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Wavelet Transform-Based High-Definition Map Construction From a Panoramic Camera

Journal of Shanghai Jiaotong university(Science) 2021年第5期26卷 569-576页

作者： ZHUANG Hanyang ZHOU Xuejun WANG Chunxiang QIAN Yuhan University of Michigan-Shanghai Jiao Tong University Joint Institute Shanghai Jiao Tong UniversityShanghai 200240China Guangxi Key Laboratory of Automobile Components and Vehicle Technology Guangxi University of Science and TechnologyLiuzhou 545006GuangxiChina Noblelift Intelligent Equipment Co. Ltd.Huzhou 313100ZhejiangChina Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China School of Mechanical Engineering Shanghai Jiao Tong UniversityShanghai 200240China

High-definition(HD)maps are key components that provide rich topologic and semantic information for decision-making in vehicle autonomous driving systems.A complete ground orthophoto is usually used as the base image to construct the HD *** ground orthophoto is obtained through inverse perspective transformation and image *** the image mosaicing,multiple consecutive orthophotos are stitched together using pose information and image *** this study,wavelet transform is introduced to the image mosaicing process to alleviate the information loss caused by image *** the orthophoto wavelet transform,high-frequency and low-frequency components are fused using different strategies to form a complete base image with clearer local *** results show that the accuracy of the orthophotos generated using this method is improved.

关键词： high-definition(HD)map wavelet transform image registration panorama

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ICP algorithm point cloud registration method based on a new improved Harris Hawk algorithm

ICP algorithm point cloud registration method based on a new...

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Chinese automation Congress (CAC)

作者： Chen Wang Shangbin Jiao Rui Gao Yuxing Li School of Automation and Information Engineering Xi’an University of Technology Xi’an China School of Automation and Information Engineering Xi’an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China School of Electronic & Electrical Engineering Baoji University of Arts and Sciences Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology China

ISBN: (纸本)9781665426480

To address shortcomings of ICP algorithm, which is sensitive to the initial position and easy to fall into local optimum, we propose a Harris Hawks Optimizer (HHO) point cloud registration method combining PCA preprocessing and parallel population initialization. The PCA method is used to align the point clouds with the main axes and perform the main axes correction. Since the six input variables in the population initialization stage of HHO point cloud registration are different and independent, the initial population of HHO algorithm is initialized by the parallel initialization method. The results show that the improved algorithm is able to successfully overwhelm the fault of ICP algorithm, and its global seek performance and optimization accuracy are more advantageous, and the algorithm operates efficiently, with high registration accuracy and robustness.

关键词： Point cloud compression automation Input variables Sociology Robustness Statistics Optimization

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Modeling and Analysis of Pumping Cell of Nox Sensor - Part Ii: Nox Pumping Cell

SSRN

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SSRN 2022年

作者： Wang, Zhen Deng, Zhong-Hua Wang, Jie Lin, Wei-Xun Fu, Xiao-Wei Li, Xi School of Artificial Intelligence and Automation Key Laboratory of Imaging Processing and Intelligent Control Education Ministry Huazhong University of Science and Technology Hubei Wuhan430074 China Shenzhen Huazhong University of Science and Technology Research Institute Guangdong Shenzhen518055 China Lambda Company Jiangsu Changzhou213100 China College of Computer Science and Technology Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Hubei Wuhan430081 China

To improve the performance of the NOx sensor, a combined model based on the electrochemical model and the diffusion model is developed for the NOx pumping cell of the NOx sensor. Considering that a small amount of oxygen enters the third chamber and part of NO is decomposed in the second chamber, the electrochemical model simultaneously considers the reactions of NO and oxygen at cathode, and the diffusion model additionally considers the diffusion of oxygen and the decomposition of NO. To validate the model at different gas concentrations, the sensor is mounted on the designed test rig. Then, the simulation results are compared with experimental data from the test rig and good agreement is obtained. In addition, three key parameters of the model of the NOx pumping cell are analyzed. The values and changing trends of these three parameters are given in the paper. © 2022, The Authors. All rights reserved.

关键词： Diffusion

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A Single-Cell Clustering Algorithm Based on Structure Perturbation Non-Negative Matrix Factorization

A Single-Cell Clustering Algorithm Based on Structure Pertur...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Hanjing Jiang Meineng Wang Luping Zhang Yu-An Huang Yangyuan Li Yabing Huang Key Laboratory of Image Information Processing and Intelligent Control of Education Ministry of China Institute of Artificial Intelligence School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China School of Computer Science and Technology China University of Mining and Technology Xuzhou China School of Mathematics and Computer Science Yichun University Yichun China School of Information Engineering East China University of Technology Nanchang China School of Computer Science Northwestern Polytechnical University Xi’an China Department of Pathology Renmin Hospital of Wuhan University Wuhan China

ISBN: (数字)9798350386226

ISBN: (纸本)9798350386233

The advent of single-cell RNA sequencing (scRNA-seq) has facilitated the acquisition of high-resolution data regarding cell heterogeneity across various tissues. A fundamental and critical step in the analysis of scRNA-seq data is cell type identification. An appropriate graph construction strategy can reflect the topological structure between cells and allows for detailed exploration of the relationships between cells and genes. Given the sparsity of scRNA-seq data and the pronounced noise generated by shallow sequencing, choosing an appropriate graph construction strategy has become a significant challenge. In this paper, we propose a single-cell clustering method, named Sc-PNNMF, based on structural perturbation of nonnegative matrix factorization. Sc-PNNMF employs a structural perturbation algorithm to optimize the gene expression matrix. The optimized matrix guides the matrix factorization process, effectively overcoming the impact of data sparsity and significant noise in gene expression data on the graph construction strategy. We compared the clustering abilities of Sc-PNNMF with five other methods on ten real datasets.

关键词： Sequential analysis Perturbation methods Clustering methods RNA Noise Clustering algorithms Sparse matrices Gene expression Unsupervised learning Periodic structures

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Pseudo-LiDAR for Visual Odometry

arXiv

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arXiv 2022年

作者： Deng, Huiying Wang, Guangming Feng, Zhiheng Jiang, Chaokang Wu, Xinrui Miao, Yanzi Wang, Hesheng Advanced Robotics Research Center AI Research Institute School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 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 Shanghai200240 China

As one of the important tasks in the field of robotics and machine vision, LiDAR/visual odometry provides tremendous help for various applications such as navigation, location, etc. In the existing methods, LiDAR odometry shows superior performance, but visual odometry is still widely used for its price advantage. Conventionally, the task of visual odometry mainly rely on the input of continuous images. However, it is very complicated for the odometry network to learn the epipolar geometry information provided by the images. In this paper, the concept of pseudo-LiDAR is introduced into the odometry to solve this problem. The pseudo-LiDAR point cloud back-projects the depth map generated by the image into the 3D point cloud, which changes the way of image representation. Compared with the stereo images, the pseudo-LiDAR point cloud generated by the stereo matching network can get the explicit 3D coordinates. Since the 6 Degrees of Freedom (DoF) pose transformation occurs in 3D space, the 3D structure information provided by the pseudo-LiDAR point cloud is more direct than the image. Compared with sparse LiDAR, the pseudo-LiDAR has a denser point cloud. In order to make full use of the rich point cloud information provided by the pseudo-LiDAR, a projection-aware dense odometry pipeline is adopted. Most previous LiDAR-based algorithms sampled 8192 points from the point cloud as input to the odometry network. The projection-aware dense odometry pipeline takes all the pseudo-LiDAR point clouds generated from the images except for the error points as the input to the network. While making full use of the 3D geometric information in the images, the semantic information in the images is also used in the odometry task. The fusion of 2D-3D is achieved in an image-only based odometry. Experiments on the KITTI dataset prove the effectiveness of our method. To the best of our knowledge, this is the first visual odometry method using pseudo-LiDAR. Copyright © 2022, The Authors. A

关键词： Pipelines

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H∞ Model Reduction for Fractional-Order Linear Systems

H∞ Model Reduction for Fractional-Order Linear Systems

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第33届中国控制与决策会议

作者： Guanyou Mo Junguo Lu Dong Yang Yanlong Wu Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China China Academy of Space Technology

This paper focuses on the H model reduction problem of fractional-order linear systems with commensurate fractional order 0 <α <***,resorting to the H bounded real lemma,a design method based on the linear matrix inequalities is proposed to construct an asymptotically stable reduced-order model for the given stable fractional-order linear system,such that the H norm of the error between the transfer function of the reduced-order model and the transfer function of the given stable fractional-order system is less than the prescribed H ***,by introducing a free-weighting matrix and congruent transformation,the system parameters of the reduced-order model are decoupled with the complex matrix variable and parameterized by another free-weighting matrix ***,one numerical example are given to illustrate the effectiveness of the proposed theoretical results.

关键词： H_∞ performance model reduction fractional-order system

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H∞ Performance Robustness Analysis of Fractional-Order Systems with Structured Perturbations

H∞ Performance Robustness Analysis of Fractional-Order Syst...

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第33届中国控制与决策会议

作者： Qing-Hao Zhang Dong Yang Yan-Long Wu Jun-Guo Lu Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China China Academy of Space Technology

This paper considers the H performance robustness analysis of fractional-order systems with structured *** on the assumption that the nominal fractional-order systems satisfies H performance,innovative conditions for checking whether the fractional-order systems with structured perturbations preserve the H performance are ***,the explicit robustness bounds of preserving the H performance of fractional-order systems with structured perturbations are *** results are derived by using μ-*** final two numerical examples are provided to illustrate the obtained methods.

关键词： Fractional-order system H_∞ performance structured perturbation robustness analysis

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Choose Your Simulator Wisely: A Review on Open-source Simulators for Autonomous Driving

arXiv

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arXiv 2023年

作者： Li, Yueyuan Yuan, Wei Zhang, Songan Yan, Weihao Shen, Qiyuan Wang, Chunxiang Yang, Ming The Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China The Innovation Center of Intelligent Connected Vehicles Global Institute of Future Technology Shanghai Jiao Tong University Shanghai200240 China The Global Institute of Future Technology Shanghai Jiao Tong University Shanghai200240 China

Simulators play a crucial role in autonomous driving, offering significant time, cost, and labor savings. Over the past few years, the number of simulators for autonomous driving has grown substantially. However, there is a growing concern about the validity of algorithms developed and evaluated in simulators, indicating a need for a thorough analysis of the development status of the simulators. To bridge the gap in research, this paper analyzes the evolution of simulators and explains how the functionalities and utilities have developed. Then, the existing simulators are categorized based on their task applicability, providing researchers with a taxonomy to swiftly assess a simulator’s suitability for specific tasks. Recommendations for select simulators are presented, considering factors such as accessibility, maintenance status, and quality. Recognizing potential hazards in simulators that could impact the confidence of simulation experiments, the paper dedicates substantial effort to identifying and justifying critical issues in actively maintained open-source simulators. Moreover, the paper reviews potential solutions to address these issues, serving as a guide for enhancing the credibility of simulators. Copyright © 2023, The Authors. All rights reserved.

关键词： Autonomous vehicles

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Novel Robust H∞ Stability and Stabilization Conditions for Fractional-order Systems with Convex Polytopic Uncertainties

Novel Robust H∞ Stability and Stabilization Conditions for ...

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第33届中国控制与决策会议

作者： Hanru Tang Junguo Lu Dong Yang Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China China Academy of Space Technology

This paper investigates the problems of robust stability and stabilization for fractional-order systems with polytopic *** is assumed that the fractional-order α is a known constant and belongs to 0 <α <***,based on the H bounded real lemma for commensurate fractional-order control systems,a sufficient condition for the above stability problem is established in terms of linear matrix inequalities（LMIs）.Secondly,on the foundation of this condition,sufficient LMI methods for the design of stabilizing controller are obtained for two cases where the polytopic coefficients are known and *** the case of unknown polytopic coefficients,by introducing the additional matrices,the state matrix and the positive-definite Hermitian matrices are *** the case of known polytopic coefficients,by introducing parameter-dependent matrices,a less-conservative robust H stabilization condition is ***,two different numerical examples are provided to compare the conservatism between the existing results and the results in this paper.

关键词： fractional-order systems robust stability robust stabilization robust H_∞ control convex polytopic uncertainties

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Scheduling optimization of silicon single crystal production process based on adaptive improved particle swarm optimization

Scheduling optimization of silicon single crystal production...

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Chinese automation Congress (CAC)

作者： Lu Kang Ding Liu Yali Wu Guozheng Ping School of Automation and Information Engineering Xi’an University of Technology National and Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an China School of Automation and Information Engineering Xi’an University of Technology National and Local Joint Engineering Research Center of Crystal Growth Xi’an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an China School of Automation and Information Engineering Xi’an University of Technology Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an China

ISBN: (纸本)9781665426480

Aiming at the potential safety hazards of silicon single crystal production enterprises in the process of multi-furnace silicon single crystal production, and considering the maximum power load requirements in actual enterprises, a silicon single crystal production process scheduling model with the goal of minimizing the maximum completion time was established. Based on this model, an adaptive improved particle swarm optimization algorithm (Adaptive GPSO) is proposed to solve it. The algorithm retains the individual optimal value and global optimal value of the particle swarm algorithm, and introduces the crossover operation and mutation operation in the genetic algorithm to improve the new individual generation mechanism. At the same time, it performs dynamic iterative calculations on the mutation probability and crossover probability to avoid the algorithm fall into the local optimum, and improve the diversity and convergence of the algorithm. By solving different scales scheduling problems of silicon single crystal production process, the experiments on real-world data shows that the feasibility and effectiveness of the proposed algorithm.

关键词： Adaptation models Heuristic algorithms Crystals Production Probability Silicon Scheduling

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