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A Vision-Integrated Navigation Method in AUV Terminal Mobile Docking Based on Factor Graph Optimization 8

A Vision-Integrated Navigation Method in AUV Terminal Mobile...

引用

8th International Conference on Automation, Control and Robotics Engineering, CACRE 2023

作者： Ma, Tianheng Chen, Shumin Ruan, Liang Xu, Yuanxin Zhejiang University College of Information Science and Electronic Engineering Hangzhou China Zhejiang Sci-Tech University Faculty of Informatics and Electronics Hangzhou China

ISBN: (纸本)9798350302776

The widespread use of Autonomous Underwater Vehicles (AUVs) highlights the need for autonomous docking, during which accurate pose estimation and navigation play a vital role. This paper proposes a multi-sensor fusion navigation framework based on the factor graph optimization method, integrating tightly-coupled visual information from the light array to provide high-accuracy and high-frequency relative pose estimations between AUV and its mobile dock at the terminal docking stage. Simulation results demonstrate that the proposed algorithm outperforms PnP and achieves smaller RMSE in relative attitude and translation estimations. Furthermore, the experiments show that the proposed algorithm provides smoother estimation results and that it has the potential to be deployed in embedded applications. © 2023 IEEE.

关键词： Computer vision

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Development of the System Assurance Reference Model for Generating Modular Assurance Cases 28

Development of the System Assurance Reference Model for Gene...

引用

28th IEEE Pacific Rim International Symposium on Dependable Computing, PRDC 2023

作者： Wardzinski, Andrzej Jarzebowicz, Aleksander Argevide Gdańsk Poland Gdańsk University of Technology Faculty of Electronics Telecommunications and Informatics Department of Software Engineering Gdańsk Poland

ISBN: (纸本)9798350358766

Assurance cases are structured arguments used to demonstrate specific system properties such as safety or security. They are used in many industrial sectors including automotive, aviation and medical devices. Larger assurance cases are usually divided into modules to manage the complexity and distribute the work. Each of the modules is developed to address specific goals allocated to the specific objects i.e. components of the system's architecture. Such goals are applicable for given conditions of use, for instance, operational modes or target environments. It is recommended that the complete context of each of the argument modules, encompassing information about systems/components, goals and conditions of use, is described explicitly to enable efficient management and proper use of each module. This becomes even more important for component-based design, including the use of out-of-context components. In this paper, we describe a concept of a generic System Assurance Reference Model (SARM), which bridges the gap between assurance cases and the related context models. We identify the key factors that condition the high-level assurance case structure, explain how they can drive its decomposition into assurance case modules and outline the process of creating and using context models. We present a prototype solution which implements the SARM model and enables automatic data flow between models and assurance cases. © 2023 IEEE.

关键词： Digital storage

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Low Repetition Frequency Modulation Method of Optoacoustic Pulses for Underwater Communication 11

Low Repetition Frequency Modulation Method of Optoacoustic P...

引用

2023 IEEE 11th International Conference on Information, Communication and Networks, ICICN 2023

作者： Wang, Peng Chen, Shumin Zhang, Caibao Shan, Wencai Xu, Yuanxin Zhejiang University College of Information Science and Electronic Engineering Hangzhou China Zhejiang Sci-Tech University Faculty of Informatics & Electronics Hangzhou China

ISBN: (纸本)9798350314014

Compared with the traditional underwater acoustic communication method, optoacoustic communication technology uses acoustic pulses generated by high-intensity laser irradiation on the water surface to realize underwater communication, which has the advantages of flexibility, high concealment, etc. The optoacoustic signals generated under the linear mechanism have good repeatability, which is beneficial for underwater communication. Based on the above character-istics, this paper proposes a low repetition frequency modulation (LRFM) method and designs a frequency domain demodulation method that calculates the sum of harmonic energy for comparison and judgment. Finally, we optimize the parameters of the modulation signal length and repetition frequency to further improve the demodulation performance and prove the feasibility of the modulation method in this paper through the anechoic pool experiment. © 2023 IEEE.

关键词： Frequency modulation

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Trimmed Non-Local Means Filtering for the Suppression of Mixed Noise in Color Images

Trimmed Non-Local Means Filtering for the Suppression of Mix...

引用

2023 International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2023

作者： Kusnik, Damian Smolka, Bogdan Smolka, Milena Silesian University of Technology Faculty of Automatics Electronics and Informatics Gliwice Poland Agh University of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Krakow Poland

ISBN: (纸本)9798350322972

In this paper, a novel approach to the problem of mixed Gaussian and impulsive noise reduction in color images is proposed. The elaborated denoising framework is based on the Non-Local Means technique, which has been shown to effectively suppress Gaussian noise. To overcome the inability of this filter to deal with impulsive distortions, a robust similarity measure between image patches, that is insensitive to the impact of impulsive distortions, was developed. First, the distorted pixels of the image are detected using the concept of a peer group. If the number of neighbors of a pixel at the center of a filtering window, whose Euclidean distance in the RGB color space does not exceed a threshold value, is smaller than a predefined value, then the considered pixel is treated as corrupted. Afterwards, the similarity between image patches are calculated in a standard way omitting the noisy pixels. In this way, only the average of distances between pairs of unaffected pixels are calculated. Thus, the closeness measure of the patches, which serves as the coefficient in weighted averaging of pixels in the processing block, is not affected by impulsive noise and is still able to cope with the Gaussian noise component. The proposed filtering design is capable of reducing even strong mixed noise while preserving image details and edges. Moreover, it is not computationally intensive, so it can be used in real-time image processing scenarios. © 2023 IEEE.

关键词： Pixels

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Adaptive Technique of Impulsive Noise Removal in Color Digital Images 10

Adaptive Technique of Impulsive Noise Removal in Color Digit...

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10th International Conference on Electrical and electronics Engineering, ICEEE 2023

作者： Smolka, Bogdan Mendrela, Monika Kusnik, Damian Smolka, Milena Silesian University of Technology Faculty of Automatics Electronics and Informatics Gliwice Poland Agh University of Science and Technology Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Krakow Poland

ISBN: (纸本)9798350304299

This paper describes a new technique for removing impulsive noise in digital color images. The proposed method uses a measure of the pixel distortion caused by the impulsive noise, expressed as the sum of the Euclidean distances between the central pixel and its closest neighbors in the filtering window. This corruption measure is used to determine a weighted average of the pixels from the local neighborhood that is not affected by the distorted pixels. The filtering output is obtained using a soft switching scheme, where the denoising result is determined as a weighted average of the central pixel of a processing window and its robust estimate. The weighting coefficient is calculated based on the amount of distortion of the central pixel. Thus, if the central pixel is highly distorted, it is replaced by its robust estimate, otherwise it is not significantly changed. The parameters that determine the image enhancement result are adaptively adjusted by using a noise-resistant image contrast measure. The proposed filter design is able to effectively suppress impulsive noise while preserving fine image details and edges. Comparison with existing algorithms shows that the proposed method provides better denoising results than the most efficient filters designed for impulsive noise suppression in color images. Moreover, the new method is very fast and can be used in real-time denoising scenarios. © 2023 IEEE.

关键词： Image enhancement

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GPS/IMU/Hydrodynamic Model Fusion State Estimation for Unmanned Surface Vehicles Based on Moving Horizon Estimation Method 5

GPS/IMU/Hydrodynamic Model Fusion State Estimation for Unman...

引用

5th International Conference on Robotics and Computer Vision, ICRCV 2023

作者： Ma, Tianheng Chen, Shumin Xu, Yuanxin College of Information Science and Electronic Engineering Zhejiang University Hangzhou China Faculty of Informatics and Electronics Zhejiang Sci-Tech University Hangzhou China

ISBN: (纸本)9798350326369

With the growing application of unmanned surface vehicles (USVs) in marine explorations, high precision state estimation of USVs becomes increasingly important. However, sensors for consumer use are often with noise, and the real states cannot be inferred from a single sensor. Thus, GPS, IMU, and the Hydrodynamic Model of USV are combined here to achieve multi-sensor fusion and reduce the noise interference. This paper proposes a GPS/IMU/Hydrodynamic Model fusion state estimation strategy based on the moving horizon estimation (MHE) method. The performance of MHE is compared against the Extended Kalman Filter (EKF) in simulations of a traditional circular trajectory and a complex trajectory. In addition, the correlation between estimation horizon and MHE performance is studied. The results demonstrate that the designed estimator could substantially improve pose and velocity estimation accuracy compared to EKF when the real-time performance is required. © 2023 IEEE.

关键词： State estimation

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Design of the Blockchain System for the Generation and Verification of Diplomas 32

Design of the Blockchain System for the Generation and Verif...

引用

32nd International Scientific Conference electronics, ET 2023

作者： Rustemi, Avni Atanasovski, Vladimir Risteski, Aleksandar Ss. Cyril and Methodius University in Skopje Faculty of Electronic Engineering and Technologies Department of Electronics Macedonia University of Tetovo Department of Informatics Macedonia

ISBN: (纸本)9798350302004

The creation of blockchain systems for generation and verification of diplomas would reduce the possibility of forgeries that may occur, as diplomas are important documents that characterize a person in a professional sense. Through the paper we will describe the importance of the application of blockchain systems in higher education institutions for the generation and verification of diplomas. The design of the smart contract will be made through UML diagrams, respectively class diagrams. We will elaborate some techniques for smart contract testing. © 2023 IEEE.

关键词： Smart contract

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Usability study of various biometric techniques in bank branches 27

Usability study of various biometric techniques in bank bran...

引用

27th International Conference on Knowledge Based and Intelligent Information and Engineering Sytems, KES 2023

作者： Harasimiuk, Arkadiusz Czyzewski, Andrzej Gdansk University of Technology Faculty of Electronics Telecommunications and Informatics Department of Multimedia Systems 11/12 Narutowicza Street Gdansk80-233 Poland

The purpose of the presented research was to evaluate the performance of the prepared biometric algorithms and obtain information on the opinions and preferences of their users in bank branches. The study aimed to determine users' attitudes towards particular modalities and preferences on how to use biometrics after the bank customers had practical experience with the operation of the prototype solutions. The research results allow a better understanding of users' needs and expectations, which can help to increase the knowledge of the need for biometric solutions in banking. Making appropriate changes based on the research results can help improve user satisfaction. The experiments included the collection of biometric sample collection and verification processes conducted by bank customers assisted by employees. The study collected biometric samples and questionnaires from 365 people, and 179 complete verifications were conducted. About 95% of those surveyed expressed acceptance of the implemented solutions for handling transactions using biometrics. The HandVein-FaceImage (hand vein scanning and face recognition) modality pair was rated highest in 70% of cases in the studied population. © 2023 The Authors. Published by Elsevier B.V. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0)

关键词： authorization techniques biometrics data fusion methods opinion surveys

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SF-VIO: A Visual-inertial Odometry based on Selective Feature Sample using Attention Mechanism

SF-VIO: A Visual-inertial Odometry based on Selective Featur...

引用

2023 International Conference on Image, Signal Processing, and Pattern Recognition, ISPP 2023

作者： Zeng, Qingfeng Chen, Shumin Liu, Cheng Chen, Shouxu Xu, Yuanxin College of Information Science and Electronic Engineering Zhejiang University Hangzhou China Faculty of Informatics and Electronics Zhejiang Sci-Tech University Hangzhou China

ISBN: (纸本)9781510666351

Visual-inertial odometry is widely used in robot motion estimation due to its excellent performance in dealing with scale ambiguity. In this paper, an end-to-end monocular visual inertial odometry is proposed, and its innovation lies in its feature selectivity to extract key features to estimate motion, hence we call it SF-VIO. The most significant difference between our proposed SF-VIO and other methods is that SF-VIO uses key features to estimate robot motion more accurately after feature selection. The feature selection is divided into two steps. Firstly, SF-VIO implements the Attention Mechanism in the image process module Locator to filter useless image information. Secondly, SF-VIO implements a soft fusion mechanism in the feature fusion module Fusion, which effectively integrates visual features and inertial features. The experimental results on the KITTI dataset show that the SF-VIO algorithm outperforms similar methods such as DeepVO and ESP-VO in accuracy. © 2023 SPIE.

关键词： Motion estimation

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A Pulse Position Demodulation Method for Underwater Optoacoustic Communication Based on Cepstrum-Wavelet Decomposition 8

A Pulse Position Demodulation Method for Underwater Optoacou...

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8th International Conference on Communication, Image and Signal Processing, CCISP 2023

作者： Wang, Peng Chen, Shumin Wei, Chao Xu, Yuanxin College of Information Science and Electronic Engineering Zhejiang University Hangzhou China Zhejiang Sci-Tech University Faculty of Informatics & Electronics Hangzhou China

ISBN: (纸本)9798350305838

The optoacoustic pulses generated under the thermal expansion mechanism have good repeatability and high correlation coefficient, making them suitable as carriers for underwater communication. However, due to the unique properties of optoacoustic signals and the limitations of laser physical parameters, the pulse position modulation (PPM) is the only feasible modulation scheme at present. This paper proposes a pulse position demodulation method based on cepstrum-wavelet decomposition, which can achieve the separation of noise and optoacoustic pulses in the cepstrum domain, and complete comparative judgment by calculating entropy value. Finally, simulation results confirm that the performance of the cepstrum domain demodulation method is superior to traditional methods, and the feasibility has been verified through experiments at Zhoushan Pier. © 2023 IEEE.

关键词： Demodulation

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