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The Journal of Machine Learning Research 2020年第1期21卷 8590-8628页

作者： Fanghui Liu Xiaolin Huang Chen Gong Jie Yang Li Li Department of Electrical Engineering ESAT-STADIUS KU Leuven Belgium Institute of Image Processing and Pattern Recognition Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China PCA Lab Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education School of Computer Science and Engineering Nanjing University of Science and Technology China and Department of Computing Hong Kong Polytechnic University Hong Kong SAR China Department of Automation BNRist Tsinghua University China

In this paper, we propose a data-adaptive non-parametric kernel learning framework in margin based kernel methods. In model formulation, given an initial kernel matrix, a data-adaptive matrix with two constraints is imposed in an entry-wise scheme. Learning this data-adaptive matrix in a formulation-free strategy enlarges the margin between classes and thus improves the model flexibility. The introduced two constraints are imposed either exactly (on small data sets) or approximately (on large data sets) in our model, which provides a controllable trade-off between model flexibility and complexity with theoretical demonstration. In algorithm optimization, the objective function of our learning framework is proven to be gradient-Lipschitz continuous. Thereby, kernel and classifier/regressor learning can be efficiently optimized in a unified framework via Nesterov's acceleration. For the scalability issue, we study a decomposition-based approach to our model in the large sample case. The effectiveness of this approximation is illustrated by both empirical studies and theoretical guarantees. Experimental results on various classification and regression benchmark data sets demonstrate that our non-parametric kernel learning framework achieves good performance when compared with other representative kernel learning based algorithms.

关键词： support vector machines non-parametric kernel learning gradient-Lipschitz continuous

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Neighborhood Interval Observer Based Coordination Control for Multi-agent Systems with Disturbances ⁎

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IFAC-PapersOnLine 2020年第2期53卷 10994-10999页

作者： Xiaoling Wang Guo-Ping Jiang Wen Yang Housheng Su Xiaofan Wang College of Automation Nanjing University of Posts and Telecommunications Nanjing 210023 China and also with Jiangsu Engineering Lab for IOT Intelligent Robots (IOTRobot) Nanjing 210023 China Key Laboratory of Advanced Control and Optimization for Chemical Processes East China University of Science and Technology Shanghai 200237 China School of Artifcial Intelligence and Automation Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China Department of Automation Shanghai University Shanghai 200072 China

This paper focuses on multi-agent systems with uncertain disturbances, in which only the bounding functions on the disturbances and the bounds on the initial state of each agent are known. By designing a neighborhood interval observer for this kind of multi-agent system, the estimation of the sum of the relative state of each agent associated with itself and its neighbors is frstly realized. Then, on the basis of these estimated information, local control algorithm is designed to drive the system to achieve bounded consensus.

关键词： Multi-agent system disturbance neighborhood interval observer bounded consensus

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Coordinated Guiding Vector Field Design for Ordering-Flexible Multi-Robot Surface Navigation

arXiv

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arXiv 2024年

作者： Hu, Bin-Bin Zhang, Hai-Tao Yao, Weijia Sun, Zhiyong Cao, Ming The School of Artificial Intelligence and Automation The Engineering Research Center of Autonomous Intelligent Unmanned Systems The Key Laboratory of Image Processing and Intelligent Control The State Key Lab of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan430074 China The School of Robotics Hunan University Hunan410082 China The Institute of Engineering and Technology University of Groningen Groningen9747 AG Netherlands Department of Electrical Engineering Eindhoven University of Technology Netherlands

We design a distributed coordinated guiding vector field (CGVF) for a group of robots to achieve ordering-flexible motion coordination while maneuvering on a desired two-dimensional (2D) surface. The CGVF is characterized by three terms, i.e., a convergence term to drive the robots to converge to the desired surface, a propagation term to provide a traversing direction for maneuvering on the desired surface, and a coordinated term to achieve the surface motion coordination with an arbitrary ordering of the robotic group. By setting the surface parameters as additional virtual coordinates, the proposed approach eliminates potential singularity of the CGVF and enables both the global convergence to the desired surface and the maneuvering on the surface from all possible initial conditions. The ordering-flexible surface motion coordination is realized by each robot to share with its neighbors only two virtual coordinates, i.e. that of a given target and that of its own, which reduces the communication and computation cost in multi-robot surface navigation. Finally, the effectiveness of the CGVF is substantiated by extensive numerical simulations. Copyright © 2024, The Authors. All rights reserved.

关键词： Navigation

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Zero-shot Text-driven Physically Interpretable Face Editing

arXiv

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arXiv 2023年

作者： Meng, Yapeng Yang, Songru Hu, Xu Zhao, Rui Li, Lincheng Shi, Zhenwei Zou, Zhengxia Image Processing Center School of Astronautics Beihang University Beijing100191 China Beijing Key Laboratory of Digital Media Beihang University Beijing100191 China State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing100191 China Shanghai Artificial Intelligence Laboratory China The Netease Fuxi AI Lab Hangzhou China The Department of Guidance Navigation and Control School of Astronautics Beihang University Beijing100191 China

This paper proposes a novel and physically interpretable method for face editing based on arbitrary text prompts. Different from previous GAN-inversion-based face editing methods that manipulate the latent space of GANs, or diffusion-based methods that model image manipulation as a reverse diffusion process, we regard the face editing process as imposing vector flow fields on face images, representing the offset of spatial coordinates and color for each image pixel. Under the above-proposed paradigm, we represent the vector flow field in two ways: 1) explicitly represent the flow vectors with rasterized tensors, and 2) implicitly parameterize the flow vectors as continuous, smooth, and resolution-agnostic neural fields, by leveraging the recent advances of implicit neural representations. The flow vectors are iteratively optimized under the guidance of the pre-trained Contrastive Language-image Pretraining (CLIP) model by maximizing the correlation between the edited image and the text prompt. We also propose a learning-based one-shot face editing framework, which is fast and adaptable to any text prompt input. Our method can also be flexibly extended to real-time video face editing. Compared with state-of-the-art text-driven face editing methods, our method can generate physically interpretable face editing results with high identity consistency and image quality. Our code will be made publicly available. © 2023, CC BY-NC-SA.

关键词： Iterative methods

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FULL-LENGTH-BODY CBCT IMAGING IN UPRIGHT POSITION WITH ROBOTIC-ARM SYSTEM: A SIMULATION STUDY

arXiv

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arXiv 2023年

作者： Lin, Tong Lyu, Tianling Wu, Zhan Xi, Yan Zhu, Wentao Chen, Yang Laboratory of Image Science and Technology Southeast University Nanjing China Research Center of Augmented Intelligence Zhejiang Lab Hangzhou China Shanghai First-Imaging Tech Shanghai China Jiangsu Provincial Joint International Research Laboratory of Medical Information Processing Southeast University Nanjing China Key Laboratory of New Generation Artificial Intelligence Technology and Its Interdisciplinary Applications Southeast University Nanjing China

Upright position CT scans make it possible for full-length-body imaging at conditions more relevant to daily situations, but the substantial weight of the upright CT scanners increases the risks to floor’s stability and patients’ safety. Robotic-arm CBCT systems are supposed to be a better solution for this task, but such systems still face challenges including long scanning time and low reconstruction quality. To address the above challenges, this paper proposes a novel method to calculate optimal scanning pitch based on data completeness analysis, which can complete the whole-body scan in the shortest time without a significant decline in image quality. Besides, an FDK-style reconstruction method based on normalized projections is proposed to obtain fast image reconstruction. Extensive experiments prove the effectiveness of the proposed optimal scanning trajectory. Qualitative and quantitative comparisons with FDK and iterative algorithms show that the proposed reconstruction method can obtain high imaging quality with reasonable computation costs. The method proposed in this paper is expected to promote the application of robotic-arm CBCT systems in orthopedic functional analysis. © 2023, CC BY-NC-SA.

关键词： Robotic arms

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Heterogeneous two-Stream Network with Hierarchical Feature Prefusion for Multispectral Pan-Sharpening

Heterogeneous two-Stream Network with Hierarchical Feature P...

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IEEE International Conference on Acoustics, Speech and Signal processing

作者： Dong Wang Yunpeng Bai Bendu Bai Chanyue Wu Ying Li National Engineering Laboratory for Integrated Aero-Space-Ground-Ocean Big Data Application Technology School of Computer Science Northwestern Polytechnical University Xi'an China School of Communication and Information Engineering Xi’an University of Posts and Telecommunications Xi'an China National Engineering Laboratory for Integrated Aero-Space-Ground-Ocean Big Data Application Technology Shaanxi Provincial Key Laboratory of Speech & Image Information Processing Northwestern Polytechnical University Xi'an China

ISBN: (纸本)9781728176055;9781728176062

Multispectral (MS) pan-sharpening aims at producing a high spatial resolution (HR) MS image by fusing a single-band HR panchromatic (PAN) image and a corresponding MS image with low spatial resolution. In this paper, we propose a heterogeneous two-stream network (HTSNet) with hierarchical feature prefusion for MS pan-sharpening. The HTSNet employs a heterogeneous group of spatial and spectral streams for spatial and spectral information extraction, respectively. The spatial stream utilizes a 2D CNN for spatial information extraction from the PAN images, and the spectral stream obtains spectral feature cubes from the MS images by a 3D CNN. At the same time, a prefusion module is introduced to prefuse the spatial details with spectral information and transfer information between different streams, which can enhance later processing. In the experiment, the Gaofen-2 satellite dataset is utilized to compare the proposed method with the state-of-the-art MS pan-sharpening methods. Experimental results demonstrate the superiority of our HTSNet in terms of visual effect and quantitative qualities.

关键词： Satellites Three-dimensional displays Fuses Streaming media Signal processing Information retrieval Visual effects

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Full-Length-Body CBCT Imaging in Upright Position with Robotic-arm System: A Simulation Study

Full-Length-Body CBCT Imaging in Upright Position with Robot...

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IEEE International Symposium on Biomedical Imaging

作者： Tong Lin Tianling Lyu Zhan Wu Yan Xi Wentao Zhu Yang Chen Laboratory of Image Science and Technology Southeast University Nanjing China Research Center of Augmented Intelligence Zhejiang Lab Hangzhou China Shanghai First-Imaging Tech Shanghai China Jiangsu Provincial Joint International Research Laboratory of Medical Information Processing Southeast University Nanjing China Key Laboratory of New Generation Artificial Intelligence Technology and Its Interdisciplinary Applications Southeast University Nanjing China

ISBN: (数字)9798350313338

ISBN: (纸本)9798350313345

关键词： image quality Computed tomography Reconstruction algorithms Stability analysis Trajectory Safety Iterative methods

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Intra-Guided Dual-Energy Material Decomposition Method for Dual-Source CBCT Systems

Intra-Guided Dual-Energy Material Decomposition Method for D...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Xinyun Zhong Tianling Lyu Zhan Wu Wei Gao Yan Xi Wei Zhao Wentao Zhu Yang Chen Laboratory of Image Science and Technology School of Computer Science and Engineering Southeast University Nanjing China Zhejiang Lab Hangzhou China First-Imaging Tech. Shanghai China Beihang University Beijing China Jiangsu Provincial Joint International Research Laboratory of Medical Information Processing Key Laboratory of New Generation Artificial Intelligence Technology and Its Interdisciplinary Applications Southeast University Nanjing China

ISBN: (数字)9798350371499

ISBN: (纸本)9798350371505

Dual-energy CBCT imaging plays a crucial role in advanced imaging applications due to its ability to quantify material components. Although there are multiple established systems for dual-energy imaging, they often come with high deployment costs. This study investigates the feasibility of dual-energy material decomposition on a less expensive dual-source CBCT system. Due to the specific geometry of dual-source CBCT, cone-beam (CB) artifacts seriously degrade the material decomposition quality when the direct inversion method is adopted. In this paper, a novel dual-source intra-guided material decomposition framework is proposed to suppress CB artifacts in the material maps. Firstly, a dual-source two-pass algorithm is developed for artifact pre-correction during image reconstruction. Then, the structure of small cone-angle regions from one X-ray source is utilized to guide cone beam artifact removal in large cone-angle regions from another source. Finally, direct matrix inverse material decomposition is applied to the filtered image. Extensive experiments have been conducted on the authentic human phantom and demonstrate that the proposed framework achieves excellent performance in cone beam artifact reduction compared to other methods, and significantly enhances the quality of the material maps.

关键词： Geometry Head Costs Imaging Phantoms Filtering algorithms Matrix decomposition Engineering in medicine and biology image reconstruction X-ray imaging

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Discovering Mass Activities Using Anomalies in Individual Mobility Motifs

Discovering Mass Activities Using Anomalies in Individual Mo...

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Symposia and Workshops on Ubiquitous, Autonomic and Trusted Computing, UIC-ATC

作者： Zhenhuan Li Haiyang Wang Xiaming Chen Yongkun Wang Yaohui Jin Wenjun Zhang Inst. of Image Commun. & Inf. Process. Shanghai Jiao Tong University P. R. China State Key Lab of Advanced Optical Communication System and Network Shanghai Jiao Tong University P. R. China Network and Information Center Shanghai Jiao Tong University P. R. China

Mobility motif is a typical topology structure shared by movement trajectories, which could exhibit multi-scale spatio-temporal patterns in human behavior. There are two types of motifs, frequent, infrequent. The infrequent one hasn't got enough attention in research. In this paper, we study the relationship between infrequent motifs, mass activities. We have discovered that crowds are more likely to generate abnormal motifs when they attend activities than on ordinary days. Inspired by the discovery, we propose a novel model to incorporate the connection between motif anomalies, mass activities, which is verified by our real-world data driven analysis. Compared to previous mobility analysis, our work facilitates the inspection of human mobility anomalies in a fresh perspective, it is a promising step towards unraveling the actual causation behind human mobility.

关键词： Buildings Trajectory IEEE 802.11 Standard Data mining Global Positioning System Internet Topology

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HU-Net: Hessian-incorporated U-Net for CBCT projection-domain metal segmentation with guidance from SAM

HU-Net: Hessian-incorporated U-Net for CBCT projection-domai...

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IEEE Conference on Cybernetics and Intelligent Systems

作者： Chen Jiang Tianling Lyu Gege Ma Yan Xi Yang Chen Wentao Zhu Zhejiang Lab Hangzhou China Hangzhou Institute for Advanced Study of UCAS Hangzhou China Shanghai First-Imaging Tech. Shanghai China Laboratory of Image Science and Technology Southeast University Nanjing China Jiangsu Provincial Joint International Research Laboratory of Medical Information Processing the Key Laboratory of New Generation Artificial Intelligence Technology and Its Interdisciplinary Applications Southeast University Nanjing China

ISBN: (数字)9798350364194

ISBN: (纸本)9798350364200

Metal artifact is a prevailing factor reducing the image quality of CBCT in minimally invasive spine surgery. In CBCT, conventional metal artifact reduction algorithms pay more attention to the inpainting of the metal traces, but metal segmentation is also challenging. Despite the current success in image segmentation with deep learning, the substantial expense associated with annotating metal traces in the projection domain makes most of these approaches impractical for this task. To address this, we propose a Hessian-incorporated U-Net (HU-Net) for CBCT projection-domain metal segmentation with guidance from SAM. The proposed method has been tested on both digital phantom data and clinical CBCT data. According to the experimental results, our method has demonstrated notable improvement in the segmentation of metal traces across both datasets. This paper presents a feasible approach for metal trace segmentation in the projection domain with deep learning and has the potential to be applied in clinical applications.

关键词： Deep learning image quality image segmentation Minimally invasive surgery Mechatronics Metals Phantoms

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