|Mohammad Amin Kashi|
Predicting Depth from Semantic Segmentation using Game Engine Dataset
Depth perception is fundamental for robots to understand the surrounding environment. As the view of cognitive neuroscience, visual depth perception methods are divided into three categories, namely binocular, active, and pictorial. The first two categories have been studied for decades in detail. However, research for the exploration of the third category is still in its infancy and has got momentum by the advent of deep learning methods in recent years. In cognitive neuroscience, it is known that pictorial depth perception mechanisms are dependent on the perception of seen objects. Inspired by this fact, in this thesis, we investigated the relation of perception of objects and depth estimation convolutional neural networks. For this purpose, we developed new network structures based on a simple depth estimation network that only used a single image at its input. Our proposed structures use both an image and a semantic label of the image as their input. We used semantic labels as the output of object perception. The obtained results of performance comparison between the developed network and original network showed that our novel structures can improve the performance of depth estimation by 52% of relative error of distance in the examined cases. Most of the experimental studies were carried out on synthetic datasets that were generated by game engines to isolate the performance comparison from the effect of inaccurate depth and semantic labels of non-synthetic datasets. It is shown that particular synthetic datasets may be used for training of depth networks in cases that an appropriate dataset is not available. Furthermore, we showed that in these cases, usage of semantic labels improves the robustness of the network against domain shift from synthetic training data to non-synthetic test data.
|Mohammad Amin Kashi|
Design and Implementation of an LTR Controller and Proper Motion Planner in a Small Size Soccer Robot
The Small Size Soccer League (SSL) is one of the World Cup robotics leagues. In this league, the quality of robot movement is very important. Therefore, in designing different parts of the robot, including hardware and software, factors that affect the quality of motion should be considered. In this report the design of a control system for the robot motion is elaborated. The motion control system includes a motion planner and a controller. The motion planner determines the safe route from origin to destination, and at each point the route determines the desired quality of movement. This includes the speed and acceleration of the robot. The controller also tries to move the robot according to the motion plan. In motion planning, we've used the A * search method in the visual graph for path mapping, and the trapezoidal method in velocity profile. We also used an LTR structure for the robot controller. In this structure an LQR controller is used in addition to an optimal Kalman filter, to reduce the noise of measurement in the presence of modeling uncertainties. The implementation result of such structure shows a promising performance for the closed loop robot motions.
|Omid Esrafilian, Mohammad Farahi, Mohammad Amin Mahmoudzadeh|
Design and implementation of Quadrotor and autonomous mobile target tracking based on image processing
According to the increasing importance of UAVs in lots of industries, in this thesis we describe the design and implementation procedure of a Quadrotor as a sample of these UAVs that have the ability of flight and mobile targets autonomous tracking. This thesis is the result of two and a half year persistence of this team and although in a summery, the results of the experiments and experiences will be discussed. In this procedure the electronic hardware and software of robot will be studied at first and then robot control and measuring system will be presented and discussed, then we begin the main subject by studing the embedded systems, machine vision and image processing. In the final we pursue the tracking mobile targets by Quadrotor in details.