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A localization method avoiding flip ambiguities for micro-UAVs with bounded distance measurement errors

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arXiv 2018年

作者： Guo, Qingbei Zhang, Yuan Lloret, Jaime Kantarci, Burak Seah, Winston K.G. Shandong Provincial Key Laboratory of Network Based Intelligent Computing University of Jinan Jinan Shandong China Jiangsu Provincial Engineering Laboratory of Pattern Recognition and Computational Intelligence Jiangnan University Wuxi214122 China Integrated Management Coastal Research Institute Universidad Politecnica de Valencia Spain School of Electrical Engineering and Computer Science University of Ottawa Canada School of Engineering and Computer Science Victoria University of Wellington New Zealand

Localization is a fundamental function in cooperative control of micro unmanned aerial vehicles (UAVs), but is easily affected by flip ambiguities because of measurement errors and flying motions. This study proposes a localization method that can avoid the occurrence of flip ambiguities in bounded distance measurement errors and constrained flying motions;to demonstrate its efficacy, the method is implemented on bilateration and trilateration. For bilateration, an improved bi-boundary model based on the unit disk graph model is created to compensate for the shortage of distance constraints, and two boundaries are estimated as the communication range constraint. The characteristic of the intersections of the communication range and distance constraints is studied to present a unique localization criterion which can avoid the occurrence of flip ambiguities. Similarly, for trilateration, another unique localization criterion for avoiding flip ambiguities is proposed according to the characteristic of the intersections of three distance constraints. The theoretical proof shows that these proposed criteria are correct. A localization algorithm is constructed based on these two criteria. The algorithm is validated using simulations for different scenarios and parameters, and the proposed method is shown to provide excellent localization performance in terms of average estimated error. Our code can be found at: https://***/QingbeiGuo/***. Copyright © 2018, The Authors. All rights reserved.

关键词： Measurement errors

Efficient spatialtemporal context modeling for action recognition?

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arXiv 2021年

作者： Cao, Congqi Lu, Yue Zhang, Yifan Jiang, Dongmei Zhang, Yanning Natl. Engineering Laboratory for Integrated Aero-Space-Ground-Ocean Big Data Application Technology Shaanxi Provincial Key Lab on Speech and Image Information Processing School of Computer Science Northwestern Poly-technical University Xi'an710129 China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences Beijing100190 China

Contextual information plays an important role in action recognition. Local operations have difficulty to model the relation between two elements with a long-distance interval. However, directly modeling the contextual information between any two points brings huge cost in computation and memory, especially for action recognition, where there is an additional temporal dimension. Inspired from 2D criss-cross attention used in segmentation task, we propose a recurrent 3D criss-cross attention (RCCA-3D) module to model the dense long-range spatiotemporal contextual information in video for action recognition. The global context is factorized into sparse relation maps. We model the relationship between points in the same line along the direction of horizon, vertical and depth at each time, which forms a 3D criss-cross structure, and duplicate the same operation with recurrent mechanism to transmit the relation between points in a line to a plane finally to the whole spatiotemporal space. Compared with the non-local method, the proposed RCCA-3D module reduces the number of parameters and FLOPs by 25% and 30% for video context modeling. We evaluate the performance of RCCA-3D with two latest action recognition networks on three datasets and make a thorough analysis of the architecture, obtaining the optimal way to factorize and fuse the relation maps. Comparisons with other state-of-the-art methods demonstrate the effectiveness and efficiency of our model. Copyright © 2021, The Authors. All rights reserved.

关键词： Machine learning

Multi-scale Promoted Self-adjusting Correlation Learning for Facial Action Unit Detection

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arXiv 2023年

作者： Liu, Xin Yuan, Kaishen Niu, Xuesong Shi, Jingang Yu, Zitong Yue, Huanjing Yang, Jingyu The School of Electrical and Information Engineering Tianjin University Tianjin300072 China Computer Vision and Pattern Recognition Laboratory School of Engineering Science Lappeenranta-Lahti University of Technology LUT Lappeenranta53850 Finland Beijing Institute for General Artificial Intelligence Beijing100080 China School of Software Engineering Xi’an Jiaotong University Xi’an710049 China Great Bay University Dongguan523000 China

Facial Action Unit (AU) detection is a crucial task in affective computing and social robotics as it helps to identify emotions expressed through facial expressions. Anatomically, there are innumerable correlations between AUs, which contain rich information and are vital for AU detection. Previous methods used fixed AU correlations based on expert experience or statistical rules on specific benchmarks, but it is challenging to comprehensively reflect complex correlations between AUs via hand-crafted settings. There are alternative methods that employ a fully connected graph to learn these dependencies exhaustively. However, these approaches can result in a computational explosion and high dependency with a large dataset. To address these challenges, this paper proposes a novel self-adjusting AU-correlation learning (SACL) method with less computation for AU detection. This method adaptively learns and updates AU correlation graphs by efficiently leveraging the characteristics of different levels of AU motion and emotion representation information extracted in different stages of the network. Moreover, this paper explores the role of multi-scale learning in correlation information extraction, and design a simple yet effective multi-scale feature learning (MSFL) method to promote better performance in AU detection. By integrating AU correlation information with multi-scale features, the proposed method obtains a more robust feature representation for the final AU detection. Extensive experiments show that the proposed method outperforms the state-of-the-art methods on widely used AU detection benchmark datasets, with only 28.7% and 12.0% of the parameters and FLOPs of the best method, respectively. The code for this method is available at https://***/linuxsino/Self-adjusting-AU. Copyright © 2023, The Authors. All rights reserved.

关键词： Large dataset

Multi-level graph convolutional network with automatic graph learning for hyperspectral image classification

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arXiv 2020年

作者： Wan, Sheng Gong, Chen Pan, Shirui Yang, Jie Yang, Jian PCA Lab Key Laboratory of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education Jiangsu Key Laboratory of Image Video Understanding for Social Security School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing210094 China Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Shanghai200240 China Faculty of Information Technology Monash University ClaytonVIC3800 Australia

Nowadays, deep learning methods, especially the Graph Convolutional Network (GCN), have shown impressive performance in hyperspectral image (HSI) classification. However, the current GCN-based methods treat graph construction and image classification as two separate tasks, which often results in suboptimal performance. Another defect of these methods is that they mainly focus on modeling the local pairwise importance between graph nodes while lack the capability to capture the global contextual information of HSI. In this paper, we propose a Multi-level GCN with Automatic Graph Learning method (MGCN-AGL) for HSI classification, which can automatically learn the graph information at both local and global levels. By employing attention mechanism to characterize the importance among spatially neighboring regions, the most relevant information can be adaptively incorporated to make decisions, which helps encode the spatial context to form the graph information at local level. Moreover, we utilize multiple pathways for local-level graph convolution, in order to leverage the merits from the diverse spatial context of HSI and to enhance the expressive power of the generated representations. To reconstruct the global contextual relations, our MGCN-AGL encodes the long range dependencies among image regions based on the expressive representations that have been produced at local level. Then inference can be performed along the reconstructed graph edges connecting faraway regions. Finally, the multi-level information is adaptively fused to generate the network output. In this means, the graph learning and image classification can be integrated into a unified framework and benefit each other. Extensive experiments have been conducted on three real-world hyperspectral datasets, which are shown to outperform the state-of-the-art methods. Copyright © 2020, The Authors. All rights reserved.

关键词： Image classification

Collaborative Multi-View Convolutions With Gating For Accurate And Fast Volumetric Medical Image Segmentation

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Collaborative Multi-View Convolutions With Gating For Accura...

IEEE International Symposium on Biomedical Imaging

作者： Cheng Li Jin Ye Junjun He Shanshan Wang Lixu Gu Yu Qiao Paul C. Lauterbur Research Center for Biomedical Imaging SIAT CAS Shenzhen China Shenzhen Key Lab of Computer Vision and Pattern Recognition SIAT-SenseTime Joint Lab SIAT CAS Shenzhen China SIAT Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen China School of Biomedical Engineering/the Institute of Medical Robotics Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665412469;9781665429474

Due to their high capacity in capturing 3D spatial information, 3D Fully Convolutional Neural Networks (3D FCNs), especially 3D U-Net, are prevalent for volumetric medical image segmentation. However, 3D convolutions are much more computationally complex than 2D convolutions and thus, are more prone to overfitting. This paper proposes Collaborative Multi-View convolutions (CMV convs) that can keep the model complexity similar to those employing 2D convolutions while capturing the 3D spatial context like 3D convolutions. Specifically, CMV convs simultaneously extract information from three orthogonal views with three parameter-shared 2D convolutions. A Global-Guided Gating mechanism (3G) is further designed that selectively passes information from CMV convs to the next stage. Combined with 3G, a CMV conv become a G-CMV conv that constitutes a plug-and-play module, which can be easily integrated into various 3D CNNs for image segmentation. Extensive experiments utilizing BraTS18 dataset have been conducted. Our method achieves competitive results compared to state-of-the-art methods with over 10× fewer parameters than 3D-UNet.

关键词： Solid modeling Image segmentation Interpolation Three-dimensional displays Computational modeling Biological system modeling Collaboration

Clustering-based Discriminative Locality Alignment for Face Gender recognition

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Clustering-based Discriminative Locality Alignment for Face ...

IEEE/RSJ International Conference on Intelligent Robotics and Systems

作者： Duo Chen Jun Cheng Dacheng Tao College of Communication Engineering Chongqing University Chongqing 400044 China. He is also with the Shenzhen Key Laboratory of Computer Vision and Pattern Recognition Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences. Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China. He is also with the Chinese University of Hong Kong and Guangdong Provincial Key Laboratory of Robotics and Intelligent System. Center for Quantum Computation and Intelligent System Faculty of Engineering and Information Technology University of Technology Sydney New South Wales 2007 Australia.

ISBN: (数字)9781467317368

ISBN: (纸本)9781467317375

To facilitate human-robot interactions, human gender information is very important. Motivated by the success of manifold learning for visual recognition, we present a novel clustering-based discriminative locality alignment (CDLA) algorithm to discover the low-dimensional intrinsic submanifold from the embedding high-dimensional ambient space for improving the face gender recognition performance. In particular, CDLA exploits the global geometry through k-means clustering, extracts the discriminative information through margin maximization and explores the local geometry through intra cluster sample concentration. These three properties uniquely characterize CDLA for face gender recognition. The experimental results obtained from the FERET data sets suggest the superiority of the proposed method in terms of recognition speed and accuracy by comparing with several representative methods.

关键词： FERET CDLA comparing recognition (Psychology) Gender Global geometry Compare Face Face

SliceProp: A Slice-Wise Bidirectional Propagation Model for Interactive 3D Medical Image Segmentation

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SliceProp: A Slice-Wise Bidirectional Propagation Model for ...

Medical Artificial Intelligence (MedAI), IEEE International Conference on

作者： Xin Xu Wenjing Lu Jiahao Lei Peng Qiu Hong-Bin Shen Yang Yang Department of Computer Science and Engineering Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering Shanghai Jiao Tong University Shanghai China Department of Vascular Surgery Shanghai Ninth People's Hospital Shanghai Jiao Tong University School of Medicine Institute of Image Processing and Pattern Recognition and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai China

Interactive medical image segmentation methods have become increasingly popular in recent years. These methods combine manual labeling and automatic segmentation, reducing the workload of annotation while maintaining high accuracy. However, most current interactive segmentation frameworks are limited to 2D image data, and are not suitable for 3D image data due to the large size and high complexity of 3D data, as well as the challenges posed by information asymmetry and sparse annotation. In this paper, we propose SliceProp, an interactive segmentation framework that implements slice-wise Label Bidirectional Propagation (LBP) for 3D medical image segmentation. SliceProp extends the interactive 2D image segmentation algorithm to 3D image segmentation, and can handle 3D data with large size and high complexity. Moreover, equipped with a Backtracking Feedback Check (BFC) module, SliceProp effectively addresses the issues of information asymmetry and spatial sparse annotation in 3D medical image segmentation. Additionally, we adopt an uncertainty-based criterion to pri-oritize the slices to be refined interactively, which enhances the efficiency of the interaction process by enabling the model to focus on the regions with the most unreliable predictions. SliceProp is evaluated on two datasets and achieves promising results compared to state-of-the-art methods.

关键词：

3D EAGAN: 3D edge-aware attention generative adversarial network for prostate segmentation in transrectal ultrasound images

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arXiv 2023年

作者： Liu, Mengqing Shao, Xiao Jiang, Liping Wu, Kaizhi School of Information Engineering Nanchang Hangkong University Jiangxi Nanchang China School of Computer Science Nanjing University of Information Science and Technology Jiangsu Nanjing China The First Affiliated Hospital of Nanchang University Nanchang University Jiangxi Nanchang China Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition Nanchang Hangkong University Nanchang China

Background: Segment prostates from transrectal ultrasound (TRUS) images plays an essential role in the diagnosis and treatment of prostate cancer. However, traditional segmentation methods are time-consuming and laborious. To address this issue, there is an urgent need to develop computer algorithms that can automatically segment prostates from TRUS images, which makes it become the direction and form of future development. Purpose: Automatic prostate segmentation in TRUS images has always been a challenging problem, since prostates in TRUS images have ambiguous boundaries and inhomogeneous intensity distribution. Although many prostate segmentation methods have been proposed, they still need to be improved due to the lack of sensibility to edge information. Consequently, the objective of this study is to devise a highly effective prostate segmentation method that overcomes these limitations and achieves accurate segmentation of prostates in TRUS images. Methods: A 3D edge-aware attention generative adversarial network (3D EAGAN)-based prostate segmentation method is proposed in this paper, which consists of an edge-aware segmentation network (EASNet) that performs the prostate segmentation and a discriminator network that distinguishes predicted prostates from real prostates. The proposed EASNet is composed of an encoder-decoder-based U-Net backbone network, a detail compensation module, four 3D spatial and channel attention modules, an edge enhance module, and a global feature extractor. The detail compensation module is proposed to compensate for the loss of detailed information caused by the down-sampling process of the encoder. The features of the detail compensation module are selectively enhanced by the 3D spatial and channel attention module. Furthermore, an edge enhance module is proposed to guide shallow layers in the EASNet to focus on contour and edge information in prostates. Finally, features from shallow layers and hierarchical features from the decod

关键词： Generative adversarial networks

Synchronization of Nonlinear Neural Networks with Hybrid Couplings and Uncertain Time-Varying Perturbations: A Novel Distributed-Delay Impulsive Comparison Principle

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SSRN

SSRN 2024年

作者： Fan, Hongguang Shi, Kaibo Zhao, Yi College of Computer Chengdu University Chengdu610106 China Key Laboratory of Pattern Recognition and Intelligent Information Processing Institutions of Higher Education of Sichuan Province Chengdu University Chengdu610106 China School of Electronic Information and Electrical Engineering Chengdu University Chengdu610106 China School of Mathematical Sciences Shenzhen University Shenzhen518060 China

In this paper, the synchronization of nonlinear drive-response neural networks with uncertain time-varying perturbations, non-delayed coupling, and distributed delay coupling is studied. To address the impact of distributed delay and discrete delay on the system, a novel impulsive comparison principle is established, which can be viewed as an effective continuation of the Halanay inequality. Besides, with the help of Lyapunov stability theory, sufficient conditions guaranteeing the exponential synchronization of concerned neural networks are derived by using a delayed impulsive controller with historical status information, which releases the conventional limitation that impulsive delays should be smaller than impulsive intervals, and generalize the existing synchronization results regarding distributed delay networks. Besides, numerical simulations for chaotic neural networks are presented to demonstrate the validity of theoretical results and the sensitivity of the control gain matrix. © 2024, The Authors. All rights reserved.

关键词： Complex networks