从自然界中动物的正常生存到工业中机器的安全运作,碰撞感知能力始终至关重要.受蝗虫视觉神经元LGMD(Lobula Giant Movement Detector)的启发,许多仿生的计算模型已经被用于实时可靠的碰撞感知.然而,受限于二维单目的输入信号,目前的方...从自然界中动物的正常生存到工业中机器的安全运作,碰撞感知能力始终至关重要.受蝗虫视觉神经元LGMD(Lobula Giant Movement Detector)的启发,许多仿生的计算模型已经被用于实时可靠的碰撞感知.然而,受限于二维单目的输入信号,目前的方法难以捕捉运动目标的深度特征,进而无法满足在复杂的真实动态场景下进行迫近感知的需求.因此,本研究提出一种融合生物似然性运动通路和视差通路的三维迫近感知模型.在突触前神经网络,通过对2种视觉通路从时空维度上进行实时神经信号整合,所提出的模型不仅能够有效排除大范围的背景杂波干扰,而且可以明显抑制前景非迫近运动所产生的视觉刺激,降低了对突然出现在感受野目标的关注度,进一步提高在未知现实环境中对迫近运动的选择.真实场景数据集的离线测试,以及在线机器人测试的实验结果显示,与目前最先进的方法相比,我们的模型在时间复杂度降低了一个数量级的前提下,准确率提升至96.09%,且能够协助移动机器人在自主导航时实时稳健检测,避免潜在的碰撞威胁.研究综合揭示出迫近感知神经网络对于运动通路的高效性以及视差通路的可靠性,具备显著的协同能力.展开更多
The evolutionary trend of organisms, which often evolved from a simpler structure to a more complex structure, is a mystery. It seems that the later living things appeared on the earth, the more complex their structur...The evolutionary trend of organisms, which often evolved from a simpler structure to a more complex structure, is a mystery. It seems that the later living things appeared on the earth, the more complex their structures were. This study pointed out that the evolutionary trend of organisms was the result of the organisms＇ asymmetric evolution-the phenomenon which the partition of the more complex structure was actually larger than that of the simpler structure on the same evolutionary platform of organisms, it explained the cause of the asymmetric evolution and listed much important evidence for organisms＇ asymmetric evolution.展开更多
文摘从自然界中动物的正常生存到工业中机器的安全运作,碰撞感知能力始终至关重要.受蝗虫视觉神经元LGMD(Lobula Giant Movement Detector)的启发,许多仿生的计算模型已经被用于实时可靠的碰撞感知.然而,受限于二维单目的输入信号,目前的方法难以捕捉运动目标的深度特征,进而无法满足在复杂的真实动态场景下进行迫近感知的需求.因此,本研究提出一种融合生物似然性运动通路和视差通路的三维迫近感知模型.在突触前神经网络,通过对2种视觉通路从时空维度上进行实时神经信号整合,所提出的模型不仅能够有效排除大范围的背景杂波干扰,而且可以明显抑制前景非迫近运动所产生的视觉刺激,降低了对突然出现在感受野目标的关注度,进一步提高在未知现实环境中对迫近运动的选择.真实场景数据集的离线测试,以及在线机器人测试的实验结果显示,与目前最先进的方法相比,我们的模型在时间复杂度降低了一个数量级的前提下,准确率提升至96.09%,且能够协助移动机器人在自主导航时实时稳健检测,避免潜在的碰撞威胁.研究综合揭示出迫近感知神经网络对于运动通路的高效性以及视差通路的可靠性,具备显著的协同能力.
基金Supported by Science Foundation of Chuxiong Normal University(06YJRC19)National Natural Science Foundation of China(30760040)And Key Subject Construction of Chuxiong NormalUniversity(05YJJSXK03)~~
文摘The evolutionary trend of organisms, which often evolved from a simpler structure to a more complex structure, is a mystery. It seems that the later living things appeared on the earth, the more complex their structures were. This study pointed out that the evolutionary trend of organisms was the result of the organisms＇ asymmetric evolution-the phenomenon which the partition of the more complex structure was actually larger than that of the simpler structure on the same evolutionary platform of organisms, it explained the cause of the asymmetric evolution and listed much important evidence for organisms＇ asymmetric evolution.
