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18th Pacific Rim International Conference on Artificial Intelligence, PRICAI 2021

作者： Li, Xiang Zou, Jiancheng Image Processing and Pattern Recognition Laboratory North China University of Technology Beijing100000 China

ISBN: (纸本)9783030893699

Although the development of uncontrolled face detection and location technology have made great progress, there are some problems needing to be solved in more complicated situation, such as massive occlusion and pose variation. In this paper, we propose a robust one-stage face detection and location network named PupilFace. It can locate faces of different sizes at the pixel level in complex scenarios. Specifically, we have made contributions in the following three aspects: (1) Using a lightweight backbone, we can not only detect images of dense faces, but also mark facial landmarks in pictures of various scale. In this paper, the pictures are difficult to detect because of massive occlusion or tiny faces. On the WIDER FACE hard test set, PupilFace performs better than other state-of-the-art networks. (2) The addition of the attention module–Hard Efficient Channel Attention (HECA), proposed by us, enhances the connection between the feature channels and improves the detection performance without reducing the dimension. The parameters and computations of HECA, against the parameters and computations of MobileNetV2 are 9 vs. 3.34M and 5.1e−4 GFLOPs vs. 0.32 GFLOPs. (3) We can employ varying-depths backbones accordingly to different detection and location tasks, so the model can be popularized in different fields. Extra annotations and code have been made available at: https://***/Ideal-maths/PupilFace. © 2021, Springer Nature Switzerland AG.

关键词： Face recognition

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Gait Planning and Motion Control Based on Vrep Simulation for Quadruped Robot 5

Gait Planning and Motion Control Based on Vrep Simulation fo...

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5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023

作者： Zhou, Linqi Chen, Zhihua Liu, Jun Liu, Zhi Chen, Yumeng Zhang, Liting Nanchang Hangkong University Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition Moe Key Lab of Nondestructive Testing Technology Nanchang330063 China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing100081 China

ISBN: (纸本)9798350307320

Gait planning of quadruped robots plays an important role in achieving less walking, including dynamic and static gait. In this article, a static and dynamic gait control method based on center of gravity stability margin is proposed. Firstly, the robot model and kinematics modeling are introduced. Secondly, the robot's foot static and dynamic gait were planned and the foot trajectory was designed. Finally, two types of gait of the robot were simulated using Vrep simulation software, and the differences in stability and speed between the coordinated gait with speed and stability in the static and dynamic gait of a 12 degree of freedom robot were analyzed, verifying the effectiveness of the gait control method proposed in this paper. © 2023 IEEE.

关键词： Robot programming

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A New Deep Fuzzy Based MSER Model for Multiple Document images Classification 3rd

A New Deep Fuzzy Based MSER Model for Multiple Document Imag...

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3rd International Conference on pattern recognition and Artificial Intelligence, ICPRAI 2022

作者： Biswas, Kunal Shivakumara, Palaiahnakote Sivanthi, Sittravell Pal, Umapada Lu, Yue Liu, Cheng-Lin Ayub, Mohamad Nizam Bin Computer Vision and Pattern Recognition Unit Indian Statistical Institute Kolkata India Faculty of Computer Science and Information Technology University of Malaya Kuala Lumpur Malaysia Shanghai Key Laboratory of Multidimensional Information Processing East China Normal University Shanghai China National Laboratory of Pattern Recognition Institute of Automation of Chinese Academy of Sciences Beijing China School of Artificial Intelligence University of Chinese Academy Beijing China

ISBN: (纸本)9783031090363

Understanding document images uploaded on social media is challenging because of multiple types like handwritten, printed and scene text images. This study presents a new model called Deep Fuzzy based MSER for classification of multiple document images (like handwritten, printed and scene text). The proposed model detects candidate components that represent dominant information irrespective of the type of document images by combining fuzzy and MSER in a novel way. For every candidate component, the proposed model extracts distance-based features which result in proximity matrix (feature matrix). Further, the deep learning model is proposed for classification by feeding input images and feature matrix as input. To evaluate the proposed model, we create our own dataset and to show effectiveness, the proposed model is tested on standard datasets. The results show that the proposed approach outperforms the existing methods in terms of average classification rate. © 2022, Springer Nature Switzerland AG.

关键词： image classification

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TNIE-SLAM: Neural Implicit Surface Reconstruction for Tracking-Oriented SLAM

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Journal of Intelligent and Robotic Systems: Theory and Applications 2025年第2期111卷 1-22页

作者： Gan, Baolin Zhang, Congxuan Chen, Shuaixin Chen, Zhen He, Chao Lu, Ke Lu, Feng School of Instrument Science and Optoelectronic Engineering Nanchang Hangkong University Nanchang330063 China Jiangxi Provincial Key Laboratory of Image Processing and Pattern Recognition Nanchang Hangkong University Nanchang330063 China School of Information Engineering Nanchang Hangkong University Nanchang330063 China The College of Engineering Science University of Chinese Academy of Sciences Beijing100049 China

Recent studies on simultaneous localization and mapping (SLAM) have tended to employ implicit neural representation, which can improve the efficiency and robustness of SLAM system. However, these methodologies still face challenges, such as tracking failures and low-precision mapping. In this paper, we propose a dense reconstruction visual SLAM system enhanced with closed-loop threading and local map optimization, named TNIE-SLAM. First, we propose a tracking module that utilizes the similarity of ORB feature descriptors and the feature overlap rate of the current frame to model key frames, and then we define a complete and accurate initial map based on full bundle adjustment, which addresses the issue of tracking failure due to undermapped areas. Second, we add the 2D features of the initial map to the spatiotemporal encoding module to obtain the 3D features, enabling real-time prediction and tracking of unknown areas. Finally, considering the low-precision mapping issue arising from the complex geometric shapes of objects within the scene, we propose a local map optimization module that utilizes truncated signed distance fields to model 3D features and update the spatial occupancy of boundary and contour features of objects. We test our method on the synthetic Replica dataset and the real-world ScanNet and TUM RGB-D datasets to compare with some state-of-the-art RGB-D SLAM methods, and the experimental results indicate our method performs well in both tracking and mapping accuracy, surpassing the existing dense neural RGB-D SLAM methods. © The Author(s) 2025.

关键词： Surface reconstruction

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Building Extraction Method in Remote Sensing image

Building Extraction Method in Remote Sensing Image

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International Conference on Data processing Techniques and Applications for Cyber-Physical Systems, DPTA 2019

作者： Han, Qinzhe Zheng, Xin Yin, Qian Chen, Ziyi Image Processing and Pattern Recognition Laboratory Beijing Normal University Beijing China College of Information Science and Technology University parkPA United States Beijing Normal University Beijing China

ISBN: (纸本)9789811514678

Identifying buildings in disaster areas quickly and conveniently plays an important role in post-disaster reconstruction and disaster assessment. Aiming at the technical requirements of earthquake relief projects, this paper proposed a building extraction method in remote sensing images by combining traditional digital image processing methods and convolution neural network. First, In the pretreatment process, remote sensing images are transformed from RGB space to HSV space. Then, shadows in the images are weakened by using the Retinex model de-shadowing algorithm. Finally, buildings in the image are classified and recognized by using a convolution neural network. Experiments prove that compared with the fast R-CNN algorithm, the detection accuracy is improved. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Deep learning

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Mushroom Classification Based on Deep Residual Network

Mushroom Classification Based on Deep Residual Network

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pattern recognition and Machine Learning (PRML), IEEE International Conference on

作者： Ju Feng Xufeng Ling Yubo Wang Jie Yang School of Artificial Intelligence Shanghai Normal University Tianhua College Shanghai China Shanghai Acoustics Laboratory Chinese Academy of Sciences Shanghai China Institute of Image Processing and Pattern Recognition and Institute of Medical Robotics Shanghai Jiaotong University Shanghai China

Due to the similarity in mushroom features and the difficulty in distinguishing between poisonous and nonpoisonous varieties, mushrooms pose a threat to human health. To address the challenge of mushroom classification and identification, this paper proposes a mushroom classification method based on residual networks. Firstly, a network architecture with multiple residual blocks is designed, and it is trained using an image dataset. Then, a transfer learning strategy is employed to initialize the network parameters from a pre-trained model, followed by fine-tuning to adapt to the mushroom classification task. Finally, multiple testing experiments are conducted to evaluate the effectiveness of the proposed method. The experimental results demonstrate excellent performance of the proposed method in mushroom classification tasks. Compared to traditional feature extraction methods, it can better capture the details and texture features of mushrooms, thereby improving classification accuracy. In conclusion, the mushroom classification method based on residual networks exhibits high accuracy and generalization capability. This method has potential applications in the field of mushroom classification, aiding in the better identification and differentiation of poisonous mushrooms, thereby protecting human health.

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SiamORPN: Enabling Orthogonality between Object and Background in Siamese Object Tracking

SiamORPN: Enabling Orthogonality between Object and Backgrou...

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International Conference on Tools for Artificial Intelligence (ICTAI)

作者： Kai Huang Chaolin Pan Jun Chu Lu Leng Jun Miao Junjiang Wu Lingfeng Wang Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition Nanchang Hangkong University Nanchang China School of Information Science and Technology Beijing University of Chemical Technology Beijing China

Siamese-based trackers currently are the dominant tracking paradigm due to the balance between speed and performance. However, it is prone to drift and tracking failure when the environment is complex and similar objects interfere. While the Siamese-based trackers perform the correlation operation, the responses of the target object and background appear in different channels, i.e., the feature spaces of the target object and background have some orthogonality. However, when meeting background clutters and similar objects interfere, this orthogonality becomes weaker and the wrong classification contribution of the object and the background reduces the stability of the learned similarity function, leading to many misclassified pixels in the heatmaps. In this work, we proposed a SiamORPN to solve the above issues. It is incorporated at two levels: an Orthogonal Region Proposal Network (ORPN) and an Adaptive Pixel-wise Aggregation (APA) module. Specifically, for ORPN, the orthogonality between the object and the background maximizes the inter-class inertia. Moreover, the ORPN introduces the orthogonal module to enhance this orthogonality. For APA, it introduces two lightweight networks to predict the weights of all pixels in different heatmaps and the weights of all pixels in different regression offsets. Experiments on challenging benchmarks, including OTB2015, VOT2016, VOT2018, GOT-10k test set, UAV123, LaSOT, and TrackingNet, demonstrate the proposed SiamORPN outperforms many SOTA trackers and achieves leading performance. The inference speed at GTX1080Ti can reach about 32 FPS, meeting the real-time requirements.

关键词： Heating systems Target tracking Correlation Adaptive systems Benchmark testing Real-time systems Proposals

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Gait Planning and Motion Control Based on Vrep Simulation for Quadruped Robot

Gait Planning and Motion Control Based on Vrep Simulation fo...

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WRC Symposium on Advanced Robotics and Automation (WRC SARA)

作者： Linqi Zhou Zhihua Chen Jun Liu Zhi Liu Yumeng Chen Liting Zhang key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition and MOE Key Lab of Nondestructive Testing Technology Nanchang Hangkong University Nanchang China State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing China

Gait planning of quadruped robots plays an important role in achieving less walking, including dynamic and static gait. In this article, a static and dynamic gait control method based on center of gravity stability margin is proposed. Firstly, the robot model and kinematics modeling are introduced. Secondly, the robot’s foot static and dynamic gait were planned and the foot trajectory was designed. Finally, two types of gait of the robot were simulated using Vrep simulation software, and the differences in stability and speed between the coordinated gait with speed and stability in the static and dynamic gait of a 12 degree of freedom robot were analyzed, verifying the effectiveness of the gait control method proposed in this paper.

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Radio frequency interference mitigation using pseudoinverse learning autoencoders

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Research in Astronomy and Astrophysics 2020年第8期20卷 121-128页

作者： Hong-Feng Wang Mao Yuan Qian Yin Ping Guo Wei-Wei Zhu Di Li Si-Bo Feng Image Processing and Pattern Recognition Laboratory School of Artificial IntelligenceBeijing Normal UniversityBeijing 100875China CAS Key Laboratory of FAST National Astronomical ObservatoriesChinese Academy of SciencesBeijing 100101China School of Information Management Dezhou UniversityDezhou 253023China Image Processing and Pattern Recognition Laboratory School of System ScienceBeijing Normal UniversityBeijing 100875China Institute for Astronomical Science Dezhou UniversityDezhou 253023China University of Chinese Academy of Sciences Beijing 100049China Hanvon Technology Co. LtdBeijing 100193China NAOC-UKZN Computational Astrophysics Centre University of KwaZulu-NatalDurban 4000South Africa

Radio frequency interference(RFI)is an important challenge in radio *** comes from various sources and increasingly impacts astronomical observation as telescopes become more *** this study,we propose a fast and effective method for removing RFI in pulsar *** use pseudo-inverse learning to train a single hidden layer auto-encoder(AE).We demonstrate that the AE can quickly learn the RFI signatures and then remove them from fast-sampled spectra,leaving real pulsar *** method has the advantage over traditional threshold-based filter method in that it does not completely remove contaminated channels,which could also contain useful astronomical information.

关键词： pulsars:general methods:numerical methods:data analysis

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An Active Landing Recovery Method for Quadrotor UAV: Localization, Tracking and Buffering Landing

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IFAC-PapersOnLine 2023年第2期56卷 3366-3372页

作者： Yongkang Xu Zhihua Chen Shoukun Wang Junzheng Wang National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing CO 100081 P.R.China Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition and MOE Key Lab of Nondestructive Testing Technology School of Information Engineering Nanchang Hangkong University Nanchang CO 330063 P.R. China

This paper proposes a principle of fully autonomous ground mobile landing recovery of Unmanned Aerial Vehicles (UAV) for the problems of relatively fixed landing point, passive recovery, poor flexibility, and environmental adaptability, which mainly includes localization, landing point tracking, and buffering landing for quadrotor UAV. Firstly, aiming at the problem that it is difficult to accurately obtain the position of a UAV in dynamic mobile landing recovery, a target location method based on Asynchronous Multisensor Information Fusion(AMIF) and servo turntable focus tracking is proposed. Secondly, to achieve fast and high-precision tracking of UAVs, a tracking control strategy of an independently driven landing recovery system and a Stewart six-degree of freedom platform is proposed. Then, to solve the problems of large impact force and center of gravity instability in the landing process of UAV, a stationarity control algorithm based on model prediction and a compliance control algorithm based on adaptive variable impedance are designed to achieve active compliance control while adjusting the position and attitude of the receiving surface in real-time. Finally, a quadrotor unmanned landing and recovery experimental platform is built to verify the feasibility of the ground mobile landing and recovery strategy proposed in this paper and the effectiveness of the control algorithm.

关键词： Quadrotor UAV Mobile Autonomous recovery Target localization Falling point tracking Buffering landing

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