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arXiv 2022年

作者： Wang, Guangming Feng, Zhiheng Jiang, Chaokang Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai200240 China Engineering Research Center of Intelligent Control for Underground Space Ministry of Education School of Information and Control Engineering Advanced Robotics Research Center China University of Mining and Technology Xuzhou221116 China

Scene flow represents the 3D motion of each point in the scene, which explicitly describes the distance and the direction of each point’s movement. Scene flow estimation is used in various applications such as autonomous driving fields, activity recognition, and virtual reality fields. As it is challenging to annotate scene flow with ground truth for real-world data, this leaves no real-world dataset available to provide a large amount of data with ground truth for scene flow estimation. Therefore, many works use synthesized data to pre-train their network and real-world LiDAR data to finetune. Unlike the previous unsupervised learning of scene flow in point clouds, we propose to use odometry information to assist the unsupervised learning of scene flow and use real-world LiDAR data to train our network. Supervised odometry provides more accurate shared cost volume for scene flow. In addition, the proposed network has mask-weighted warp layers to get a more accurate predicted point cloud. The warp operation means applying an estimated pose transformation or scene flow to a source point cloud to obtain a predicted point cloud and is the key to refining scene flow from coarse to fine. When performing warp operations, the points in different states use different weights for the pose transformation and scene flow transformation. We classify the states of points as static, dynamic, and occluded, where the static masks are used to divide static and dynamic points, and the occlusion masks are used to divide occluded points. The mask-weighted warp layer indicates that static masks and occlusion masks are used as weights when performing warp operations. Our designs are proved to be effective in ablation experiments. The experiment results show the promising prospect of an odometry-assisted unsupervised learning method for 3D scene flow in real-world data. Copyright © 2022, The Authors. All rights reserved.

关键词： Deep learning

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image Manipulation Detection Using the Attention Mechanism and Faster R-CNN

IAENG International Journal of Computer Science

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IAENG International Journal of Computer Science 2023年第4期50卷 1261页

作者： Tan, Kang Li, Linna Huang, Qiongdan School of Control Science and Engineering Xi’an University of Post and Telecommunications Xi’an710121 China Shaanxi Key Laboratory of Network Data Analysis and Intelligent Processing Xi’an University of Post and Telecommunications Xi’an710121 China School of Communication and Information Engineering Xi’an University of Post and Telecommunications Xi’an710121 China

With the advancement of image authoring software, the traces of image tampering operation have become increasingly difficult to detect. To enhance the performance of manipulation detection, we propose a novel end-to-end image tampering detection method using the attention mechanism and two-stream Faster R-CNN. In our model, we eliminate steganalysis rich model (SRM) filter, which suppresses image content, and employ a constrained convolution layer to adaptively extract image tamper features during model training. These features are then inputted into the backbone network in parallel with the RGB image. To emphasize image tamper features and restrict irrelevant features, we introduce the Convolutional Block Attention Module (CBAM) into the model, enabling better delivery of tamper-related information. Then, the output of backbone network is fed into the Region of Interest (RoI), where we replace max pooling operation with bilinear interpolation. This modification allows the model to retain more tamper information. After that, we use bilinear pooling for feature fusion of the two streams, and the fused results perform tamper classification operations. The RGB stream through Region Proposal Network (RPN) to achieve tamper localization. We evaluate our model on three publicly available standard image tampering datasets and demonstrate through experiments that our approach significantly improves the precision of manipulation detection and localization. © 2023, International Association of Engineers. All rights reserved.

关键词： Convolution

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Observation-Guided Meteorological Field Downscaling at Station Scale: A Benchmark and a New Method

arXiv

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arXiv 2024年

作者： Liu, Zili Chen, Hao Bai, Lei Li, Wenyuan Chen, keyan Wang, Zhengyi Ouyang, Wanli Zou, Zhengxia Shi, Zhenwei The Image Processing Center School of Astronautics The Beijing Key Laboratory of Digital Media The State Key Laboratory of Virtual Reality Technology and Systems Beihang University Beijing100191 China The Shanghai Artificial Intelligence Laboratory Shanghai200232 China Shanghai Artificial Intelligence Laboratory Shanghai200232 China The Department of Geography University of Hong Kong Hong Kong The School of Oceanography Shanghai Jiao Tong University Shanghai200030 China The Department of Guidance Navigation and Control School of Astronautics Beihang University Beijing100191 China

Downscaling (DS) of meteorological variables involves obtaining high-resolution states from low-resolution meteorological fields and is an important task in weather forecasting. Previous methods based on deep learning treat downscaling as a super-resolution task in computer vision and utilize high-resolution gridded meteorological fields as supervision to improve resolution at specific grid scales. However, this approach has struggled to align with the continuous distribution characteristics of meteorological fields, leading to an inherent systematic bias between the downscaled results and the actual observations at meteorological stations. In this paper, we extend meteorological downscaling to arbitrary scattered station scales, establish a brand new benchmark and dataset, and retrieve meteorological states at any given station location from a coarse-resolution meteorological field. Inspired by data assimilation techniques, we integrate observational data into the downscaling process, providing multi-scale observational priors. Building on this foundation, we propose a new downscaling model based on hypernetwork architecture, namely HyperDS, which efficiently integrates different observational information into the model training, achieving continuous scale modeling of the meteorological field. Through extensive experiments, our proposed method outperforms other specially designed baseline models on multiple surface variables. Notably, the mean squared error (MSE) for wind speed and surface pressure improved by 67% and 19.5% compared to other methods. We will release the dataset and code subsequently. Copyright © 2024, The Authors. All rights reserved.

关键词： Weather forecasting

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A Multi-Stage Goal-Driven Network for Pedestrian Trajectory Prediction

arXiv

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arXiv 2024年

作者： Wu, Xiuen Wang, Tao Cai, Yuanzheng Liang, Lingyu Papageorgiou, George Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou China College of Computer and Data Science Fuzhou University Fuzhou China School of Electronic and Information Engineering South China University of Technology Guangzhou China SYSTEMA Research Center European University Cyprus Nicosia Cyprus

Pedestrian trajectory prediction plays a pivotal role in ensuring the safety and efficiency of various applications, including autonomous vehicles and traffic management systems. This paper proposes a novel method for pedestrian trajectory prediction, called multi-stage goal-driven network (MGNet). Diverging from prior approaches relying on stepwise recursive prediction and the singular forecasting of a long-term goal, MGNet directs trajectory generation by forecasting intermediate stage goals, thereby reducing prediction errors. The network comprises three main components: a conditional variational autoencoder (CVAE), an attention module, and a multi-stage goal evaluator. Trajectories are encoded using conditional variational autoencoders to acquire knowledge about the approximate distribution of pedestrians' future trajectories, and combined with an attention mechanism to capture the temporal dependency between trajectory sequences. The pivotal module is the multistage goal evaluator, which utilizes the encoded feature vectors to predict intermediate goals, effectively minimizing cumulative errors in the recursive inference process. The effectiveness of MGNet is demonstrated through comprehensive experiments on the JAAD and PIE datasets. Comparative evaluations against state-of-the-art algorithms reveal significant performance improvements achieved by our proposed method. Copyright © 2024, The Authors. All rights reserved.

关键词： Trajectories

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A periodic control system with hybrid inputs 10

A periodic control system with hybrid inputs

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10th International Conference on control, Automation and Information Sciences, ICCAIS 2021

作者： Fang, Jie Onasanya, B.O. Feng, Yuming Zhang, Wei Chongqing Three Gorges University School of Computer Science and Engineering Chongqing404100 China University of Ibadan Department of Mathematics Ibadan Nigeria Chongqing Three Gorges University Key Laboratory of Intelligent Information Processing and Control Chongqing404100 China

ISBN: (纸本)9781665440295

It is of vital significance to stabilize and control a chaotic system. But, since the control system always has excessive fluctuations which make them always perform badly in the process of stabilization, a control model that makes the unstable system stable without excessive fluctuations is hereby developed. In the control model, one piecewise continuous control is added in each of the two halves of every control period. Then two impulses: one at the middle and another at the end of the control period of the system. Based on the Lyapunov's method, when the newly developed model is introduced into an appropriate chaotic system, it is proved to make the system stable. Precisely, the model can be applied to chaotic Chua's system and Lorenz system as examples to prove the validity of the results. Compared with other current control models, this model proves to control the unstable system more effectively in that it is more general and saves time. © 2021 IEEE.

关键词： Lyapunov functions

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Research on Fast Adaptive Transmission Models for International Inland Port Based on Edge Intelligence

Research on Fast Adaptive Transmission Models for Internatio...

引用

IEEE International Conference on Cyber Security and Cloud Computing (CSCloud)

作者： Liu Yiwen Zhu Zhirong Tangyan Wen Wenkan Peng Xiaoning Shi Yuanquan School of Computer and Artificial Intelligence Huaihua University Huaihua Hunan P. R. China Key Laboratory of Wuling-Mountain Health Big Data Intelligent Processing Application in Hunan Province Universities Huaihua Hunan P. R. China Key Laboratory of Intelligent Control Technology for Wuling-Mountain Ecological Agriculture in Hunan Province Huaihua Hunan P. R. China

In this paper, we propose a logistics International Inland Port resource allocation method based on intelligent edge scheduling, and we do a reasonable pre-allocation of logistics resources by building an edge network in the urban system. By using multiple integrated learning models and regional prevalence classification algorithms, the distribution demand of each sub-distribution point is predicted. The proposed method is able to cope with uncertainties such as high distribution volume, variable distribution situations or long transportation distances. We use the HuaiHua International Inland Port as the simulation object, and the simulation results show that the proposed method has the highest efficiency in logistics distribution and is still highly adaptive in emergency situations.

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Robust optimization-based fusion of GNSS and Visual-Inertial-Wheel Odometry

Robust optimization-based fusion of GNSS and Visual-Inertial...

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IEEE International Conference on Robotics and Biomimetics

作者： Jake Jie Hou Xinrui Wu Jiwei Shan Dun Li Hesheng Wang Department of Automation Shanghai Jiao Tong University China Shanghai Karlang Industrial Nantong Intelligent Technology Co. Ltd China Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781665481106

SLAM is significant to autonomous mobile robots. In order to realize drift-free state estimation and provide accurate localization results for the subsequent navigation, we develop an optimization-based framework consisting of a high-frequency Inertial-Wheel Odometry(IWO), Visual-Inertial-Wheel Odometry(VIWO) and a global fusion module. To fuse the local state with the position provided by GNSS, we perform ternary edge in factor graph optimization to estimate the transformation between the local frame and ENU coordinate. Thanks to the tightly-coupled VIWO, the localization property of the odometry presents more robustness, and improve the accuracy of global fusion. A noise repropagation strategy is introduced to ensure the consistency of the IMU and wheel odometer. We evaluate the proposed system on public datasets and test it in real-world scenario. The experimental results show that our system achieves accurate pose estimation in outdoor environments.

关键词： Location awareness Global navigation satellite system Simultaneous localization and mapping Robot kinematics Wheels Robustness Sensors

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Opportunistic Wireless control Over State-Dependent Fading Channels*

Opportunistic Wireless Control Over State-Dependent Fading C...

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IEEE Conference on Decision and control

作者： Shuling Wang Peizhe Li Shanying Zhu Cailian Chen Department of Automation Shanghai Jiao Tong University Shanghai China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

The heterogeneous system consisting of the wireless control system (WCS) and mobile agent system (MAS) is ubiquitous in Industrial Internet of Things (IIoT) systems. Within this system, the positions of mobile agents may lead to shadow fading on the wireless channel that the WCS is controlled over and can significantly compromise the WCS’s performance. This paper focuses on the controller design for the MAS to ensure the performance of WCS in the presence of WCS and MAS coupling. Firstly, the constrained finite field network (FFN) with profile-dependent switching topology is adopted to proceed the operational control for the MAS. By virtue of the algebraic state space representation (ASSR) method, an equivalent form is obtained for the WCS and MAS coupling. A necessary and sufficient condition in terms of constrained set stabilization is then established to ensure the Lyapunov-like performance with expected decay rate. Finally, a graphical method together with the breath-first searching is provided to design state feedback controllers for the MAS. With this method, it is easy to check the constrained set stabilization of MAS and to ensure the performance requirements of WCS in the presence of WCS and MAS coupling. The study of an illustrative example shows the effectiveness of the proposed method.

关键词： Couplings Wireless communication Fading channels State feedback Mobile agents Optical wavelength conversion Switches

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Fast Particle Swarm optimization for Balanced Clustering 11

Fast Particle Swarm optimization for Balanced Clustering

引用

11th International Conference on intelligent control and Information processing, ICICIP 2021

作者： Zhang, Meng Xiao, Yao Song, Xiaoling Dai, Xiangguang Zhang, Nian Chongqing Three Gorges University Key Laboratory of Intelligent Information Processing and Control of Chongqing Municipal Institutions of Higher Education Chongqing40044 China University of the District of Columbia Department of Electrical and Computer Engineering WashingtonDC20008 United States

ISBN: (纸本)9781665425155

There are balanced priorities in various engineering fields (e.g. medicine, statistics, artificial intelligence, and economics, etc.). Some clustering algorithms cannot maintain the natural balanced structure of data. This paper proposes a soft-balanced clustering framework, which can achieve a balanced clustering for each cluster. The model can be formulated d as a mixed-integer optimization problem. We transform the problem into several subproblems and utilize PSO to search the global solution. Experiments show that the proposed algorithm can achieve satisfactory clustering results than other clustering algorithms. © 2021 IEEE.

关键词： Clustering algorithms

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What Matters for 3D Scene Flow Network

arXiv

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arXiv 2022年

作者： Wang, Guangming Hu, Yunzhe Liu, Zhe Zhou, Yiyang Tomizuka, Masayoshi Zhan, Wei Wang, Hesheng Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong University China MoE Key Lab of Artificial Intelligence Shanghai Jiao Tong University China Mechanical Systems Control Laboratory University of California Berkeley United States

3D scene flow estimation from point clouds is a low-level 3D motion perception task in computer vision. Flow embedding is a commonly used technique in scene flow estimation, and it encodes the point motion between two consecutive frames. Thus, it is critical for the flow embeddings to capture the correct overall direction of the motion. However, previous works only search locally to determine a soft correspondence, ignoring the distant points that turn out to be the actual matching ones. In addition, the estimated correspondence is usually from the forward direction of the adjacent point clouds, and may not be consistent with the estimated correspondence acquired from the backward direction. To tackle these problems, we propose a novel all-to-all flow embedding layer with backward reliability validation during the initial scene flow estimation. Besides, we investigate and compare several design choices in key components of the 3D scene flow network, including the point similarity calculation, input elements of predictor, and predictor & refinement level design. After carefully choosing the most effective designs, we are able to present a model that achieves the state-of-the-art performance on FlyingThings3D and KITTI Scene Flow datasets. Our proposed model surpasses all existing methods by at least 38.2% on FlyingThings3D dataset and 24.7% on KITTI Scene Flow dataset for EPE3D metric. We release our codes at https://***/IRMVLab/3DFlow. Copyright © 2022, The Authors. All rights reserved.

关键词： Embeddings

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