准确估计深度信息的能力对于许多自主应用来识别包围环境并预测重要对象的深度至关重要。最近使用的技术之一是单眼深度估计，其中深度图从单个图像推断出深度图。本文提高了自我监督的深度学习技术，以进行准确的广义单眼深度估计。主要思想是训练深层模型要考虑不同帧的序列，每个帧都是地理标记的位置信息。这使得模型能够增强给定区域语义的深度估计。我们展示了我们模型改善深度估计结果的有效性。该模型在现实环境中受过培训，结果显示在将位置数据添加到模型训练阶段之后的深度图中的改进。

Cuspidal机器人是具有至少两种逆运动溶液的机器人，可以通过无奇异路径连接。过去已经研究了普通3R机器人的尖锐性，但是将研究扩展到六度自由的机器人可能是一个具有挑战性的问题。许多机器人可以与真实代数集一起建模为多项式图，以便将尖的概念扩展到这些数据。在本文中，我们设计了一种算法，该算法在输入$ n $不确定的多项式地图上，而$ s $多项式在相同的不确定的情况下描述了一个真实的代数$ d $，请确定地图限制的限制性正在考虑的实际代数设定。此外，如果$ d $和$ \ \ tau $分别是输入多项式系数的最高学位和界限，则该算法在$ \ tau $中以$ \ tau $和$（$（ （s+d）d）^{o（n^2）} $。它依赖于计算机代数中的许多高级算法，这些算法在真实代数集和多项式图的关键基因座上使用高级方法。据我们所知，这是第一种从一般角度解决尖锐性问题的算法。

Non-linear state-space models, also known as general hidden Markov models, are ubiquitous in statistical machine learning, being the most classical generative models for serial data and sequences in general. The particle-based, rapid incremental smoother PaRIS is a sequential Monte Carlo (SMC) technique allowing for efficient online approximation of expectations of additive functionals under the smoothing distribution in these models. Such expectations appear naturally in several learning contexts, such as likelihood estimation (MLE) and Markov score climbing (MSC). PARIS has linear computational complexity, limited memory requirements and comes with non-asymptotic bounds, convergence results and stability guarantees. Still, being based on self-normalised importance sampling, the PaRIS estimator is biased. Our first contribution is to design a novel additive smoothing algorithm, the Parisian particle Gibbs PPG sampler, which can be viewed as a PaRIS algorithm driven by conditional SMC moves, resulting in bias-reduced estimates of the targeted quantities. We substantiate the PPG algorithm with theoretical results, including new bounds on bias and variance as well as deviation inequalities. Our second contribution is to apply PPG in a learning framework, covering MLE and MSC as special examples. In this context, we establish, under standard assumptions, non-asymptotic bounds highlighting the value of bias reduction and the implicit Rao--Blackwellization of PPG. These are the first non-asymptotic results of this kind in this setting. We illustrate our theoretical results with numerical experiments supporting our claims.

Nowadays, the current neural network models of dialogue generation(chatbots) show great promise for generating answers for chatty agents. But they are short-sighted in that they predict utterances one at a time while disregarding their impact on future outcomes. Modelling a dialogue's future direction is critical for generating coherent, interesting dialogues, a need that has led traditional NLP dialogue models that rely on reinforcement learning. In this article, we explain how to combine these objectives by using deep reinforcement learning to predict future rewards in chatbot dialogue. The model simulates conversations between two virtual agents, with policy gradient methods used to reward sequences that exhibit three useful conversational characteristics: the flow of informality, coherence, and simplicity of response (related to forward-looking function). We assess our model based on its diversity, length, and complexity with regard to humans. In dialogue simulation, evaluations demonstrated that the proposed model generates more interactive responses and encourages a more sustained successful conversation. This work commemorates a preliminary step toward developing a neural conversational model based on the long-term success of dialogues.

Three-dimensional (3D) technologies have been developing rapidly recent years, and have influenced industrial, medical, cultural, and many other fields. In this paper, we introduce an automatic 3D human head scanning-printing system, which provides a complete pipeline to scan, reconstruct, select, and finally print out physical 3D human heads. To enhance the accuracy of our system, we developed a consumer-grade composite sensor (including a gyroscope, an accelerometer, a digital compass, and a Kinect v2 depth sensor) as our sensing device. This sensing device is then mounted on a robot, which automatically rotates around the human subject with approximate 1-meter radius, to capture the full-view information. The data streams are further processed and fused into a 3D model of the subject using a tablet located on the robot. In addition, an automatic selection method, based on our specific system configurations, is proposed to select the head portion. We evaluated the accuracy of the proposed system by comparing our generated 3D head models, from both standard human head model and real human subjects, with the ones reconstructed from FastSCAN and Cyberware commercial laser scanning systems through computing and visualizing Hausdorff distances. Computational cost is also provided to further assess our proposed system.

We propose a 6D RGB-D odometry approach that finds the relative camera pose between consecutive RGB-D frames by keypoint extraction and feature matching both on the RGB and depth image planes. Furthermore, we feed the estimated pose to the highly accurate KinectFusion algorithm, which uses a fast ICP (Iterative Closest Point) to fine-tune the frame-to-frame relative pose and fuse the depth data into a global implicit surface. We evaluate our method on a publicly available RGB-D SLAM benchmark dataset by Sturm et al. The experimental results show that our proposed reconstruction method solely based on visual odometry and KinectFusion outperforms the state-of-the-art RGB-D SLAM system accuracy. Moreover, our algorithm outputs a ready-to-use polygon mesh (highly suitable for creating 3D virtual worlds) without any postprocessing steps.

In this paper, a Kinect-based distributed and real-time motion capture system is developed. A trigonometric method is applied to calculate the relative position of Kinect v2 sensors with a calibration wand and register the sensors' positions automatically. By combining results from multiple sensors with a nonlinear least square method, the accuracy of the motion capture is optimized. Moreover, to exclude inaccurate results from sensors, a computational geometry is applied in the occlusion approach, which discovers occluded joint data. The synchronization approach is based on an NTP protocol that synchronizes the time between the clocks of a server and clients dynamically, ensuring that the proposed system is a real-time system. Experiments for validating the proposed system are conducted from the perspective of calibration, occlusion, accuracy, and efficiency. Furthermore, to demonstrate the practical performance of our system, a comparison of previously developed motion capture systems (the linear trilateration approach and the geometric trilateration approach) with the benchmark OptiTrack system is conducted, therein showing that the accuracy of our proposed system is $38.3\%$ and 24.1% better than the two aforementioned trilateration systems, respectively.

With the increase in health consciousness, noninvasive body monitoring has aroused interest among researchers. As one of the most important pieces of physiological information, researchers have remotely estimated the heart rate (HR) from facial videos in recent years. Although progress has been made over the past few years, there are still some limitations, like the processing time increasing with accuracy and the lack of comprehensive and challenging datasets for use and comparison. Recently, it was shown that HR information can be extracted from facial videos by spatial decomposition and temporal filtering. Inspired by this, a new framework is introduced in this paper to remotely estimate the HR under realistic conditions by combining spatial and temporal filtering and a convolutional neural network. Our proposed approach shows better performance compared with the benchmark on the MMSE-HR dataset in terms of both the average HR estimation and short-time HR estimation. High consistency in short-time HR estimation is observed between our method and the ground truth.

3D pose estimation is a challenging problem in computer vision. Most of the existing neural-network-based approaches address color or depth images through convolution networks (CNNs). In this paper, we study the task of 3D human pose estimation from depth images. Different from the existing CNN-based human pose estimation method, we propose a deep human pose network for 3D pose estimation by taking the point cloud data as input data to model the surface of complex human structures. We first cast the 3D human pose estimation from 2D depth images to 3D point clouds and directly predict the 3D joint position. Our experiments on two public datasets show that our approach achieves higher accuracy than previous state-of-art methods. The reported results on both ITOP and EVAL datasets demonstrate the effectiveness of our method on the targeted tasks.

To increase the quality of citizens' lives, we designed a personalized smart chair system to recognize sitting behaviors. The system can receive surface pressure data from the designed sensor and provide feedback for guiding the user towards proper sitting postures. We used a liquid state machine and a logistic regression classifier to construct a spiking neural network for classifying 15 sitting postures. To allow this system to read our pressure data into the spiking neurons, we designed an algorithm to encode map-like data into cosine-rank sparsity data. The experimental results consisting of 15 sitting postures from 19 participants show that the prediction precision of our SNN is 88.52%.