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94 GHz Three-Dimensional Imaging Radar for Environmental Detection 8

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94 GHz Three-Dimensional Imaging Radar for Environmental Det...

8th Asia-Pacific Conference on Antennas and Propagation, APCAP 2019

作者： Wu, HongMing Qi, Feng Wang, Jinkuan Northeastern University College of Information Science and Engineering Shenyang110819 China Chinese Academy of Sciences Shenyang Institute of Automation Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Opto-Electronic Information Processing Chinese Academy of Sciences Shenyang110016 China Key Lab of Image Understanding and Computer Vision Liaoning Province Shenyang110016 China

ISBN: (纸本)9781665400541

At present, With the development of technology, the high resolution of millimeter wave (terahertz) can be applied to environmental sensing imaging. In this paper, Using the frequency-modulated continuous-wave (FMCW) radar technique with a 1GHz bandwidth, we show experimentally that a high-resolution real time imaging radar operating at 93.5-94.5GHz is capable of detecting different car models at standoff ranges of 12 m. We also achieved 3D high-resolution imaging of the building. at 140 meters. © 2019 IEEE.

关键词： Millimeter waves

Deep Learning-Enabled ISAC-OTFS Pre-equalization Design for Aerial-Terrestrial Networks

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arXiv 2024年

作者： Wang, Weihao Guo, Jing Wang, Siqiang Wang, Xinyi Yuan, Weijie Fei, Zesong the School of Information and Electronics Beijing Institute of Technology Beijing100081 China the School of System Design and Intelligent Manufacturing The Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen518055 China

Orthogonal time frequency space (OTFS) modulation has been viewed as a promising technique for integrated sensing and communication (ISAC) systems and aerial-terrestrial networks, due to its delay-Doppler domain transmission property and strong Doppler-resistance capability. However, it also suffers from high processing complexity at the receiver. In this work, we propose a novel pre-equalization based ISAC-OTFS transmission framework, where the terrestrial base station (BS) executes pre-equalization based on its estimated channel state information (CSI). In particular, the mean square error of OTFS symbol demodulation and Cramér-Rao lower bound of sensing parameter estimation are derived, and their weighted sum is utilized as the metric for optimizing the pre-equalization matrix. To address the formulated problem while taking the time-varying CSI into consideration, a deep learning enabled channel prediction-based pre-equalization framework is proposed, where a parameter-level channel prediction module is utilized to decouple OTFS channel parameters, and a low-dimensional prediction network is leveraged to correct outdated CSI. A CSI processing module is then used to initialize the input of the pre-equalization module. Finally, a residual-structured deep neural network is cascaded to execute pre-equalization. Simulation results show that under the proposed framework, the demodulation complexity at the receiver as well as the pilot overhead for channel estimation, are significantly reduced, while the symbol detection performance approaches those of conventional minimum mean square error equalization and perfect CSI. Copyright © 2024, The Authors. All rights reserved.

关键词： Channel estimation

Image saliency detection via multi-feature and manifold-space ranking 2021

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Image saliency detection via multi-feature and manifold-spac...

3rd Asia Pacific Information Technology Conference, APIT 2021

作者： Li, Xiaoli Zhao, Huaici Liu, Yunpeng Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Opto-Electronic Information Processing Shenyang110016 China The Key Lab of Image Understanding and Computer Vision Shenyang110016 China Shenyang Jianzhu University Shenyang110168 China

ISBN: (纸本)9781450388108

In this paper, we propose an image saliency detection method by using multi-feature and manifold-space ranking. Basically, the proposed method extracts the color-histogram feature to obtain the fine information of the image, and the color-mean feature to obtain the coarse information respectively. To further improve the detection accuracy of the feature correlation between different image units, a manifold-space ranking method is used to calculate saliency values of image units to construct a saliency map on each feature-space. Specifically, we fuse the two saliency maps to obtain the final saliency map. Extensive experiments demonstrate that the proposed method not only outperforms the other methods, but also improves the accuracy and robustness of the saliency detection. © 2021 ACM.

关键词： Color

Motion Planning and Control for Multi Vehicle Autonomous Racing at High Speeds

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arXiv 2022年

作者： Raji, Ayoub Liniger, Alexander Giove, Andrea Toschi, Alessandro Musiu, Nicola Morra, Daniele Verucchi, Micaela Caporale, Danilo Bertogna, Marko University of Modena and Reggio Emilia Italy University of Parma Italy Computer Vision Lab ETH Zurich Switzerland University of Pisa Italy Technology Innovation Institute Autonomous Robotics Research Center United Arab Emirates

This paper presents a multi-layer motion planning and control architecture for autonomous racing, capable of avoiding static obstacles, performing active overtakes, and reaching velocities above 75 m/s. The used offline global trajectory generation and the online model predictive controller are highly based on optimization and dynamic models of the vehicle, where the tires and camber effects are represented in an extended version of the basic Pacejka Magic Formula. The proposed single-track model is identified and validated using multi-body motorsport libraries which allow simulating the vehicle dynamics properly, especially useful when real experimental data are missing. The fundamental regularization terms and constraints of the controller are tuned to reduce the rate of change of the inputs while assuring an acceptable velocity and path tracking. The motion planning strategy consists of a Frenét-Frame-based planner which considers a forecast of the opponent produced by a Kalman filter. The planner chooses the collision-free path and velocity profile to be tracked on a 3 seconds horizon to realize different goals such as following and overtaking. The proposed solution has been applied on a Dallara AV-21 racecar and tested at oval race tracks achieving lateral accelerations up to 25 m/s2 Copyright © 2022, The Authors. All rights reserved.

关键词： Motion planning

Partially calibrated semi-generalized pose from hybrid point correspondences

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arXiv 2022年

作者： Bhayani, Snehal Larsson, Viktor Sattler, Torsten Heikkilä, Janne Kukelova, Zuzana Center for Machine Vision and Signal Analysis University of Oulu Finland Czech Institute of Informatics Robotics and Cybernetics Czech Technical University Prague Czech Republic Computer Vision and Geometry Group Department of Computer Science ETH Zürich Switzerland Visual Recognition Group Faculty of Electrical Engineering Czech Technical University Prague Czech Republic

In this paper we study the problem of estimating the semi-generalized pose of a partially calibrated camera, i.e., the pose of a perspective camera with unknown focal length w.r.t. a generalized camera, from a hybrid set of 2D-2D and 2D-3D point correspondences. We study all possible camera configurations within the generalized camera system. To derive practical solvers to previously unsolved challenging configurations, we test different parameterizations as well as different solving strategies based on state-of-the-art methods for generating efficient polynomial solvers. We evaluate the three most promising solvers, i.e., the H51f solver with five 2D-2D correspondences and one 2D-3D correspondence viewed by the same camera inside generalized camera, the H32f solver with three 2D-2D and two 2D-3D correspondences, and the H13f solver with one 2D-2D and three 2D-3D correspondences, on synthetic and real data. We show that in the presence of noise in the 3D points these solvers provide better estimates than the corresponding absolute pose solvers. Copyright © 2022, The Authors. All rights reserved.

关键词： Cameras

HairDiffusion: Vivid Multi-Colored Hair Editing via Latent Diffusion

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arXiv 2024年

作者： Zeng, Yu Zhang, Yang Liu, Jiachen Shen, Linlin Deng, Kaijun He, Weizhao Wang, Jinbao Computer Vision Institute School of Computer Science & Software Engineering Shenzhen University China Shenzhen Institute of Artificial Intelligence and Robotics for Society China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Guangdong Provincial Key Laboratory of Intelligent Information Processing China

Hair editing is a critical image synthesis task that aims to edit hair color and hairstyle using text descriptions or reference images, while preserving irrelevant attributes (e.g., identity, background, cloth). Many existing methods are based on StyleGAN to address this task. However, due to the limited spatial distribution of StyleGAN, it struggles with multiple hair color editing and facial preservation. Considering the advancements in diffusion models, we utilize Latent Diffusion Models (LDMs) for hairstyle editing. Our approach introduces Multi-stage Hairstyle Blend (MHB), effectively separating control of hair color and hairstyle in diffusion latent space. Additionally, we train a warping module to align the hair color with the target region. To further enhance multi-color hairstyle editing, we fine-tuned a CLIP model using a multi-color hairstyle dataset. Our method not only tackles the complexity of multi-color hairstyles but also addresses the challenge of preserving original colors during diffusion editing. Extensive experiments showcase the superiority of our method in editing multi-color hairstyles while preserving facial attributes given textual descriptions and reference images. © 2024, CC BY.

关键词： Color image processing

Learning Context-Based Non-local Entropy Modeling for Image Compression

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arXiv 2020年

作者： Timofte, Radu Zhang, David Zuo, Wangmeng Zhang, Kai Li, Mu School of Science and Engineering Chinese University of Hong Kong ShenzhenGuangdong518172 China Computer Vision Laboratory ETH Zurich Zurich Switzerland School of Computer Science and Technology Harbin Institute of Technology Harbin150001 China Shenzhen Research Institute of Big Data Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China

The entropy of the codes usually serves as the rate loss in the recent learned lossy image compression methods. Precise estimation of the probabilistic distribution of the codes plays a vital role in the performance. However, existing deep learning based entropy modeling methods generally assume the latent codes are statistically independent or depend on some side information or local context, which fails to take the global similarity within the context into account and thus hinder the accurate entropy estimation. To address this issue, we propose a non-local operation for context modeling by employing the global similarity within the context. Specifically, we first introduce the proxy similarity functions and spatial masks to handle the missing reference problem in context modeling. Then, we combine the local and the global context via a non-local attention block and employ it in masked convolutional networks for entropy modeling. The entropy model is further adopted as the rate loss in a joint rate-distortion optimization to guide the training of the analysis transform and the synthesis transform network in transforming coding framework. Considering that the width of the transforms is essential in training low distortion models, we finally produce an U-Net block in the transforms to increase the width with manageable memory consumption and time complexity. Experiments on Kodak and Tecnick datasets demonstrate the superiority of the proposed context-based non-local attention block in entropy modeling and the U-Net block in low distortion compression against the existing image compression standards and recent deep image compression models. Copyright © 2020, The Authors. All rights reserved.

关键词： Image compression

Research on Neural Networks Integration for Object Classification in Video Analysis Systems

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Research on Neural Networks Integration for Object Classific...

International Conference on Industrial Engineering, Applications and Manufacturing (ICIEAM)

作者： Ivan Fomin Vladislav Burin Aleksandr Bakhshiev Computer vision lab Russian State Scientific Center for Robotics and Technical Cybernetics Saint-Petersburg Russia Institute of Metallurgy Mechanical Engineering and Transport Peter the Great St.Petersburg Polytechnic University Saint-Petersburg Russia

ISBN: (数字)9781728145907

ISBN: (纸本)9781728145914

Object recognition with the help of outdoor video surveillance cameras is an important task in the context of ensuring the security at enterprises, public places and even private premises. There have long existed systems that allow detecting moving objects in the image sequence from a video surveillance system. Such a system is partially considered in this research. It detects moving objects using a background model, which has certain problems. Due to this some objects are missed or detected falsely. We propose to combine the moving objects detection results with the classification, using a deep neural network. This will allow determining whether a detected object belongs to a certain class, sorting out false detections, discarding the unnecessary ones (sometimes individual classes are unwanted), to divide detected people into the employees in the uniform and all others, etc. The authors perform a network training in the Keras developer-friendly environment that provides for quick building, changing and training of network architectures. The performance of the Keras integration into a video analysis system, using direct Python script execution techniques, is between 6 and 52 ms, while the precision is between 59.1% and 97.2% for different architectures. The integration, made by freezing a selected network architecture with weights, is selected after testing. After that, frozen architecture can be imported into video analysis using the TensorFlow interface for C++. The performance of such type of integration is between 3 and 49 ms. The precision is between 63.4% and 97.8% for different architectures.

关键词：

Attention-driven dynamic graph convolutional network for multi-label image recognition

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arXiv 2020年

作者： Ye, Jin He, Junjun Peng, Xiaojiang Wu, Wenhao Qiao, Yu ShenZhen Key Lab of Computer Vision and Pattern Recognition Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China School of Biomedical Engineering Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China

Recent studies often exploit Graph Convolutional Network (GCN) to model label dependencies to improve recognition accuracy for multi-label image recognition. However, constructing a graph by counting the label co-occurrence possibilities of the training data may degrade model generalizability, especially when there exist occasional co-occurrence objects in test images. Our goal is to eliminate such bias and enhance the robustness of the learnt features. To this end, we propose an Attention-Driven Dynamic Graph Convolutional Network (ADD-GCN) to dynamically generate a specific graph for each image. ADD-GCN adopts a Dynamic Graph Convolutional Network (D-GCN) to model the relation of content-aware category representations that are generated by a Semantic Attention Module (SAM). Extensive experiments on public multi-label benchmarks demonstrate the effectiveness of our method, which achieves mAPs of 85.2%, 96.0%, and 95.5% on MS-COCO, VOC2007, and VOC2012, respectively, and outperforms current state-of-the-art methods with a clear margin. All codes can be found at https://***/Yejin0111/ADD-GCN. Copyright © 2020, The Authors. All rights reserved.

关键词： Semantics