Semantic segmentation is vital for computers to process image scene parsing. Semantic segmentation requires the output of high-resolution segmentation results that classify each pixel in an image, and high-resolution feature maps consume significant computational costs in deep learning networks. To trade-off the accuracy and speed of semantic segmentation models, researchers have proposed various different approaches to extract features by semantic segmentation backbone networks. In this paper, we propose a novel semantic-guided backbone network (SG2Path) based on a multi-branch backbone architecture, in which we design a semantic-guided upsampling module (SGUM) to better fuse high-resolution spatial features with low-resolution semantic features in different branches, which effectively solves the semantic misalignment problem between feature maps of different resolutions. Experiments on the Cityscapes dataset and the Visualization analysis of the model prove the advantages of our model in the semantic segmentation task and the significant application potential.
The lower mobility parallel mechanisms with the actuators mounted on the frame are suitable for picking and placing objects at high speed. The core design concept of the lower mobility pick-and-place parallel mechanisms, such as Delta mechanism, is that all kinematic limbs include parallelogram closed-loop sub-chain which can ensures the end effector to complete translation. For the occasions of carrying and grasping items in the plane where only two-dimensional translation is required, the use of the above mechanisms will cause a waste of utility functions and manufacturing costs. Under the premise of not changing the special geometry of parallelogram, a novel type of two-translation parallel mechanism based on a set of synchronous telescopic parallel links is proposed, which effectively reduce the size of the mechanism itself and increase the working range in the vertical direction. The mechanism can complete the grasping of objects scattered on the belt on the basis of visual guidance. Through the screw theory, the kinematic screw equation of the mechanism is established, and the analysis of mobility is implemented. In addition, kinematic studies are carried out on the two-translation parallel mechanism. Furthermore, the singularity is analyzed and workspace is calculated which are helpful in optimizing the mechanism.
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