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Continuous and generalized visual odometry based on FLANN_PSC-RANSAC_LSTM

Journal of Intelligent and Fuzzy Systems 2024年第1-2期47卷 15-28页

作者： Li, Dengao Feng, Ran Wu, Fanming Zhao, Jinhua Zhao, Jumin College of Computer Science and Technology College of Data Science Taiyuan University of Technology Shanxi Taiyuan China College of Electronic Information and Optical Engineering Taiyuan University of Technology Shanxi Taiyuan China Key Laboratory of Big Data Fusion Analysis and Application of Shanxi Province Taiyuan University of Technology Shanxi Taiyuan China Intelligent Perception Engineering Technology Center of Shanxi Taiyuan China

In the field of simultaneous localization and mapping (SLAM), visual odometry (VO) always has great application prospects. In recent years, with the progress in the field of machine learning, methods based on neural networks are constantly being updated and applied. In this paper, we propose a continuous and generalized monocular visual odometry method based on features and neural networks. First, the feature information of adjacent image sequences is extracted by matching and troubleshooting algorithm (FLANN_PSC-RANSAC), then it and the corresponding six-degree-of-freedom information are simultaneously input into the long short-term memory artificial neural network (LSTM) for model construction, which not only ensures the reliability of the mode but also eliminates the influence of illumination on the data. In the real environment test, it has been effectively proved in terms of trajectory recovery accuracy and generalization ability to different environments and different illuminations. © 2024 - IOS Press. All rights reserved.

关键词： Long short-term memory

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Bifurcation analysis of a diffusive radio-dependent model with spatial memory

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International Journal of Biomathematics 2024年第8期17卷 309-347页

作者： Qi An Xingyu Guo Xuebing Zhang College of Mathematics and Statistics Nanjing University of Information Science and Technology Nanjing 210044 P.R.China Jiangsu International Joint Laboratory on System Modeling and Data Analysis Center for Applied Mathematics of Jiangsu Province Nanjing University of Information Science and Technology Nanjing 210044 P.R.China

This is an Open Access article published by World Scientific Publishing *** is distributed under the terms of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0(CC BY-NC-ND)License,which permits use,distribution and reproduction,provided that the original work is properly cited,the use is non-commercial and no modifications or adaptations are *** cognitive abilities of animals,such as memory,have a significant impact on their movement in *** this paper,we consider a radio-dependent model with memorybased diffusion under the conditions of Neumann *** stability of a positive equilibrium and the existence of the Turing-Hopf bifurcation induced by memory diffusion and memory delay are carried out in ***,our findings indicate that with a relatively short average memory period,the large memory diffusion can stabilize an otherwise unstable *** addition,the third-order truncated normal form for the Turing-Hopf bifurcation restricted to the central manifold is derived,which can reveal the generation of some steady-state and time-periodic solutions with spatial *** coefficients within the normal form are systematically determined through matrix operations,and these results can also be applied to other models with memory ***,leveraging the theoretical findings,we elucidated the intricate spatial-temporal dynamics and their associated parameter scopes caused by Turing-Hopf bifurcation through numerical simulations.

关键词： Spatial memory normal form Turing-Hopf bifurcation spatio-temporal patterns periodic solutions

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A Reduced State Space Generation Method for Concurrent Systems Based on CPN-PR Model

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IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems 2024年第6期44卷 2328-2342页

作者： Zhong, Wenjie Sun, Tao Zhou, Jian-Tao Wang, Zhuowei Song, Xiaoyu Inner Mongolia Engineering Laboratory for Big Data Analysis Technology College of Computer Science Inner Mongolia University Engineering Research Center of Ecological Big Data Ministry of Education Inner Mongolia Engineering Laboratory for Cloud Computing and Service Software Hohhot010000 China Guangdong University of Technology School of Computer Science and Technology Guangzhou China Portland State University Department of Electrical and Computer Engineering PortlandOR97207 United States

Colored Petri Nets (CPNs) provide descriptions of the concurrent behaviors for software and hardware. Model checking based on CPNs is an effective method to simulate and verify the concurrent behavior in system design. However, the model checking method traverses the full state space, which suffers from the state space explosion problem. A reduced state space generation method related to the property of concurrent systems is proposed. Specifically, we extend CPNs to define a property-related model (CPN-PR) and give a property-related analysis method whose results can be used to generate the CPN-PR model. A reduced state space generation method is developed based on enabled binding element filtering rules. The stutter trace equivalence between the state spaces of CPN and CPN-PR has been proven by showing that the reduced state space may not change the model checking result. A comparison experiment is conducted to demonstrate the effectiveness of our method. © 1982-2012 IEEE.

关键词： Model checking

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Distributed Broad Learning System With Quantized and Censored Communications

Distributed Broad Learning System With Quantized and Censore...

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2021 China Automation Congress, CAC 2021

作者： Liang, Jinyan Ai, Wu College of Science Guilin University of Technology Guilin China Center for Data Analysis and Algorithm Technology Guilin University of Technology Guilin China

ISBN: (纸本)9781665426473

As a novel neural network model, the broad learning system (BLS) has been used extensively due to its simple structure and few model hyperparameters. This paper presents a distributed BLS algorithm with quantized and censored communications (DQC-BLS). The DQC-BLS algorithm is based on the alternating direction method of multipliers (ADMM). In order to reduce the high communication cost, the DQC-BLS algorithm improves the communication mechanism between the in-networks agents by introducing quantization and communication-censoring strategies. Quantization reduces the number of bits for each transmission whereas communication censoring reduces the number of communications. The experimental results verify that the DQC-BLS algorithm can reduce communication costs while maintaining similar performance on the test set. © 2021 IEEE

关键词： Learning systems

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A Decentralized algorithm for Deep Echo State Networks

A Decentralized Algorithm for Deep Echo State Networks

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2021 China Automation Congress, CAC 2021

作者： Qiu, Wenqi Ai, Wu College of Science Guilin University of Technology Guilin China Center for Data Analysis and Algorithm Technology Guilin University of Technology Guilin China

ISBN: (纸本)9781665426473

As a class of recurrent neural networks (RNNs), echo state networks (ESNs) have been studied extensively in recent years, particularly in time-series prediction and non-linear system identification. It is well-known that deep learning (DL) has been applied to ESNs and shows more outstanding performance than conventional ESNs. However, due to the large-scale dataset and complexity required to train deep learning models, the time required to train deep ESNs based on traditional centralized algorithms is highly extended. Hence, a decentralized training algorithm combining DL and ESNs is presented in this paper to aim at multiple time scales processing of temporal data. We propose this algorithm based on an optimization program called the alternating direction method of multipliers (ADMM) and decentralized average consensus (DAC) procedure. The results based on a large-scale artificial dataset prove that it has more advantages in generalization accuracy and training time than the centralized experimental scheme. © 2021 IEEE

关键词： Recurrent neural networks

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Distributed Reduced Kernel Extreme Learning Machine

Distributed Reduced Kernel Extreme Learning Machine

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2021 China Automation Congress, CAC 2021

作者： Zhou, Manrui Ai, Wu College of Science Guilin University of Technology Guilin China Center for Data Analysis and Algorithm Technology Guilin University of Technology Guilin China

ISBN: (纸本)9781665426473

Extreme learning machines (ELM) are popular in the field of pattern recognition and machine learning. The kernel extension of ELM (KELM) presents a better performance than traditional ELM. Although the KELM is able to solve complex nonlinear problems, it is time-consuming and memory-demanding when dealing with a large-size kernel matrix. Introducing reduced kernel technique can dramatically cut down the computational load and memory usage. However, as the amount of training data grows exponentially, it is not effective for a single worker to store the kernel matrix, making it infeasible for data mining in a centralized manner. In this paper, a distributed reduced kernel method for training ELM over decentralized data (DRKELM) is proposed. In the DRKELM, we randomly assign data to different nodes. The communication between nodes is fixed and does not depend on the size of the training data on each node, but on the network topology. Different from the existing reduced kernel ELM, the DRKELM is a fully distributed training algorithm based on the method of alternating direction method of multiplier (ADMM). Experiment with the large scale data set finds that the distributed method can achieve almost the same results as the centralized algorithm and even takes less time to a large extent. It greatly reduces the computation time consumption. © 2021 IEEE

关键词： Network topology

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Research on Zenith Tropospheric Delay Model Based on TCN Improving HGPT2 Model 14th

Research on Zenith Tropospheric Delay Model Based on TCN Imp...

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14th China Satellite Navigation Conference, CSNC 2024

作者： Li, Dengao Shi, Danyang Zhao, Jumin Wu, Fanming Yan, Liangquan Feng, Ran Zhang, Xinfang Zhao, Jinhua College of Data Science Taiyuan University of Technology Taiyuan030024 China College of Information and Computer Taiyuan University of Technology Taiyuan030024 China Key Laboratory of Big Data Fusion Analysis and Application of Shanxi Province Taiyuan030024 China Intelligent Perception Engineering Technology Center of Shanxi Taiyuan030024 China Shanxi Province Engineering Technology Research Center of Spatial Information Network Taiyuan030024 China

ISBN: (纸本)9789819969272

The zenith tropospheric delay (ZTD) obtained by global navigation satellite system (GNSS) atmospheric sounding is a pivotal data source for water vapor monitoring. Meteorological changes in Antarctica play an important role in analysis of the global climate, but factors such as complex climatic conditions can limit the collection of meteorological data needed for ZTD retrieval. Therefore, it is necessary to establish high-precision ZTD models that do not rely on measured meteorological data. The existing global pressure and temperature 3 (GPT3) model has limited ability to capture complex weather variations and cannot obtain high-precision GPT3_ZTD. To address the above issues, this research proposes a high-precision ZTD model through using temporal convolutional network (TCN) for improving the hourly global pressure and temperature 2 (HGPT2) model. The HGTP2 model based on Fourier analysis and the time-segmentation concept can consider the linear trend of climate variations, simultaneously the TCN is introduced to simulate the long-term temporal dependence of HGPT2_ZTD, so as to achieve the goal of obtaining high-precision ZTD without relying on measured meteorological data. The experimental results show that the precision of TCN_ZTD obtained from the proposed model is higher than GPT3_ZTD and HGPT2_ZTD when using the GNSS_ZTD observations obtained from 35 stations in Antarctica as a reference, and the improvement of the model is obvious. © 2024, Aerospace Information Research Institute.

关键词： Fourier analysis

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Heavy Rainfall Prediction Model Using Sample Entropy Derived from GNSS-PWV and PSO-SVM 14th

Heavy Rainfall Prediction Model Using Sample Entropy Derived...

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14th China Satellite Navigation Conference, CSNC 2024

作者： Wu, Fanming Li, Dengao Zhao, Jinhua Feng, Ran Shi, Danyang Zhang, Xinfang Zhao, Jumin College of Data Science Taiyuan University of Technology Taiyuan030024 China College of Information and Computer Taiyuan University of Technology Taiyuan030024 China Key Laboratory of Big Data Fusion Analysis and Application of Shanxi Province Taiyuan030024 China Intelligent Perception Engineering Technology Center of Shanxi Taiyuan030024 China Shanxi Province Engineering Technology Research Center of Spatial Information Network Taiyuan030024 China

ISBN: (纸本)9789819969272

There is a growing interest to use Global Navigation Satellite System (GNSS) inversed PWV for heavy rainfall prediction. When heavy rainfall occurs, it requires the atmosphere to contain sufficient water vapour and undergo strong upward motion. However, existing models using GNSS-PWV for heavy rainfall prediction have not accounted for the effect of the complex motion of water vapour. In this paper, an hourly heavy rainfall prediction model using sample entropy derived from GNSS-PWV and PSO-SVM is proposed. The sample entropy of GNSS-PWV is used to measure the complexity of the water vapour movement process before heavy rainfall occurs. Meanwhile, combining GNSS-PWV time domain features and co-located meteorological data, the occurrence of hourly heavy rainfall events is predicted by support vector machine optimized with particle swarm. To verify the validity and feasibility of the proposed algorithm, Hong Kong's HKSC station in Sham Shui Po is used for the model to train and test. The result shows that probability of detection, false alarm rate and critical success index of the proposed algorithm in this paper have significantly improved over other heavy rainfall prediction models. © 2024, Aerospace Information Research Institute.

关键词： Support vector machines

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Prediction of Ionospheric TEC Based on BLS-LSTM-GRU Hybrid Model 14th

Prediction of Ionospheric TEC Based on BLS-LSTM-GRU Hybrid M...

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14th China Satellite Navigation Conference, CSNC 2024

作者： Li, Dengao Zhang, Xinfang Zhao, Jumin Wu, Fanming Feng, Ran Zhao, Jinhua Shi, Danyang College of Data Science Taiyuan University of Technology Taiyuan030024 China College of Information and Computer Taiyuan University of Technology Taiyuan030024 China Key Laboratory of Big Data Fusion Analysis and Application of Shanxi Province Taiyuan030024 China Intelligent Perception Engineering Technology Center of Shanxi Taiyuan030024 China Shanxi Province Engineering Technology Research Center of Spatial Information Network Taiyuan030024 China

ISBN: (纸本)9789819969272

In satellite communications, global navigation satellite systems(GNSS) and other important space activities, the value of total electron content (TEC) in the ionosphere directly affects the size of ionospheric delay. Achieving accurate prediction of ionospheric total electron content through modeling can effectively improve the reliability and accuracy of GNSS positioning. Considering the high prediction accuracy of long short-term memory neural network (LSTM) and the fast training speed of gated recurrent unit network (GRU), but it is easy to fall into the local optimum, while the width learning system(BLS) can effectively avoid this drawback. Therefore, this paper proposes a model for predicting the total electron content of the ionosphere, which consists of a broad learning system, an LSTM network and a GRU networks. Six parameters of TEC, geomagnetic index Dst, Kp, Ap, solar activity index F10.7, and hour (HD) are selected as input features from the observed data to predict the variation of the total ionospheric electron content. The results generate prediction maps of the total ionospheric electron content and are compared with empirical models and conventional neural network models at different times and solar activity conditions. The experimental results show that the root mean square error (RMSE) of the prediction results of this BLS-LSTM-GRU model is decreased by 23.07%, 17.48% and 9.46% compared with the IRI-2016, NeQuick and CNN-LSTM prediction models, respectively, with higher prediction accuracy. © 2024, Aerospace Information Research Institute.

关键词： Long short-term memory

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A Framework for Multiclass Contour Visualization

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IEEE Transactions on Visualization and Computer Graphics 2023年第1期29卷 353-362页

作者： Li, Sihang Yu, Jiacheng Li, Mingxuan Liu, Le Zhang, Xiaolong Luke Yuan, Xiaoru Laboratory of Machine Perception Ministry of Education School of AI Peking University China Center for Data Science Academy for Advanced Interdisciplinary Studies Peking University China National Engineering Laboratory for Big Data Analysis and Application Peking University China School of Computer Science Northwestern Polytechnical University China College of Information Sciences and Technology Pennsylvania State University United States

Multiclass contour visualization is often used to interpret complex data attributes in such fields as weather forecasting, computational fluid dynamics, and artificial intelligence. However, effective and accurate representations of underlying data patterns and correlations can be challenging in multiclass contour visualization, primarily due to the inevitable visual cluttering and occlusions when the number of classes is significant. To address this issue, visualization design must carefully choose design parameters to make visualization more comprehensible. With this goal in mind, we proposed a framework for multiclass contour visualization. The framework has two components: a set of four visualization design parameters, which are developed based on an extensive review of literature on contour visualization, and a declarative domain-specific language (DSL) for creating multiclass contour rendering, which enables a fast exploration of those design parameters. A task-oriented user study was conducted to assess how those design parameters affect users' interpretations of real-world data. The study results offered some suggestions on the value choices of design parameters in multiclass contour visualization. © 2022 IEEE.

关键词： data visualization

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