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MULTI-ROBOT TRACKING OF MOBILE TARGET BASED ON COMMUNICATION

IFAC Proceedings Volumes 2008年第2期41卷 10397-10402页

作者： Lei Liu Yongji Wang Dept. of Control Science and Engineering Huazhong Univ. of Sci. and Tech. Wuhan Hubei China 430074 Key Laboratory of Image Processing and Intelligent Control Ministry of Education Wuhan Hubei China 430074

Multi-robot tracking of mobile target is studied in the paper, which is based on the communication and sensors. For an independent tracking robot, the processes are separated into three layers and four tasks, and allocated to different robots for distinct roles in tracking, which is named the Distributed Decision control System (DDCS). After that, two tracking models, centralized and distributed models, are designed for multi-robot tracking. Furthermore, a Proportional Navigation Guidance Law (PNGL) and l-ϕ formation control algorithm are mentioned to realize the robot motion control. At last the simulation has shown the feasibility and validity of both models.

关键词： Multi-robot tracking DDCS PNGL Communication based l-ϕ formation control algorithm

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Method of boundary extraction based on schrödinger equation 21

Method of boundary extraction based on schrödinger equation

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2008 21st ISPRS International Congress for Photogrammetry and Remote Sensing

作者： Lou, Liantang Zhan, Xin Fu, Zhongliang Ding, Mingyue School of Remote Sensing and Information Engineering Wuhan University Wuhan430072 China School of Science Wuhan Institute of Technology Wuhan430073 China Institute for Pattern Recognition and Artificial Intelligence Key Laboratory of Education Ministry for Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan430074 China

To overcome the main drawbacks of global minimal for active contour models (L. D. Cohen and Ron Kimmel) that the contour is only extracted partially for low SNR images, Method of boundary extraction based on Schrödinger Equation is proposed. Our Method is based on computing the numerical solutions of initial value problem for second order nonlinear Schrödinger equation by using discrete Fourier Transformation. Schrödinger transformation of image is first given. We compute the probability P(b,a) that a particle moves from a point a to another point b according to I-Type Schrödinger transformation of image and obtain boundary of object by using quantum contour model.

关键词： Initial value problems

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A no-reference ringing metrics for images deconvolution

A no-reference ringing metrics for images deconvolution

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International Conference on Wavelet Analysis and Pattern Recognition (ICWAPR)

作者： Bo-Xin Zuo Jin-Wen Tian De-Lie Ming State Key Laboratory of Education Commission for Image Processing and Intelligent Control Institute For Recognition and Artificial Intelligence Huazhong University of Science and Technology Wuhan China

In this paper, we presented a ringing metric to evaluate the quality of images restored using iterative image restoration algorithms. A ringing metrics is used to assessment the restored images based on the Gabor filter. The experimental results validate the proposed method perform well over a wide range of restoration image ringing levels assessment. And the proposed model has given good agreement with observer ratings obtained in subjective experiments.

关键词： image restoration Gabor filters image edge detection Oscillators Deconvolution Maximum likelihood detection Band pass filters

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Improved Clonal Selection Algorithm based on Baldwinian Learning

Improved Clonal Selection Algorithm based on Baldwinian Lear...

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Congress on Evolutionary Computation

作者： Lining Zhang Maoguo Gong Licheng Jiao Jie Yang Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligent Information Processing Xidian University Xi'an China

In this paper, based on Baldwin effect, an improved clonal selection algorithm, Baldwin clonal selection algorithm, termed as BCSA, is proposed to deal with complex multimodal optimization problems. BCSA evolves and improves antibody population by three operations: clonal proliferation operation, Baldwinian learning operation and clonal selection operation. By introducing Baldwin effect, BCSA can make the most of experience of antibodies, accelerate the convergence, and obtain the global optimization quickly. In experiments, BCSA is tested on four types of functions and compared with the clonal selection algorithm and other optimization methods. Experimental results indicate that BCSA achieves a good performance, and is also an effective and robust technique for optimization.

关键词： Evolutionary computation

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Isomerous multiple classifier ensemble method with SVM and KMP

Isomerous multiple classifier ensemble method with SVM and K...

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International Conference on Audio, Language and image processing, ICALIP

作者： Shuiping Gou Shasha Mao Licheng Jiao Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligent Information Processing Xidian University Xi'an China

A method for multi-classifier ensemble of Support Vector Machine ensemble (SVMs) and Kernel Matching Pursuit Ensemble (KMPs) is proposed. Support Vector Machine has advantage in solving classification problem of high dimension and small size dataset, and Kernel Matching Pursuit has almost classified performance and the more sparsely solution as comprised with the SVM. So the SVM and the KMP are mix boosted in this paper, which can decrease generalization errors of the single classifier ensemble and improve ensemble classification accuracy by increasing diversity between ensemble individuals. The experiments show that the proposed method can shorten running time and improve classification accuracy compared with individual SVMs or KMPs.

关键词： Support vector machines Classification algorithms Accuracy Kernel Training Matching pursuit algorithms Machine learning

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Support vectors pre-extracting for support vector machine based on K nearest neighbour method

Support vectors pre-extracting for support vector machine ba...

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International Conference on Information and Automation (ICIA)

作者： Li Zhang Ning Ye Weida Zhou Licheng Jiao Institute of Intelligent Information Processing & Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education University of Xidian Xi'an Shaanxi China

Support vector machine, a universal method for learning from data, gains its development based on statistical learning theory. It shows many advantages in solving nonlinearly small sample and high dimensional problems of pattern recognition. Only a part of samples or support vectors (SVs) plays an important role in the final decision function. But SVs could not be obtained in advance until a quadratic programming is performed. In this paper, we use K-nearest neighbour method to extract a boundary vector set which may contain SVs. The number of the boundary set is smaller than the whole training set. Consequently it reduces the training samples, speeds up the training of support vector machine.

关键词： Training Support vector machines Kernel Distance measurement Classification algorithms Polynomials Support vector machine classification

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Lossy to lossless image compression based on reversible integer DCT

Lossy to lossless image compression based on reversible inte...

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IEEE International Conference on image processing

作者： Lei Wang Jiaji Wu Licheng Jiao Li Zhang Guangming Shi Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligent Information Processing Xidian University Xi'an China

A progressive image compression scheme is investigated using reversible integer discrete cosine transform (RDCT) which is derived from the matrix factorization theory. Previous techniques based on DCT suffer from bad performance in lossy image compression compared with wavelet image codec. And lossless compression methods such as IntDCT, I2I-DCT and so on could not compare with JPEG-LS or integer discrete wavelet transform (DWT) based codec. In this paper, lossy to lossless image compression can be implemented by our proposed scheme which consists of RDCT, coefficients reorganization, bit plane encoding, and reversible integer pre- and post-filters. Simulation results show that our method is competitive against JPEG-LS and JPEG2000 in lossless compression. Moreover, our method outperforms JPEG2000 (reversible 5/3 filter) for lossy compression, and the performance is even comparable with JPEG2000 which adopted irreversible 9/7 floating-point filter (9/7F filter).

关键词： image coding Discrete cosine transforms Transform coding Filters Performance loss Discrete wavelet transforms Codecs image reconstruction Laboratories Information processing

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Optimal Approximation of Linear Systems by an Improved Clonal Selection Algorithm

Optimal Approximation of Linear Systems by an Improved Clona...

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Congress on Evolutionary Computation

Based on the theory of clonal selection in immunology, by introducing Baldwin effect, an improved clonal selection algorithm, termed as Baldwin clonal selection algorithm (BCSA), is proposed to solve the optimal approximation of linear systems. For engineering computing, the novel algorithm adopts three operations to evolve and improve the population: clonal proliferation operation, Baldwinian learning operation and clonal selection operation. The experimental study on the optimal approximation of a stable linear system and an unstable one show that the approximate models searched by the new algorithm have better performance indices than those obtained by some existing algorithms including the differential evolution algorithm, multi-agent genetic algorithm and artificial immune response algorithm.

关键词： Evolutionary computation

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Improved Clonal Selection Algorithm based on Lamarckian Local Search Technique

Improved Clonal Selection Algorithm based on Lamarckian Loca...

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Congress on Evolutionary Computation

作者： Jie Yang Maoguo Gong Licheng Jiao Lining Zhang Key Laboratory of Intelligent Perception and Image Understanding of Ministry of Education of China Institute of Intelligent Information Processing Xidian University Xi'an China

In this paper, we introduce Lamarckian learning theory into the clonal selection algorithm and propose a sort of Lamarckian clonal selection algorithm, termed as LCSA. The major aim is to utilize effectively the information of each individual to reinforce the exploitation with the help of Lamarckian local search. Recombination operator and tournament selection operator are incorporated into LCSA to further enhance the ability of global exploration. We compared LCSA with the clonal selection algorithm (CSA) in solving twenty benchmark problems to test the performance of LCSA. The results demonstrate that LCSA is effective and efficient in solving numerical optimization problems.

关键词： Artificial neural networks Immune system Cloning Optimization Evolutionary computation Benchmark testing Interpolation

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Small universal spiking neural P systems with exhaustive use of rules

Small universal spiking neural P systems with exhaustive use...

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International Conference on Bio-Inspired Computing: Theories and Applications, BICTA

作者： Xingyi Zhang Yun Jiang Linqiang Pan Key Laboratory of Image Processing and Intelligent Control Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan Hubei China

We consider the problem of looking for small universal spiking neural P systems with exhaustive use of rules, which was formulated as an open problem by Gheorghe Paun in a survey paper. Here, spiking neural P systems are used in two versions: as devices computing functions and as devices generating sets of numbers, with two ways of encoding the result of a computation. As devices of computing functions, if we associate the result with the distance between the first two spikes emitted by the output neuron, we produce a universal computing spiking neural P system with exhaustive use of rules (without delay) having 125 neurons; if we introduce the usual way of defining the result of a computation in membrane systems to encode the result, namely, the number of spikes emitted during a computation, then a universal computing system (without delay) with 126 neurons is also obtained in the sense of the exhaustive use of rules. For spiking neural P systems used as generators of sets of numbers, we construct a universal system (without delay) by using 128 neurons under the first way of defining the computation result, and a system (without delay) by using 127 neurons under the second way of defining the computation result.

关键词： Neurons Registers Tin Delay Generators Distance measurement Biomembranes

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