In this paper, the application of monocular Visual Odometry (VO) solutions for underground train stopping operation are explored. In order to analyze if the application of monocular VO solutions in challenging environments as underground railway scenarios is viable, different VO architectures are selected. For that, the state of the art of deep learning based VO approaches is analyzed. Four categories can be defined in the VO approaches defined in the last few years: (1) supervised pure deep learning based solutions; (2) solutions combining geometric features and deep learning; (3) solutions combining inertial sensors and deep learning; and (4) unsupervised deep learning solutions. A dataset composed of underground train stop operations was also created, where the ground truth is labeled according to the onboard unit SIL-4 ERTMS/ETCS odometry data. The dataset was recorded by using a camera installed in front of the train. Preliminary experimental results demonstrate that deep learning based VO solutions are applicable in underground train stop operations.
The purpose of this paper is to explore the use of fully convolutional neural networks (FCN) to perform a semantic segmentation of deflectometric recordings for quality control of reflective surfaces. The proposed method relies on a U-net network to identify the location and boundaries of the object and the possible defective areas present on it by performing a pixel-wise classification based on local curvatures and data modulation. Experiments were performed on a real industrial problem using four variations of the architecture. The results demonstrate that the method combining geometric and photometric information enables the identification of a wider variety of shape and texture imperfections, with the resulting segmentations closely correlated with the visual impact of the defects. In addition, several suggestions are presented for near-term industrial utilization.
The purpose of this paper is to explore the use of Fully Convolutional Neural Networks (FCN) to perform a semantic segmentation of deflectometric recordings for quality control of reflective surfaces. The proposed method relies on a U-Net network to identify the location and boundaries of the object, and the possible defective areas present, by performing a pixel-wise classification based on local curvatures and data modulation. Experiments performed on a real industrial problem demonstrate that the combination of geometric and photometric information enables the identification of a wider variety of shape and texture imperfections, with predictions closely correlated with the visual impact of the defects. The research also highlights the relevance of the labeling process and human inspection limits, and suggestions are presented for a near-term industrial utilization.
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