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Full-Text Articles in Physical Sciences and Mathematics
Monocular Pose Estimation For Automated Aerial Refueling Via Perspective-N-Point, James C. Lynch
Monocular Pose Estimation For Automated Aerial Refueling Via Perspective-N-Point, James C. Lynch
Theses and Dissertations
Any Automated Aerial Refueling (AAR) solution requires the quick and precise estimation of the relative position and rotation of the two aircraft involved. This is currently accomplished using stereo vision techniques augmented by Iterative Closest Point (ICP), but requires post-processing to account for environmental factors such as boom occlusion. This paper proposes a monocular solution, combining a custom-trained single-shot object detection Convolutional Neural Network (CNN) and Perspective-n-Point (PnP) estimation to calculate a pose estimate with a single image. This solution is capable of pose estimation at contact point (22m) within 7cm of error and a rate of 10Hz, regardless of …
Design And Implementation Of A Domain Specific Language For Deep Learning, Xiao Bing Huang
Design And Implementation Of A Domain Specific Language For Deep Learning, Xiao Bing Huang
Theses and Dissertations
\textit {Deep Learning} (DL) has found great success in well-diversified areas such as machine vision, speech recognition, big data analysis, and multimedia understanding recently. However, the existing state-of-the-art DL frameworks, e.g. Caffe2, Theano, TensorFlow, MxNet, Torch7, and CNTK, are programming libraries with fixed user interfaces, internal representations, and execution environments. Modifying the code of DL layers or data structure is very challenging without in-depth understanding of the underlying implementation. The optimization of the code and execution in these tools is often limited and relies on the specific DL computation graph manipulation and scheduling that lack systematic and universal strategies. Furthermore, …