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基于增量式雙向主成分分析的機器人感知學習方法研究

王肖鋒,  張明路,  劉軍

王肖鋒, 張明路, 劉軍. 基于增量式雙向主成分分析的機器人感知學習方法研究[J]. 電子與信息學報, 2018, 40(3): 618-625. doi: 10.11999/JEIT170561
引用本文: 王肖鋒, 張明路, 劉軍. 基于增量式雙向主成分分析的機器人感知學習方法研究[J]. 電子與信息學報, 2018, 40(3): 618-625. doi: 10.11999/JEIT170561
WANG Xiaofeng, ZHANG Minglu, LIU Jun. Robot Perceptual Learning Method Based on Incremental Bidirectional Principal Component Analysis[J]. Journal of Electronics & Information Technology, 2018, 40(3): 618-625. doi: 10.11999/JEIT170561
Citation: WANG Xiaofeng, ZHANG Minglu, LIU Jun. Robot Perceptual Learning Method Based on Incremental Bidirectional Principal Component Analysis[J]. Journal of Electronics & Information Technology, 2018, 40(3): 618-625. doi: 10.11999/JEIT170561

基于增量式雙向主成分分析的機器人感知學習方法研究

doi: 10.11999/JEIT170561
  • 2.

    (河北工業(yè)大學機械工程學院 天津 300130)

基金項目: 

國家自然科學基金(61503119, 61473113)，天津市自然科學基金(15JCYBJC19800, 16JCZDJC30400)，天津市智能制造科技重大專項(15ZXZNGX00090)

Robot Perceptual Learning Method Based on Incremental Bidirectional Principal Component Analysis

  • 2.

    (School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China)

Funds: 

The National Natural Science Foundation of China (61503119, 61473113), The Tianjin Natural Science Foundation (15JCYBJC19800, 16JCZDJC30400), The Tianjin Intelligent Manufacturing and Technology Key Project (15ZXZNGX00090)

  • 摘要: 針對直觀協(xié)方差無關增量式主成分分析算法(CCIPCA)需要滿足零均值高斯分布的問題，該文提出含均值差向量更新的泛化CCIPCA算法(GCCIPCA)，拓展了算法的適用范圍。其次，針對機器人感知學習存在的在線增量計算及有效數(shù)據(jù)降維等問題，將GCCIPCA的增量思想引入到現(xiàn)有的雙向主成分分析算法(BDPCA)，提出基于增量式BDPCA(IBDPCA)的機器人感知學習方法。該方法直接針對圖像矩陣行列方向的類散度矩陣進行迭代估計，具有一定的泛化能力和快速的增量學習能力，提高了實時處理速度。最后，以機器人待抓取物塊作為感知對象進行實驗，結果表明所提算法能夠滿足機器人感知學習的實時處理需求，相比現(xiàn)有的增量式主成分分析算法，在收斂率、分類識別率、計算時間及所需內(nèi)存等性能方面均得到顯著提升。
    Abstract: Existing Candid Covariance-free Incremental PCA (CCIPCA) has the limitation of the stable image inherent covariance, and a Generalized CCIPCA (GCCIPCA) with an appended term of the mean difference vector is presented. It can be considered that the CCIPCA is only a special case of the GCCIPCA and can extend the scope of the algorithm. Then, the incremental learning of the proposed GCCIPCA is innovated to the existing Bi-Directional PCA (BDPCA), and the called Incremental BDPCA (IBDPCA) is used for the robot perceptual learning and it can be used to incrementally compute the principal components without estimating the similar scatter matrixes in the row and column directions, which can build up the real-time processing speed greatly. Finally, the blocks grasped by the robot are used as the perceptual objects, and the experimental results demonstrate that the proposed algorithm works well, and the convergence rate, the classification recognition rate, the computation time and the required memory are improved significantly.
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出版歷程
  • 收稿日期:  2017-06-09
  • 修回日期:  2017-10-13
  • 刊出日期:  2018-03-19

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