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基于自适应增量PCA算法的移动机器人场景识别
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浙江省教育厅科研项目(Y201431313)


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    摘要:

    现有的场景识别系统往往需要大量场景训练数据进行训练,而收集这些数据往往是困难的,且训练是离线的,添加新的场景需要重新训练,因此系统实时性、可扩展性和鲁棒性较差。提出一种基于增量主成分分析(PCA)的场景在线学习方法,通过增量PCA算法的子空间实时更新能力,并计算样本投影的PCA和设置两个判别阈值θclass、θdistance处理不同的样本情况来达到减少计算量,实现增量的在线学习和识别场景样本的目的。实验表明,此方法有效解决了收集训练数据的困难,实现了场景知识在线积累和更新,大大增强了PCA算法的实时性、可扩展性和鲁棒性。

    Abstract:

    Existing scene recognition system often needs a lot of scenario training data for training, to collect the data is often difficult, and the training is offline. For new training, new scene is needed to add, so the system real-time performance, scalability, and robustness are poor. A scenario online learning method based on incremental principal component analysis (PCA) was presented. Through incremental PCA algorithm with subspace realtime update capabilities, the sample projection of PCA was calculated, and two discriminant θclass、θdistance were set up to handle different sample situation to reduce the amount of calculation, to realize aims of incremental online learning and recognition a sample scene. Experiments show that this method effectively solves the difficulties of training data collection, implements the scene knowledge accumulation and online update, and greatly enhances the PCA algorithm of real-time performance, scalability and robustness.

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田文奇,瞿心昱.基于自适应增量PCA算法的移动机器人场景识别[J].机床与液压,2015,43(9):87-89.
.[J]. Machine Tool & Hydraulics,2015,43(9):87-89

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  • 在线发布日期: 2015-06-17
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