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arXiv 2022年

作者： Tang, Sanli Zhang, Zhongyu Cheng, Zhanzhan Lu, Jing Xu, Yunlu Niu, Yi He, Fan Hikvision Research Institute Hangzhou China Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Shanghai China

Knowledge distillation learns a lightweight student model that mimics a cumbersome teacher. Existing methods regard the knowledge as the feature of each instance or their relations, which is the instance-level knowledge only from the teacher model, i.e., the local knowledge. However, the empirical studies show that the local knowledge is much noisy in object detection tasks, especially on the blurred, occluded, or small instances. Thus, a more intrinsic approach is to measure the representations of instances w.r.t. a group of common basis vectors in the two feature spaces of the teacher and the student detectors, i.e., global knowledge. Then, the distilling algorithm can be applied as space alignment. To this end, a novel prototype generation module (PGM) is proposed to find the common basis vectors, dubbed prototypes, in the two feature spaces. Then, a robust distilling module (RDM) is applied to construct the global knowledge based on the prototypes and filtrate noisy local knowledge by measuring the discrepancy of the representations in two feature spaces. Experiments with Faster-RCNN and RetinaNet on PASCAL and COCO datasets show that our method achieves the best performance for distilling object detectors with various backbones, which even surpasses the performance of the teacher model. We also show that the existing methods can be easily combined with global knowledge and obtain further improvement. © 2022, CC BY-NC-ND.

关键词： Distillation

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Noise Tolerance of Linear vs Non-Linear LiDAR Based Ego-Motion Drift Correction Methods

Noise Tolerance of Linear vs Non-Linear LiDAR Based Ego-Moti...

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IEEE International Conference on Intelligent Computer Communication and processing (ICCP)

作者： Corvin-Petruț Cobârzan Cătălin-Cosmin Golban Sergiu Nedevschi Computer Science Department Technical University of Cluj-Napoca Romania Image Processing and Pattern Recognition Group Technical University of Cluj-Napoca Romania

ISBN: (纸本)9781665464383

We have previously proposed a linear approach for reducing the global drift of a video-based frame-to-frame trajectory estimation method by correcting it at selected points in time based on the alignment of past and current 3D LiDAR measurements (see [7]). In this paper we assess the tolerance to noise of a series of methods derived from the one previously proposed, this time using both linear and non-linear optimization methods to calculate the correction transform. We generate synthetic datasets with various noise pollution levels and assess the performance of each method under investigation in recovering artificially induced odometry estimation errors.

关键词： Visualization Laser radar Three-dimensional displays Pollution Optimization methods Transforms Time measurement

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Survey on Monocular Depth Estimation for Unmanned Aerial Vehicles using Deep Learning

Survey on Monocular Depth Estimation for Unmanned Aerial Veh...

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IEEE International Conference on Intelligent Computer Communication and processing (ICCP)

作者： Horatiu Florea Sergiu Nedevschi Computer Science Dept. Image Processing and Pattern Recognition Research Center Technical University of Cluj-Napoca Cluj-Napoca Romania

ISBN: (纸本)9781665464383

Deep learning-based solutions for the ill-posed problem of Monocular Depth Estimation (MDE) from 2D color images have shown potential in recent years, spurring a very active field of research. Most state-of-the-art proposals focus on solving the problem in the context of automotive advanced driver assistance and/or autonomous driving systems. While presenting their own complexities and challenges, the vast majority of road environments exhibit a number of commonalities amongst themselves. The aerial domain in which modern Unmanned Aerial Vehicles (UAVs) operate is significantly different and features a large variety of possible scenes based on the specific mission carried out. The increasing number of applications for UAVs could benefit from more advanced learning-based MDE solutions for recovering 3D geometric information from the scene. In this paper, we conduct a study of existing research on the topic of MDE specifically tailored for aerial views, as well as presenting the datasets and tools currently supporting such research, high-lighting the challenges that remain. To the best of our knowledge, this is the first survey covering this field.

关键词： Deep learning Technological innovation Three-dimensional displays Roads Estimation Autonomous aerial vehicles Complexity theory

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Online LiDAR-Camera Extrinsic Parameters Self-checking

arXiv

引用

arXiv 2022年

作者： Wei, Pengjin Yan, Guohang Li, Yikang Fang, Kun Yang, Jie Liu, Wei The Institute of Image Processing and Pattern Recognition Department of Automation Shanghai Jiao Tong University China The Autonomous Driving Group Shanghai AI Laboratory China

With the development of neural networks and the increasing popularity of automatic driving, the calibration of the LiDAR and the camera has attracted more and more attention. This calibration task is multi-modal, where the rich color and texture information captured by the camera and the accurate three-dimensional spatial information from the LiDAR is incredibly significant for downstream tasks. Current research interests mainly focus on obtaining accurate calibration results through information fusion. However, they seldom analyze whether the calibrated results are correct or not, which could be of significant importance in real-world applications. For example, in large-scale production, the LiDARs and the cameras of each smart car have to get well-calibrated as the car leaves the production line, while in the rest of the car life period, the poses of the LiDARs and cameras should also get continually supervised to ensure the security. To this end, this paper proposes a self-checking algorithm to judge whether the extrinsic parameters are well-calibrated by introducing a binary classification network based on the fused information from the camera and the LiDAR. Moreover, since there is no such dataset for the task in this work, we further generate a new dataset branch from the KITTI dataset tailored for the task. Our experiments on the proposed dataset branch demonstrate the performance of our method. To the best of our knowledge, this is the first work to address the significance of continually checking the calibrated extrinsic parameters for autonomous driving. The code is open-sourced on the Github website at https://***/OpenCalib/LiDAR2camera_self-check. Copyright © 2022, The Authors. All rights reserved.

关键词： Cameras

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Vehicle Routing Problem with Time Windows using Hybrid Metaheuristic Dragonfly Algorithm and Variable Neighborhood Search: Work on Progress

Vehicle Routing Problem with Time Windows using Hybrid Metah...

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International Conference on Electrical Engineering, Computer Science and Informatics (EECSI)

作者： Yunita Yunita Deris Stiawan Dian Palupi Rini Doctoral Student at Faculty of Computer Science Sriwijaya University Intelligent System Research Group Faculty of Computer Science Sriwijaya University Palembang South Sumatera Communication Network and Information Security Research Group Faculty of Computer Science Sriwijaya University Palembang South Sumatera Image Processing dan Pattern Recognition Laboratory Group Faculty of Computer Science Sriwijaya University Palembang South Sumatera

ISBN: (数字)9798350355314

ISBN: (纸本)9798350355321

One of the problems with Smart Transportation is the problem of cost and travel time. This problem is known as the Variable Routing Problem (VRP). In some real cases, in addition to considering route selection, there are limitations on the capacity and time period for the vehicle to serve each customer known as Time Windows, so VRP has developed into Variable Routing Problem with Time Windows (VRPTW). One way to solve VRPTW is to use metaheuristic methods. However, the metaheuristic method has a weakness, which are it can get stuck in local optimums and fail to find better global solutions. To overcome this, a combination with other methods or known as hybrid is needed. The formulation of this research problem is how to develop a Smart transportation model using a metaheuristic hybrid algorithm. The purpose of this study is to develop a Smart transportation model using a metaheuristic hybrid algorithm. The method used is to combine two metaheuristic algorithms, which are the Dragonfly Algorithm (DA) and the Variable Neighborhood Search (VNS). The result of this research is a new algorithm model which is a hybrid between DA and VNS. Through a combination of global exploration using DA and local exploitation using VNS, this algorithm is expected to be able to find a better solution and faster convergence in solving VRPTW problems

关键词： Electrical engineering Computer science Costs Metaheuristics Vehicle routing Routing Search problems Smart transportation Informatics Convergence

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CROON: Automatic Multi-LiDAR Calibration and Refinement Method in Road Scene

arXiv

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arXiv 2022年

作者： Wei, Pengjin Yan, Guohang Li, Yikang Fang, Kun Cai, Xinyu Yang, Jie Liu, Wei The Institute of Image Processing and Pattern Recognition Department of Automation Shanghai Jiao Tong University China The Autonomous Driving Group Shanghai AI Laboratory China

Sensor-based environmental perception is a crucial part of the autonomous driving system. In order to get an excellent perception of the surrounding environment, an intelligent system would configure multiple LiDARs (3D Light Detection and Ranging) to cover the distant and near space of the car. The precision of perception relies on the quality of sensor calibration. This research aims at developing an accurate, automatic, and robust calibration strategy for multiple LiDAR systems in the general road scene. We thus propose CROON (automatic multi-LiDAR Calibration and Refinement methOd in rOad sceNe), a two-stage method including rough and refinement calibration. The first stage can calibrate the sensor from an arbitrary initial pose, and the second stage is able to precisely calibrate the sensor iteratively. Specifically, CROON utilize the nature characteristics of road scene so that it is independent and easy to apply in large-scale conditions. Experimental results on real-world and simulated data sets demonstrate the reliability and accuracy of our method. All the related data sets and codes are open-sourced on the Github website https://***/OpenCalib/LiDAR2LiDAR. Copyright © 2022, The Authors. All rights reserved.

关键词： Intelligent systems

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Generalized Conics: Properties and applications

Generalized Conics: Properties and applications

引用

International Conference on pattern recognition

作者： Aysylu Gabdulkhakova Walter G. Kropatsch Pattern Recognition and Image Processing group Technische Universität Wien Vienna Austria

ISBN: (纸本)9781728188089;9781728188096

In this paper the properties of the generalized conics are used to create a unified framework for generating various types of the distance fields. The main concept behind this work is a metric that measures the distance from a point to a line segment according to the definition of the ellipse. The proposed representation provides a possibility to efficiently compute the proximity, arithmetic mean of the distances and a space tessellation with regard to the given set of polygonal objects, line segments and points. In addition, the weights can be introduced for objects, their parts and combinations. This fact leads to a hierarchical representation that can be efficiently obtained using the pixel-wise operations. The practical value of the proposed ideas is demonstrated on an example of applications like skeletonization, smoothing and optimal location finding.

关键词： Measurement image segmentation Smoothing methods Transforms Planning pattern recognition

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Online Lidar-Camera Extrinsic Parameters Self-Checking

SSRN

引用

SSRN 2023年

作者： Wei, Pengjin Yan, Guohang You, Xin Fang, Kun Ma, Tao Yang, Jie Liu, Wei Department of Automation Shanghai Jiao Tong University 800 Dongchuan RD Minhang District China Autonomous Driving Group Shanghai AI Laboratory 129 Longwen RD Xuhui District China Institute of Image Processing and Pattern Recognition China

With the development of neural networks and the increasing popularity of automatic driving, the calibration of the LiDAR and the camera has attracted more and more attention. This calibration task is multi-modal, where the rich color and texture information captured by the camera and the accurate three-dimensional spatial information from the LiDAR is incredibly significant for downstream tasks. In real-world applications, as smart cars roll off the production line, their LiDAR and camera systems are meticulously calibrated, while in the rest of the car life period, the poses of the LiDARs and cameras no longer get continually supervised to ensure the security. To this end, this paper proposes a self-checking algorithm to judge whether the extrinsic parameters are well-calibrated during the car life period by introducing a binary classification network based on the fused information from the camera and the LiDAR. Moreover, since there is no such dataset for the task in this work, we further generate a new dataset branch from the KITTI dataset tailored for the task. Our experiments on the proposed dataset branch demonstrate the performance of our method. To the best of our knowledge, this is the first work to address the significance of continually checking the calibrated extrinsic parameters for autonomous driving. The dataset and code are available at https://***/OpenCalib/LiDAR2camera_self-check © 2023, The Authors. All rights reserved.

关键词： Cameras

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Visual Odometry Drift Reduction Based on LiDAR Point Clouds Alignment

Visual Odometry Drift Reduction Based on LiDAR Point Clouds ...

引用

IEEE International Conference on Intelligent Computer Communication and processing (ICCP)

作者： Cătălin-Cosmin Golban Corvin-Petruţ Cobârzan Sergiu Nedevschi Technical University of Cluj-Napoca Romania Image Processing and Pattern Recognition Group Technical University of Cluj-Napoca Romania

ISBN: (纸本)9781665409773

Visual and LiDAR based odometry methods are key enablers for autonomous robots sub-problems such as mapping and localization or temporal aggregation and fusion of sensor data. When it comes to trajectory reconstruction the errors of independent local estimations accumulate over time, resulting in overall drifts from the real trajectory. This paper proposes a method for reducing the global drift by correcting the video-based frame-to-frame trajectory estimation at selected points in time based on the alignment of past and current LiDAR 3D measurements. The main strength of the proposed method is the formulation of the problem as a system of linear equations, which is an adequate numerical approximation as the corrective component is small enough. In this way we eliminate the need to deploy expensive non-linear optimization methods for calculating the correction transform.

关键词： Point cloud compression Visualization Laser radar Three-dimensional displays Estimation Transforms Robot sensing systems

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Deep Learning in Palmprint recognition-A Comprehensive Survey

arXiv

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arXiv 2025年

作者： Gao, Chengrui Yang, Ziyuan Jia, Wei Leng, Lu Zhang, Bob Teoh, Andrew Beng Jin College of Computer Science Sichuan University Chengdu610065 China Singapore School of Computer and Information Hefei University of Technology Hefei China Jiangxi Provincial Key Laboratory of Image Processing and Pattern Recognition Nanchang Hangkong University Nanchang China Pattern Analysis and Machine Intelligence Group Department of Computer and Information Science University of Macau Taipa China School of Electrical and Electronic Engineering College of Engineering Yonsei University Seoul Korea Republic of

Palmprint recognition has emerged as a prominent biometric technology, widely applied in diverse scenarios. Traditional handcrafted methods for palmprint recognition often fall short in representation capability, as they heavily depend on researchers' prior knowledge. Deep learning (DL) has been introduced to address this limitation, leveraging its remarkable successes across various domains. While existing surveys focus narrowly on specific tasks within palmprint recognition-often grounded in traditional methodologies-there remains a significant gap in comprehensive research exploring DL-based approaches across all facets of palmprint recognition. This paper bridges that gap by thoroughly reviewing recent advancements in DL-powered palmprint recognition. The paper systematically examines progress across key tasks, including region-of-interest segmentation, feature extraction, and security/privacy-oriented challenges. Beyond highlighting these advancements, the paper identifies current challenges and uncovers promising opportunities for future research. By consolidating state-of-the-art progress, this review serves as a valuable resource for researchers, enabling them to stay abreast of cutting-edge technologies and drive innovation in palmprint recognition. Copyright © 2025, The Authors. All rights reserved.

关键词： Biometrics

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