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Multi-granularity sequence generation for hierarchical image classification

Computational Visual Media 2024年第2期10卷 243-260页

作者： Xinda Liu Lili Wang State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191China Peng Cheng Laboratory Shengzhen 518000China

Hierarchical multi-granularity image classification is a challenging task that aims to tag each given image with multiple granularity labels *** methods tend to overlook that different image regions contribute differently to label prediction at different granularities,and also insufficiently consider relationships between the hierarchical multi-granularity *** introduce a sequence-to-sequence mechanism to overcome these two problems and propose a multi-granularity sequence generation(MGSG)approach for the hierarchical multi-granularity image classification ***,we introduce a transformer architecture to encode the image into visual representation ***,we traverse the taxonomic tree and organize the multi-granularity labels into sequences,and vectorize them and add positional *** proposed multi-granularity sequence generation method builds a decoder that takes visual representation sequences and semantic label embedding as inputs,and outputs the predicted multi-granularity label *** decoder models dependencies and correlations between multi-granularity labels through a masked multi-head self-attention mechanism,and relates visual information to the semantic label information through a crossmodality attention *** this way,the proposed method preserves the relationships between labels at different granularity levels and takes into account the influence of different image regions on labels with different *** on six public benchmarks qualitatively and quantitatively demonstrate the advantages of the proposed *** project is available at https://***/liuxindazz/mgs.

关键词： hierarchical multi-granularity classification vision and text transformer sequence generation fine-grained image recognition cross-modality attenti

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Extremum seeking control for UAV close formation flight via improved pigeon-inspired optimization

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Science China(Technological Sciences) 2024年第2期67卷 435-448页

作者： YUAN GuangSong DUAN HaiBin State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical EngineeringBeihang University(BUAA)Beijing 100083China

This paper proposes a comprehensive design scheme for the extremum seeking control(ESC)of the unmanned aerial vehicle(UAV)close formation *** proposed design scheme combines a Newton-Raphson method with an extended Kalman filter(EKF)to dynamically estimate the optimal position of the following UAV relative to the leading *** reflect the wake vortex effects reliably,the drag coefficient induced by the wake vortex is considered as a performance ***,the performance function is parameterized by the first-order and second-order terms of its Taylor series *** the excellent performance of nonlinear estimation,the EKF is used to estimate the gradient and the Hessian matrix of the parameterized performance *** output feedback of the proposed scheme is determined by iterative calculation of the Newton-Raphson *** with the traditional ESC and the classic ESC,the proposed design scheme avoids the slow continuous time integration of the *** allows a faster convergence of relative position ***,the proposed method can provide a smoother command during the seeking process as the second-order term of the performance function is taken into *** convergence analysis of the proposed design scheme is accomplished by showing that the output feedback is a supermartingale *** improve estimation performance of the EKF,a improved pigeon-inspired optimization(IPIO)is proposed to automatically tune the noise covariance *** Carlo simulations for a three-UAV close formation show that the proposed design scheme is robust to the initial position of the following UAV.

关键词： unmanned aerial vehicle close formation extremum seeking control Newton-Raphson method improved pigeon-inspired optimization

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AR assistance for efficient dynamic target search

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Computational Visual Media 2023年第1期9卷 177-194页

作者： Zixiang Zhao Jian Wu Lili Wang State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and EngineeringBeihang UniversityBeijingChina

When searching for a dynamic target in an unknown real world scene,search efficiency is greatly reduced if users lack information about the spatial structure of the *** target search studies,especially in robotics,focus on determining either the shortest path when the target’s position is known,or a strategy to find the target as quickly as possible when the target’s position is ***,the target’s position is often known intermittently in the real world,e.g.,in the case of using surveillance *** goal is to help user find a dynamic target efficiently in the real world when the target’s position is intermittently *** order to achieve this purpose,we have designed an AR guidance assistance system to provide optimal current directional guidance to users,based on searching a prediction *** assume that a certain number of depth cameras are fixed in a real scene to obtain dynamic target’s *** system automatically analyzes all possible meetings between the user and the target,and generates optimal directional guidance to help the user catch up with the target.A user study was used to evaluate our method,and its results showed that compared to free search and a top-view method,our method significantly improves target search efficiency.

关键词： augmented reality(AR) search guidance

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FDCPNet:feature discrimination and context propagation network for 3D shape representation

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虚拟现实与智能硬件(中英文) 2025年第1期7卷 83-94页

作者： Weimin SHI Yuan XIONG Qianwen WANG Han JIANG Zhong ZHOU State Key Laboratory of Virtual Reality Technology and Systems School of Computer Science and EngineeringBeihang UniversityBeijing 100191China

Background Three-dimensional(3D)shape representation using mesh data is essential in various applications,such as virtual {1. and simulation *** methods for extracting features from mesh edges or faces struggle with complex 3D models because edge-based approaches miss global contexts and face-based methods overlook variations in adjacent areas,which affects the overall *** address these issues,we propose the Feature Discrimination and Context Propagation Network(FDCPNet),which is a novel approach that synergistically integrates local and global features in mesh *** FDCPNet is composed of two modules:(1.the Feature Discrimination Module,which employs an attention mechanism to enhance the identification of key local features,and(2)the Context Propagation Module,which enriches key local features by integrating global contextual information,thereby facilitating a more detailed and comprehensive representation of crucial areas within the mesh *** Experiments on popular datasets validated the effectiveness of FDCPNet,showing an improvement in the classification accuracy over the baseline ***,even with reduced mesh face numbers and limited training data,FDCPNet achieved promising results,demonstrating its robustness in scenarios of variable complexity.

关键词： 3D shape representation Mesh model MeshNet Feature discrimination Context propagation

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Web-based mixed reality video fusion with remote rendering

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virtual {1. & Intelligent Hardware 2023年第2期5卷 188-199页

作者： Qiang ZHOU Zhong ZHOU State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191China

Background Mixed reality(MR)video fusion {1. merge video imagery with 3D scenes to make the scene more realistic and help users understand the video content and temporal–spatial correlation between them,reducing the user′s cognitive *** video fusion are used in various applications;however,video fusion {1. require powerful client machines because video streaming delivery,stitching,and rendering are computationally ***,huge bandwidth usage is another critical factor that affects the scalability of video-fusion *** Our framework proposes a fusion method for dynamically projecting video images into 3D models as *** Several experiments on different metrics demonstrate the effectiveness of the proposed *** The framework proposed in this study can overcome client limitations by utilizing remote ***,the framework we built is based on ***,the user can test the MR video fusion system with a laptop or tablet without installing any additional plug-ins or application programs.

关键词： Mixed reality Video fusion WebRTC Remote rendering

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From animal collective behaviors to swarm robotic cooperation

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National Science Review 2023年第5期10卷 82-99页

作者： Haibin Duan Mengzhen Huo Yanming Fan State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical EngineeringBeihang University Virtual Reality Fundamental Research Laboratory Department of Mathematics and TheoriesPeng Cheng Laboratory AVIC Shenyang Aircraft Design and Research Institute

The collective behaviors of animals,from schooling fish to packing wolves and flocking birds,display plenty of fascinating phenomena that result from simple interaction rules among *** emergent intelligent properties of the animal collective behaviors,such as self-organization,robustness,adaptability and expansibility,have inspired the design of autonomous unmanned swarm *** article reviews several typical natural collective behaviors,introduces the origin and connotation of swarm intelligence,and gives the application case of animal collective *** this basis,the article focuses on the forefront of progress and bionic achievements of aerial,ground and marine robotics swarms,illustrating the mapping relationship from biological cooperative mechanisms to cooperative unmanned cluster ***,considering the significance of the coexisting-cooperative-cognitive human-machine system,the key technologies to be solved are given as the reference directions for the subsequent exploration.

关键词： collective behaviors swarm intelligence cooperative robotics swarm human-machine system

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Drogue detection for autonomous aerial refueling via hybrid pigeon-inspired optimized color opponent and saliency aggregation

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Chinese Journal of Aeronautics 2024年第5期37卷 27-38页

作者： Tongyan WU Haibin DUAN Yanming FAN State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical EngineeringBeihang UniversityBeijing 100083China Virtual Reality Fundamental Research Laboratory Department of Mathematics and TheoriesPeng Cheng LaboratoryShenzhen 518000China AVIC Shenyang Aircraft Design and Research Institute Shenyang 110035China

Drogue detection is one of the challenging tasks in autonomous aerial refueling due to the requirement for accuracy and *** detection based on image intrinsic cues can achieve fast detection,but with poor *** studies reveal that optimization-based methods provide accurate and quick solutions for saliency *** paper presents a hybrid pigeon-inspired optimization method,the optimized color opponent,that aims to adjust the weight of color opponent channels to detect the drogue *** can optimize the weights in the selected aerial refueling scene offline,and the results are applied for drogue detection in the scene.A novel algorithm aggregated by the optimized color opponent and robust background detection is presented to provide better precision and *** results on benchmark datasets and aerial refueling images show that the proposed method successfully extracts the saliency region or drogue and exhibits superior performance against the other saliency detection methods with intrinsic *** algorithm designed in this paper is competent for the drogue detection task of autonomous aerial refueling.

关键词： Autonomous aerial refueling Drones Hybrid pigeon-inspired optimization Color opponent Saliency detection Saliency aggregation

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PwP: Permutating with Probability for Efficient Group Selection in VR

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IEEE Transactions on Visualization and Computer Graphics 2025年第5期31卷 2384-2394页

作者： Wu, Jian Zhang, Weicheng Chen, Handong Lin, Wei Shi, Xuehuai Wang, Lili Beihang University State Key Laboratory of Virtual Reality Technology and Systems Beijing China Nanjing University of Posts and Telecommunications China Peng Cheng Laboratory Shenzhen China

Group selection in virtual {1. is an important means of multi-object selection, which allows users to quickly group multiple objects and can significantly improve the operation efficiency of multiple types of objects. In this paper, we propose a group selection method based on multiple rounds of probability permutation, in which the efficiency of group selection is substantially improved by making the object layout of the next round easier to be batch-selected through interactive selection, object grouping probability computation, and position rearrangement in each round of the selection process. We conducted ablation experiments to determine the algorithm coefficients and validate the effectiveness of the algorithm. In addition, an empirical user study was conducted to evaluate the ability of our method to significantly improve the efficiency of the group selection task in an immersive virtual {1. environment. The reduced operations also indirectly reduce the user task load and improve usability. © 1.95-201. IEEE.

关键词： virtual environments

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kLCRNet: Fast Road Network Extraction Via keypoint-Driven Local Connectivity Exploration

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IEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing 2025年 18卷 12074-12089页

作者： Zhang, Mingming Wang, Bin Yang, Shuai Liu, Qingjie Wang, Yunhong Beihang University Hangzhou Innovation Institute Hangzhou310051 China Beihang University State Key Laboratory of Virtual Reality Technology and Systems Beijing100191 China

Road network extraction from remote sensing images has been extensively studied in recent decades. While many approaches output road networks in vector format, most are not fully end-to-end, requiring time-consuming post-processing steps. Additionally, challenges like isomorphic encoding limit the flexibility of these methods. In this paper, we present kLCRNet, an efficient road network extraction framework that overcomes these limitations by leveraging keypoint-driven local connectivity exploration. kLCRNet consists of two key components: a keypoint detection (KPD) module that identifies road keypoints via heatmap-based detection and refines them using bipartite matching, and a local connectivity exploration (LCE) module that samples local connection relationships to directly construct connectivity between detected keypoints. Experiments on the CityScale and SpaceNet datasets demonstrate that kLCRNet outperforms state-of-the-art (SOTA) methods in topological accuracy and connectivity. Additionally, kLCRNet significantly improves inference speed by up to 25 times, highlighting its efficiency and effectiveness. © 2008-201. IEEE.

关键词： Roads Accuracy Remote sensing Feature extraction Vectors Iterative methods Image segmentation Semantic segmentation Encoding Decoding

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Model-guided 3D stitching for augmented virtual environment

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Science China(Information Sciences) 2023年第1期66卷 115-130页

作者： Zhong ZHOU Ming MENG Yi ZHOU Zhe ZHU Jingdi YOU State Key Laboratory of Virtual Reality Technology and Systems Beihang University Department of Radiology Duke University Beijing Big View Technology Co. Ltd.

Image and video stitching have made tremendous progress in the construction of wide field-of-view(FOV). However, some long-term challenges still exist, including wide baselines between cameras,large parallaxes, and low texture in overlapping areas. The augmented virtual environment(AVE) captures videos as live textures of 3D models in a virtual environment, and provides another 3D solution to overcome the aforementioned challenges. Existing AVE methods primarily follow from video projection, and cannot produce satisfactory stitching results compared with image stitching. In this paper, we propose a novel model-guided 3D stitching algorithm for AVE. The algorithm recovers an approximate 3D model for each video streaming and optimizes the warping of the models to meet the requirements of feature point matching of the 3D models from adjacent videos. Compared with previous state-of-the-art methods, experiment results illustrate that our method significantly improves the stitching quality.

关键词： 3D stitching video model multiple video visualization augmented virtual environment

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