Learning For Chemical Activity Predictions, Mohamed S. Ayed

Dissertations, Theses, and Capstone Projects

Computational prediction of a phenotypic response upon the chemical perturbation on a biological system plays an important role in drug discovery and many other applications. Chemical fingerprints derived from chemical structures are a widely used feature to build machine learning models. However, the fingerprints ignore the biological context, thus, they suffer from several problems such as the activity cliff and curse of dimensionality. Fundamentally, the chemical modulation of biological activities is a multi-scale process. It is the genome-wide chemical-target interactions that modulate chemical phenotypic responses. Thus, the genome-scale chemical-target interaction profile will more directly correlate with in vitro and in …

Enhancing 3d Visual Odometry With Single-Camera Stereo Omnidirectional Systems, Carlos A. Jaramillo

Dissertations, Theses, and Capstone Projects

We explore low-cost solutions for efficiently improving the 3D pose estimation problem of a single camera moving in an unfamiliar environment. The visual odometry (VO) task -- as it is called when using computer vision to estimate egomotion -- is of particular interest to mobile robots as well as humans with visual impairments. The payload capacity of small robots like micro-aerial vehicles (drones) requires the use of portable perception equipment, which is constrained by size, weight, energy consumption, and processing power. Using a single camera as the passive sensor for the VO task satisfies these requirements, and it motivates the …

Vision-Based Assistive Indoor Localization, Feng Hu

Dissertations, Theses, and Capstone Projects

An indoor localization system is of significant importance to the visually impaired in their daily lives by helping them localize themselves and further navigate an indoor environment. In this thesis, a vision-based indoor localization solution is proposed and studied with algorithms and their implementations by maximizing the usage of the visual information surrounding the users for an optimal localization from multiple stages. The contributions of the work include the following: (1) Novel combinations of a daily-used smart phone with a low-cost lens (GoPano) are used to provide an economic, portable, and robust indoor localization service for visually impaired people. (2) …

2d Vector Map And Database Design For Indoor Assisted Navigation, Luciano Caraciolo Albuquerque

Dissertations and Theses

In this paper we implemented a 2D Vector Map, map editor and Database design intended to provide an efficient way to convert cad files from indoor environments to a set of vectors representing hallways, doors, exits, elevators, and other entities embedded in a floor plan, and save them in a database for use by other applications, such as assisted navigation for blind people.

A graphical application as developed in C++ to allow the user to input a CAD DXF file, process the file to automatically obtain nodes and edges, and save the nodes and edges to a database for posterior …