【DLゼミ】XFeat: Accelerated Features for Lightweight Image Matchingharmonylab
公開URL:https://arxiv.org/pdf/2404.19174
出典:Guilherme Potje, Felipe Cadar, Andre Araujo, Renato Martins, Erickson R. ascimento: XFeat: Accelerated Features for Lightweight Image Matching, Proceedings of the 2024 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) (2023)
概要:リソース効率に優れた特徴点マッチングのための軽量なアーキテクチャ「XFeat(Accelerated Features)」を提案します。手法は、局所的な特徴点の検出、抽出、マッチングのための畳み込みニューラルネットワークの基本的な設計を再検討します。特に、リソースが限られたデバイス向けに迅速かつ堅牢なアルゴリズムが必要とされるため、解像度を可能な限り高く保ちながら、ネットワークのチャネル数を制限します。さらに、スパース下でのマッチングを選択できる設計となっており、ナビゲーションやARなどのアプリケーションに適しています。XFeatは、高速かつ同等以上の精度を実現し、一般的なラップトップのCPU上でリアルタイムで動作します。
セル生産方式におけるロボットの活用には様々な問題があるが,その一つとして 3 体以上の物体の組み立てが挙げられる.一般に,複数物体を同時に組み立てる際は,対象の部品をそれぞれロボットアームまたは治具でそれぞれ独立に保持することで組み立てを遂行すると考えられる.ただし,この方法ではロボットアームや治具を部品数と同じ数だけ必要とし,部品数が多いほどコスト面や設置スペースの関係で無駄が多くなる.この課題に対して音𣷓らは組み立て対象物に働く接触力等の解析により,治具等で固定されていない対象物が組み立て作業中に運動しにくい状態となる条件を求めた.すなわち,環境中の非把持対象物のロバスト性を考慮して,組み立て作業条件を検討している.本研究ではこの方策に基づいて,複数物体の組み立て作業を単腕マニピュレータで実行することを目的とする.このとき,対象物のロバスト性を考慮することで,仮組状態の複数物体を同時に扱う手法を提案する.作業対象としてパイプジョイントの組み立てを挙げ,簡易な道具を用いることで単腕マニピュレータで複数物体を同時に把持できることを示す.さらに,作業成功率の向上のために RGB-D カメラを用いた物体の位置検出に基づくロボット制御及び動作計画を実装する.
This paper discusses assembly operations using a single manipulator and a parallel gripper to simultaneously
grasp multiple objects and hold the group of temporarily assembled objects. Multiple robots and jigs generally operate
assembly tasks by constraining the target objects mechanically or geometrically to prevent them from moving. It is
necessary to analyze the physical interaction between the objects for such constraints to achieve the tasks with a single
gripper. In this paper, we focus on assembling pipe joints as an example and discuss constraining the motion of the
objects. Our demonstration shows that a simple tool can facilitate holding multiple objects with a single gripper.
■リリースノート
Oracle Database API for MongoDB
Oracle Database API for MongoDB lets applications interact with collections of JSON documents in Autonomous Database using MongoDB commands.
See Using Oracle Database API for MongoDB for more information.
https://docs.oracle.com/en/cloud/paas/autonomous-database/adbsa/mongo-using-oracle-database-api-mongodb.html#GUID-8321D7A6-9DBD-44F8-8C16-1B1FBE66AC56
・APIドキュメント
https://docs.oracle.com/en/database/oracle/mongodb-api/mgapi/overview-oracle-database-api-mongodb.html
---
Oracle Database API for MongoDB is available on these Autonomous Oracle Databases with shared infrastructure: Autonomous JSON Database and Autonomous Transaction Processing. It is not available on Autonomous Data Warehouse or Autonomous Database with dedicated infrastructure.
---
■blog
https://blogs.oracle.com/database/post/mongodb-api
■参考情報
・認証ユーザはORDS対応が必要(Database Actionsのユーザ作成でいうWebアクセスが有効にチェック)
・[開発]のOracle Database API for MongoDBカードはAJDでしか確認できない(2022/1/4時点)
・新しいMongoDBクライアントの場合とそれ以外の場合の接続文字列。違いはポート番号とLoad Balancerの設定有無
-新しいMongoDBクライアント
mongodb://[user:password@]SYA6VPHK3PZLKHQ-ARAAJDNRT.adb.ap-tokyo-1.oraclecloudapps.com:27017/[user]?authMechanism=PLAIN&authSource=$external&ssl=true&retryWrites=false&loadBalanced=true
-それ以外
mongodb://[user:password@]SYA6VPHK3PZLKHQ-ARAAJDNRT.adb.ap-tokyo-1.oraclecloudapps.com:27016/[user]?authMechanism=PLAIN&authSource=$external&ssl=true&retryWrites=false
■リリースノート
Use a Cloud Code Repository
Autonomous Database provides routines to manage and store files in Cloud Code (Git) Repositories. The supported Cloud Code Repositories are: GitHub Repository, AWS CodeCommit, and Azure Repos.
See Using and Managing a Cloud Code Repository with Autonomous Database for more information.
https://docs.oracle.com/pls/topic/lookup?ctx=en/cloud/paas/autonomous-database/adbsn&id=ADBSA-GUID-1789720F-62F6-4312-A2D1-A0F9339D8721
SQL Install Usage Notes
The scripts are intended as schema install scripts and not as generic SQL scripts:
Scripts cannot contain SQL*Plus client specific commands.
Scripts cannot contain bind variables or parameterized scripts.
SQL statements must be terminated with a slash on a new line (/).
Scripts can contain DDL, DML PLSQL statements, but direct SELECT statements are not supported. Using SELECT within a PL/SQL block is supported.
Any SQL statement that can be run using EXECUTE IMMEDIATE will work if it does not contain bind variables or defines.
■参考
例:SQLインストールの例
1.以下のファイルをGitHubに作成。
<credept.sql>
REM Script: EMP and DEPT
REM Example EMP and DEPT tables. Classic Oracle tables with 4 departments and 14 employees. Includes a join query example
.-- Create DEPT table which will be the parent table of the EMP table.
create table dept(
deptno number(2,0),
dname varchar2(14),
loc varchar2(13),
constraint pk_dept primary key (deptno)
)
/
-- Insert row into DEPT table using named columns.
insert into DEPT (DEPTNO, DNAME, LOC) values(10, 'ACCOUNTING', 'NEW YORK')
/
-- Insert a row into DEPT table by column position.
insert into dept values(20, 'RESEARCH', 'DALLAS')
/
insert into dept values(30, 'SALES', 'CHICAGO')
/
insert into dept values(40, 'OPERATIONS', 'BOSTON')
/
2.SQLインストール
--ADBでクレデンシャルおよびリポジトリ初期化した後に実行
BEGIN
DBMS_CLOUD_REPO.INSTALL_FILE(
repo => :repo,
file_path => 'credept.sql',
stop_on_error => TRUE
);
END;
/
結果:スクリプトが実行される
SQL> BEGIN
2 DBMS_CLOUD_REPO.INSTALL_FILE(
3 repo => :repo,
4 file_path => 'credept.sql',
5 stop_on_error => TRUE
6 );
7 END;
8 /
PL/SQL procedure successfully completed.
SQL> desc dept
Name Null? Type
----------------------------------------- -------- ----------------------------
DEPTNO NOT NULL NUMBER(2)
DNAME VARCHAR2(14)
LOC VARCHAR2(13)
SQL> select count(*) from dept;
COUNT(*)
----------
4
■リリースノート
Add My IP Address Button
When you provision an Autonomous Database instance and configure network access with Access Control Lists (ACLs) or when you update network access, click Add My IP Address to add your current IP address to the ACL entry.
See Configuring Network Access with Access Control Rules (ACLs) for more information.
https://docs.oracle.com/pls/topic/lookup?ctx=en/cloud/paas/autonomous-database/adbsn&id=ADBSA-GUID-483CD2B4-5898-4D27-B74E-6735C32CB58C
■リリースノート
Reconnect a Disconnected Refreshable Clone
You can reconnect a refreshable clone to the source database. This allows you to use a refreshable clone as a test database and run DML and make changes while the database is disconnected. When you are done with your testing you can reconnect to the source database, which refreshes the clone to the point where it was when you disconnected.
See Reconnect a Refreshable Clone to the Source Database for more information.
https://docs.oracle.com/pls/topic/lookup?ctx=en/cloud/paas/autonomous-database/adbsn&id=ADBSA-GUID-8321D7A6-9DBD-44F8-8C16-1B1FBE66AC56
■blog
■参考情報
■リリースノート
GitHub Raw URL support in DBMS_CLOUD
Use GitHub Raw URLs with DBMS_CLOUD APIs to access source files that reside on a GitHub Repository.
See GitHub Raw URL Format for more information.
https://docs.oracle.com/pls/topic/lookup?ctx=en/cloud/paas/autonomous-database/adbsn&id=ADBSA-GUID-01D43166-8FDF-445A-89CA-5C92D87C2E1D
■blog
■参考情報
■リリースノート
View Maintenance Status and Timezone Version NotificationsThe DB_NOTIFICATIONS view stores information about maintenance status notifications and timezone version upgrade notifications for your Autonomous Database instance.
See View Maintenance Status and Timezone Version Notifications for more information.
https://docs.oracle.com/pls/topic/lookup?ctx=en/cloud/paas/autonomous-database/adbsn&id=ADBSA-GUID-E882B192-F5DD-47DB-91F2-E0703B98F634
■blog
■参考情報
■リリースノート
One-way TLS Connections on Linux x64 Clients using Oracle Call Interface without a Wallet
Using TLS authentication for Oracle Call Interface connections on Linux x64, a wallet is not required when the client program connects with Oracle Instant Client 19.13. Using TLS authentication for Oracle Call Interface connections on all other platforms, or without Oracle Instant Client 19.13, clients must provide a generic CA root certificate wallet.
See Prepare for Oracle Call Interface, ODBC, and JDBC OCI Connections Using TLS Authentication for more information.
https://docs.oracle.com/pls/topic/lookup?ctx=en/cloud/paas/autonomous-database/adbsn&id=ADBSA-GUID-423C98D1-6A18-4E56-A77F-B6F5CA1424E2
■blog
■参考情報
https://docs.oracle.com/en/engineered-systems/exadata-cloud-at-customer/ecccm/ecc-using-dbaascli.html#GUID-D9019F80-4BB3-44A6-B25D-8706187B2DE8
https://docs.oracle.com/en/engineered-systems/exadata-cloud-at-customer/ecccm/ecc-manage-db-backup-and-recovery.html#GUID-D13367BA-5B1E-45D9-91AA-A5D290487FA6
bkup_api will be deprecated in a future release. Use the dbaascli database backup, dbaascli pdb backup, dbaascli database recover, and dbaascli pdb recover commands to backup and recover container databases and pluggable databases. For more information, see User Configured Backup.