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A Novel LOS Rate Estimation Method Based on Images for Strap-down Inertial Guidance 3

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A Novel LOS Rate Estimation Method Based on Images for Strap...

2020 3rd International Conference on Advanced Algorithms and Control Engineering, ICAACE 2020

作者： Xu, Zheng Luo, Haibo Hui, Bin Chang, Zheng Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Key Laboratory of Opto-Electronic Information Processing Chinese Academy of Science Shenyang110016 China Key Lab of Image Understanding and Computer Vision Shenyang110016 China

With the development of technology, precision guided weapon is becoming more and more important in modern war. In order to launch our recent guidance system on medium and small guided weapons, we propose a method to obtain the LOS rate by combining information from both camera and gyroscope. To be specific, we firstly calculate the body LOS angle through transforming the image pixel coordinate system into the image physical coordinate system according to camera internal parameters;then subtract the missile motion information contained in the measurement signal of the seeker and finally the LOS rate is deduced. Comparing with traditional gimballed seekers, our strap-down seekers with camera have significantly reduced costs and influences caused by external environments on platform. © Published under licence by IOP Publishing Ltd.

关键词： Cameras

Same Same but Different: Augmentation of Tiny Industrial Datasets using Generative Adversarial Networks

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Same Same but Different: Augmentation of Tiny Industrial Dat...

Swiss Conference on Data Science (SDS)

作者： Evangelos Ntavelis Iason Kastanis Luc Van Gool Radu Timofte CVL ETH Zurich Robotics & ML CSEM SA Zurich Switzerland Robotics & ML CSEM SA Alpnach Switzerland CVL ETH Zurich PSI ESAT KU Leuven Zurich Switzerland Computer Vision Lab D-ITET ETH Zurich Zurich Switzerland

ISBN: (数字)9781728171777

ISBN: (纸本)9781728171784

The evolution of generative adversarial networks has permitted the generation of realistic fake images which, in some cases, are indistinguishable from the real ones. Many recent works in image generation focus on learning internal image statistics via training only on a single natural image. While natural images exhibit a variability in their attributes, industrial images are often acquired in a controlled environment following a specific structure. In this work we utilize the cutting-edge results of single image generation on the structured case of industrial images. Deep Learning plays an important role in Industry 4.0 manufacturing lines and multiple ML-based image processing products are currently on the market. To be able to tackle a variety of problems where image acquisition is costly and time-consuming data generation is a promising approach. The proposed method only requires a handful of images for training, making it an ideal candidate for industrial application where data is scarce and confidential. It provides the foundation for a variety of use cases in the field of industrial Deep Learning.

关键词： Generators Image resolution Training Gallium nitride Image generation Generative adversarial networks Robots

OTE: Optimal Trustworthy EdgeAI solutions for smart cities

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OTE: Optimal Trustworthy EdgeAI solutions for smart cities

IEEE/ACM International Symposium on Cluster Computing and the Grid (CCGRID)

作者： Vasileios Mygdalis Lorenzo Carnevale Jose Ramiro Martí nez-De-Dios Dmitriy Shutin Giovanni Aiello Massimo Villari Ioannis Pitas Department of Informatics Aristotle University of Thessaloniki Thessaloniki Greece Department of Mathematical and Computer Science Physics and Hearth Sciences University of Messina Messina Italy Gruppo Nazionale per il Calcolo Scientifico (GNCS) Istituto Nazionale di Alta Matematica (INdAM) &#x201C F. Severi&#x201D Rome Italy Robotics Vision and Control Group University of Seville Seville Spain Institute of Communications and Navigation German Aerospace Center (DLR) Wessling Germany Research and Development Lab. Engineering Ingegneria Informatica S.p.A Rome Italy

This work studies and defines the problem of providing extensive and opportunistic Edge AI-based area coverage in smart city application scenarios, by researching and determining the optimal configuration of sensing and computational resources for minimizing the environmental/technology footprint of the solution. A typical smart city computing continuum consists of statically installed multimodal sensing Internet-of-Things (IoT) nodes at various city locations, accompanied by interconnected computational Cloud/Edge/IoT nodes. This paper presents Optimal Trustworthy EdgeAI (OTE), an entirely novel research pipeline, that complements existing smart city infrastructure with intelligent drone Edge/IoT nodes (in the form of modularly equipped unmanned aerial vehicles), capable of autonomous repositioning according to individual/collective sensing and coverage criteria. Thereby, we envisage the emerging cutting-edge technologies of trustworthy sensing, perceiving, modelling technologies for predicting the behavior of moving targets (e.g., citizens/vehicles/objects), understanding natural phenomena (e.g., sea wave motion, urban flora/fauna, biodiversity) in order to anticipate events (people's bad habits, environmental changes), by exploiting novel continuous data processing services across the whole span of the enhanced Cloud-Edge-IoT computing continuum.

关键词： Cloud computing Privacy Smart cities Pipelines Semantics Robot sensing systems Software

Context-transformer: Tackling object confusion for few-shot detection

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arXiv 2020年

作者： Yang, Ze Wang, Yali Chen, Xianyu Liu, Jianzhuang Qiao, Yu ShenZhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab. Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Huawei Noah’s Ark Lab. SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society

Few-shot object detection is a challenging but realistic scenario, where only a few annotated training images are available for training detectors. A popular approach to handle this problem is transfer learning, i.e., fine-tuning a detector pretrained on a source-domain benchmark. However, such transferred detector often fails to recognize new objects in the target domain, due to low data diversity of training samples. To tackle this problem, we propose a novel Context-Transformer within a concise deep transfer framework. Specifically, Context-Transformer can effectively leverage source-domain object knowledge as guidance, and automatically exploit contexts from only a few training images in the target domain. Subsequently, it can adaptively integrate these relational clues to enhance the discriminative power of detector, in order to reduce object confusion in few-shot scenarios. Moreover, Context-Transformer is flexibly embedded in the popular SSD-style detectors, which makes it a plug-and-play module for end-to-end few-shot learning. Finally, we evaluate Context-Transformer on the challenging settings of few-shot detection and incremental few-shot detection. The experimental results show that, our framework outperforms the recent state-of-the-art approaches. The codes are available at https://***/Ze-Yang/ContextTransformer. Copyright © 2020, The Authors. All rights reserved.

关键词： Object detection

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

Conditional sequential modulation for efficient global image retouching

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arXiv 2020年

作者： He, Jingwen Liu, Yihao Qiao, Yu Dong, Chao ShenZhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China SIAT Branch Shenzhen Institute of Artificial Intelligence Robotics for Society Korea Republic of University of Chinese Academy of Sciences China

Photo retouching aims at enhancing the aesthetic visual quality of images that suffer from photographic defects such as over/under exposure, poor contrast, inharmonious saturation. Practically, photo retouching can be accomplished by a series of image processing operations. In this paper, we investigate some commonly-used retouching operations and mathematically find that these pixel-independent operations can be approximated or formulated by multi-layer perceptrons (MLPs). Based on this analysis, we propose an extremely light-weight framework - Conditional Sequential Retouching Network (CSRNet) - for efficient global image retouching. CSRNet consists of a base network and a condition network. The base network acts like an MLP that processes each pixel independently and the condition network extracts the global features of the input image to generate a condition vector. To realize retouching operations, we modulate the intermediate features using Global Feature Modulation (GFM), of which the parameters are transformed by condition vector. Benefiting from the utilization of 1×1 convolution, CSRNet only contains less than 37k trainable parameters, which is orders of magnitude smaller than existing learning-based methods. Extensive experiments show that our method achieves state-of-the-art performance on the benchmark MIT-Adobe FiveK dataset quantitively and qualitatively. Code is available at https://***/hejingwenhejingwen/CSRNet. Copyright © 2020, The Authors. All rights reserved.

关键词： Pixels

A learning-based method for online adjustment of C-arm cone-beam CT source trajectories for artifact avoidance

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arXiv 2020年

作者： Thies, Mareike Zäch, Jan-Nico Gao, Cong Taylor, Russell Navab, Nassir Maier, Andreas Unberath, Mathias Laboratory for Computational Sensing + Robotics Johns Hopkins University BaltimoreMD United States Pattern Recognition Lab Friedrich-Alexander-Universität Erlangen-Nürnberg Computer Vision Laboratory Eidgenössische Technische Hochschule Zürich

Purpose: During spinal fusion surgery, screws are placed close to critical nerves suggesting the need for highly accurate screw placement. Verifying screw placement on high-quality tomographic imaging is essential. C-arm Cone-beam CT (CBCT) provides intraoperative 3D tomographic imaging which would allow for immediate verification and, if needed, revision. However, the reconstruction quality attainable with commercial CBCT devices is insufficient, predominantly due to severe metal artifacts in the presence of pedicle screws. These artifacts arise from a mismatch between the true physics of image formation and an idealized model thereof assumed during reconstruction. Prospectively acquiring views onto anatomy that are least affected by this mismatch can, therefore, improve reconstruction quality. Methods: We propose to adjust the C-arm CBCT source trajectory during the scan to optimize reconstruction quality with respect to a certain task, i.e. verification of screw placement. Adjustments are performed on-the-fly using a convolutional neural network that regresses a quality index over all possible next views given the current x-ray image. Adjusting the CBCT trajectory to acquire the recommended views results in non-circular source orbits that avoid poor images, and thus, data inconsistencies. Results: We demonstrate that convolutional neural networks trained on realistically simulated data are capable of predicting quality metrics that enable scene-specific adjustments of the CBCT source trajectory. Using both realistically simulated data as well as real CBCT acquisitions of a semianthropomorphic phantom, we show that tomographic reconstructions of the resulting scene-specific CBCT acquisitions exhibit improved image quality particularly in terms of metal artifacts. Conclusion: The proposed method is a step towards online patient-specific C-arm CBCT source trajectories that enable high-quality tomographic imaging in the operating room. Since the optimization objectiv

关键词： Convolution

Global semantic description of objects based on prototype theory

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arXiv 2019年

作者： Pino, Omar Vidal Nascimento, Erickson R. Campos, Mario F.M. Universidade Federal de Minas Gerais Computer Science Department Computer Vision and Robotics Lab Belo Horizonte Minas Gerais Brazil

In this paper, we introduce a novel semantic description approach based on Prototype Theory foundations. Inspired by the human approach used for representing categories, we propose a Computational Prototype Model (CPM) that encodes and stores the central semantic meaning of the object’s category: the semantic prototype. Also, we introduce a Prototype-based Description Model that encodes the semantic of an object while describing its features using our CPM model. Our description method uses semantic prototypes computed by convolutional neural network (CNN) classification models to create discriminative signatures that describe an object highlighting its most distinctive features within the category. Our experiments show that: i) the proposed CPM model (semantic prototype + distance metric) successfully describes the internal semantic structure of objects categories;ii) our semantic distance metric can be understood as object visual typicality score within a category;and iii) our descriptor encoding is semantically interpretable and significantly outperforms other image global encodings in clustering and classification tasks. Copyright © 2019, The Authors. All rights reserved.

关键词： Encoding (symbols)