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35th International Conference on Image and Vision Computing New Zealand (IVCNZ)

作者： Guo, Yishi Wunsche, Burkhard C. Univ Auckland Dept Comp Sci Auckland New Zealand

ISBN: (纸本)9781728185798

Face detection is a fundamental task for many computer vision applications such as access control, security, advertisement, automatic payment, and healthcare. Due to technological advances mobile robots are becoming increasingly common in such applications (e.g. healthcare and security robots) and consequently there is a need for efficient and effective face detection methods on such platforms. Mobile robots have different hardware configurations and operating conditions from desktop applications, e.g. unreliable network connections and the need for lower power consumption. Hence results for face detection methods on desktop platforms cannot be directly translated to mobile platforms. We compare four common face detection algorithms, Viola-Jones, HOG, MTCNN and MobileNet-SSD, for use in mobile robotics using different face data bases. Our results show that for a typical mobile configuration (Nvidia Jetson TX2) MobileNet-SSD performed best with 90% detection accuracy for the AFW data set and a frame rate of almost 10 fps with GPU acceleration. MTCNN had the highest precision and was superior for more difficult face data sets, but did not achieve real-time performance with the given implementation and hardware configuration.

关键词： face detection deep learning algorithm comparison mobile devices robots

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Machine learning exhibited excellent advantages in the performance simulation and prediction of free water surface constructed wetlands

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JOURNAL OF ENVIRONMENTAL MANAGEMENT 2022年 309卷 114694-114694页

作者： Guo, Changqiang Cui, Yuanlai Chinese Acad Sci Nanjing Inst Geog & Limnol Key Lab Watershed Geog Sci Nanjing 210008 Peoples R China Changjiang River Sci Res Inst Changjiang Water Re Key Lab Basin Water Resources & Ecoenvironm Sci H Wuhan 430010 Peoples R China Wuhan Univ State Key Lab Water Resource & Hydropower Engn Sc Wuhan 430072 Peoples R China

Optimizing the design and operation parameters of free water surface constructed wetlands (FWS CWs) in runoff regulation and wastewater treatment is necessary to improve the comprehensive performance. In this study, nine machine learning (ML) algorithms were successfully developed to optimize the parameter combinations for FWS CWs. The scale effect of surface area on wetland performance was determined based on consistently smaller predictions (-6.2% to -28.9%) of the nine well-established ML algorithms. The models most suitable for FWS CW performance simulation and prediction were random forest and extra trees algorithms because of their high R-2 values (0.818 in both) with the training set and low mean absolute relative errors (4.7% and 3.8%, respectively) with the test set. Results from feature analysis of the six tree-based algorithms emphasized the importance of water depth and layout of inlet and outlet, and revealed the negligible effect of the aspect ratio. Feature importance and partial dependence analysis enhanced the interpretability of the tree-based algorithms. The proposed ML algorithms enabled the implementation of an extended scenario at a low cost in real time. Therefore, ML algorithms are suitable for expressing the complex and uncertain effects of the design and operation parameters on the performance of FWS CWs. Acquiring datasets consisting of more extensive, uniform, and unbiased parameter combinations is crucial for developing more robust and practical ML algorithms for the optimal design of FWS CWs.

关键词： Wetland performance algorithm comparison Scenario prediction Feature importance Interpretability

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Rigorous Evaluation of Vector-Associated Model Performance (REVAMP)

Rigorous Evaluation of Vector-Associated Model Performance (...

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Conference on Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications III

作者： Stacy, Sunshine Fisher, Patrick Del Rio, Nicholas Air Force Res Lab Informat Directorate 26 Elect Pkwy Rome NY 13441 USA

ISBN: (数字)9781510643307

ISBN: (纸本)9781510643307

DevOps engineers take many factors into account when assessing the suitability of AI/ML algorithms for operations. They rely on documentation about data requirements, parameter settings, theoretical limits, and operating characteristics to anticipate how well an algorithm will perform in the field prior to writing a single line of code. However, the USAF currently lacks code quality and documentation standards for AI/ML, which forces downstream consumers to make assumptions about the behavior of algorithms that often lead to unexpected results and wasted efforts. Therefore, we present a preliminary set of criteria by which to judge the maturity of word embedding algorithms in terms of reproducibility, testability, and documentation quality. We hope the criteria will grow into a set of quality requirements that govern how the DoD procures AI/ML capabilities, and eventually motivate the need for an ML development maturity model. Our nascent evaluation criteria surfaced during our own struggles with trying to replicate and compare the performance between a well-known word embedding algorithm (Word2Vec) and a custom graph embedding algorithm (IRI2Vec), procured specifically for the purpose of connecting missions across ATOs. We walk through two case studies in which we applied our evaluation criteria to assess the maturity of both Word2Vec and IRI2Vec.

关键词： machine learning vectors graph embedding word embedding evaluation criteria algorithm comparison mathematical analysis evaluation framework

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ARTag, AprilTag and CALTag Fiducial Systems comparison in a Presence of Partial Rotation: Manual and Automated Approaches 14th

ARTag, AprilTag and CALTag Fiducial Systems Comparison in a ...

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14th International Conference on Informatics in Control, Automation and Robotics (ICINCO)

作者： Shabalina, Ksenia Sagitov, Artur Sabirova, Leysan Li, Hongbing Magid, Evgeni Kazan Fed Univ Higher Inst Informat Technol & Informat Syst Intelligent Robot Syst Lab 35 Kremlyovskaya St Kazan 420008 Russia Shanghai Jiao Tong Univ Dept Instrument Sci & Engn Shanghai Peoples R China

ISBN: (纸本)9783030112929;9783030112912

Fiducial marker systems have unique designs and various geometric shapes but all of them could be automatically detected with cameras. Fiducial marker system are used in such fields as augmented reality applications, medicine, space and robot-assisted tasks. A variety of applications determines criteria, which characterize qualitative properties of a marker and include such evaluation benchmarks as resilience to occlusion, distance to a marker, false positive and false negative rates, sensitivity to illumination, and others. This paper presents experimental comparison of existing ARTag, AprilTag, and CALTag systems with regard to their reliability and detection rate in occlusions of various types and intensities. Two camera types are used for experiments: inexpensive Web camera FaceCam 1000X and a high fidelity camera, which is a main vision sensor of a Russian humanoid robot AR-601M. In addition, we describe preliminary results of virtual experiments in ROS Gazebo environment. Our long term goal is to calibrate humanoid robot manipulators in real-world environment applying a pre-calibrated camera of the robot, while the presented in this paper results help selecting a most suitable marker system for further calibration procedures.

关键词： Robotics Camera callibration algorithm comparison Experiments Virtual models ARTag AprilTag CALTag Gazebo

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Using the IPOL Journal for Online Reproducible Research in Remote Sensing

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IEEE JOURNAL OF SELECTED TOPICS IN APPLIED EARTH OBSERVATIONS AND REMOTE SENSING 2020年 13卷 6384-6390页

作者： Colom, Miguel Dagobert, Tristan de Franchis, Carlo von Gioi, Rafael Grompone Hessel, Charles Morel, Jean-Michel Univ Paris Saclay Cole Normale Supr Paris Saclay CNRS F-91190 Gif Sur Yvette France

Reproducible research is needed to ensure that scientific results in the literature are reliable, unbiased, and verifiable by others. The journal Image Processing On Line (IPOL) publishes reproducible articles since 2010. This means publishing an algorithm by a literary description, a pseudocode, its source code, a series of test examples, an online facility allowing to test the code on this data and other data submitted by the user, and finally an experimental archive. In this work, we discuss how to publish and review reproducible research in the specific discipline of remote sensing. We put a special emphasis on the construction and proper documentation of public datasets. We show case studies of remote sensing articles publicly available in IPOL, which demonstrate the feasibility of reproducible research in this area. The methods and their application are explained, along with details on how the datasets were built and made available for evaluation, comparison, and scoring to eventually help establish a reliable state-of-the-art of the discipline. Finally, we give specific recommendations for authors and editors willing to publish reproducible research in remote sensing.

关键词： Remote sensing Reliability Image processing Earth Scholarships Software Licenses algorithm comparison datasets remote sensing reproducible research image processing on line (IPOL)

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ADMET Predictability at Boehringer Ingelheim: State-of-the-Art, and Do Bigger Datasets or algorithms Make a Difference?

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MOLECULAR INFORMATICS 2022年第2期41卷 2100113-2100113页

作者： Aleksic, Stevan Seeliger, Daniel Brown, J. B. Boehringer Ingelheim Pharma GmbH & Co KG Med Chem D-88397 Biberach Germany

Computational methods assisting drug discovery and development are routine in the pharmaceutical industry. Digital recording of ADMET assays has provided a rich source of data for development of predictive models. Despite the accumulation of data and the public availability of advanced modeling algorithms, the utility of prediction in ADMET research is not clear. Here, we present a critical evaluation of the relationships between data volume, modeling algorithm, chemical representation and grouping, and temporal aspect (time sequence of assays) using an in-house ADMET database. We find no large difference in prediction algorithms nor any systemic and substantial gain from increasingly large datasets. Temporal-based data enlargement led to performance improvement in only in a limited number of assays, and with fractional improvement at best. Assays that are well-, intermediately-, or poorly-suited for ADMET predictions and reasons for such behavior are systematically identified, generating realistic expectations for areas in which computational models can be used to guide decision making in molecular design and development.

关键词： ADMET modelling machine learning algorithm comparison chemical representation congeneric series

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An overview of MINLP algorithms and their implementation in Muriqui Optimizer

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ANNALS OF OPERATIONS RESEARCH 2020年第1-2期286卷 217-241页

作者： Melo, Wendel Fampa, Marcia Raupp, Fernanda Univ Fed Uberlandia Coll Comp Sci Uberlandia MG Brazil Univ Fed Rio de Janeiro Inst Math Rio De Janeiro Brazil Univ Fed Rio de Janeiro COPPE Rio De Janeiro Brazil Minist Sci Technol & Innovat Natl Lab Sci Comp LNCC Petropolis RJ Brazil

We present an overview of the main algorithms in the literature for convex mixed integer nonlinear programming and discuss aspects of their implementation in a new open source computational package called Muriqui Optimizer. We provide extensive computational results comparing the implementations of all approaches considered on a set of 343 benchmark test problems. Finally, we present to the technical and scientific community the new software Muriqui Optimizer.

关键词： Mixed integer nonlinear programming Review algorithm comparison Solver Muriqui Optimizer

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A comparative study of several template matching algorithms oriented to visual navigation 7

A comparative study of several template matching algorithms ...

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Conference on Optoelectronic Imaging and Multimedia Technology VII

作者： Li, Xiaojie Hu, Yao Shen, Tiantian Zhang, Shaohui Cao, Jie Hao, Qun Beijing Inst Technol Sch Opt & Photon Beijing Key Lab Precis Optoelect Measurement Inst Beijing 100081 Peoples R China Hunan Normal Univ Dept Elect Informat Engn Changsha 410082 Peoples R China

ISBN: (纸本)9781510639164

With the development of machine vision technology, in the process of visual navigation with images, it is necessary to match the local geometric features or global features of the images;however, the matching of local geometric features is low in accuracy and difficult to be used in tracking. In contrast, template-based global feature matching can directly use the information of the entire image, and it has high robustness to illumination variations and occlusions, so it has attracted widespread attention. At present, the classical matching algorithms based on templates mainly include Sum of Absolute Differences (SAD), Sum of Squared Differences (SSD), Normalized Cross Correlation (NCC), and Mutual Information (MI). In order to make it more reasonable to evaluate and compare the performance of the algorithms, in this paper, we decided to compare Mean Absolute Differences (MAD), Mean Square Differences (MSD), Zero-mean Normalized Cross Correlation (ZNCC), and Normalized Mutual Information (NMI). During the experiment, the Gaussian noise, illumination variations and occlusion were applied to the current image to simulate complex navigation scenes, and then matched it with the template images. The matching values obtained by the above four matching algorithms in different scenes were collectively called as alignment metric values. The matching effects of the four algorithms were evaluated from the following aspects including the smoothness of the metric value, the number of local extremums and whether the best position was in the correct alignment position. The results showed that the accuracy of MSD was greatly affected by noise and was not suitable for scenes interfered by noise, the number of local extremums of ZNCC changed greatly under the conditions of noise, illumination changes, and occlusion, the alignment metric values became unsmooth. In comparison, the NMI showed good robustness and accuracy in different conditions.

关键词： visual navigation template matching algorithm comparison mutual information global features

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Simple Improvement of Braitenberg Vehicles

International Core Journal of Engineering

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International Core Journal of Engineering 2021年第5期7卷 578-587页

作者： Jieyu Fan

Simple Improvement of the Braitenberg Vehicles, which aims at making the movements of simple car models more adaptive, is made by utilizing Object detector, which is a tool in Matlab to detect the position of the car and provides the position information for the algorithm to complete this process. In a word, to make the car turn by itself and based on the position information provided by Object detector in order to avoid all obstacles is the main goal of this project. Also, the comparison will be made among all the results from different versions of algorithms to finalize the algorithm, which is capable of making the car move in the fastest and most smooth ways while avoiding all obstacles. For further simulation of algorithm, my project will try to design more routes in more complex obstacles' environments--triangular routes with avoiding three obstacles.

关键词： Adaptive Object Detector Avoiding All Obstacles algorithm comparison Complex Environments

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AUV 3D Path Planning Based On A* algorithm

AUV 3D Path Planning Based On A* Algorithm

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Chinese Automation Congress (CAC)

作者： Li, Mengchuan Zhang, Huajun Wuhan Univ Technol Sch Automat Wuhan Peoples R China

ISBN: (纸本)9781728176871

Aiming al the problem of global static path planning in the submarine terrain environment of autonomous underwater vehicle(AUV),A three-dimensional environment model was built based on gridmethod, and Dijsktra algorithm and A* algorithm were used to realize three-dimensional path search. The simulation results show that the search time of the two algorithms is shorter, hut the A* algorithm is better than Dijsktra algorithm in terms of the number of nodes and path length.A multi-direction A* algorithm is designed to reduce the number of search nodes and further shorten the search path. AUV 3d path planning has high efficiency and real-time performance.

关键词： A* algorithm Three-dimensional path planning algorithm comparison Node optimization

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