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An Accurate Visual Navigation Method for Wheeled Robot in Unstructured Outdoor Environment Based on Virtual Navigation Line

An Accurate Visual Navigation Method for Wheeled Robot in Un...

引用

International Conference on Image, Vision and intelligent Systems, ICIVIS 2021

作者： Liang, Zhen Fang, Tiyu Dong, Zihao Li, Jinping School of Information Science and Engineering Jinan250022 China Shandong Provincial Key Laboratory of Network-Based Intelligent Computing Jinan250022 China Shandong College and University Key Laboratory of Information Processing and Cognitive Computing in 13th Five-Year Jinan250022 China

ISBN: (纸本)9789811669620

For the navigation problem in unstructured outdoor environment such as the field without artificial marks, a precise vision navigation method for wheeled robot based on virtual navigation line is proposed. Virtual navigation line is a virtual line based on a small amount of visual information, which can be used in many complex environments. Firstly, the robot needs to design the shape of the walking route. And the general robot’s walking routes can be divided into linear route and curve route. Secondly, different virtual navigation line strategies are generated for different walking routes. In the linear navigation part, the virtual navigation line is determined according to the tracking target and the reference target generated. In the curve navigation part, the curve virtual navigation line is fitted according to the multiple targets. Then, the virtual calibration line is determined based on the camera pitch angle, field of view (FOV) and the horizon position in the image, the offset angle and offset distance are computed by using the geometric relationship between virtual calibration line and virtual navigation line. Finally, the fuzzy PID control method is applied to correct robot's direction. The Pioneer3-DX robot is used to do experiments in the outdoor field. The results show that our method can make the robot walk along the designed route in the unstructured outdoor environment accurately, and the navigation accuracy is within 10 cm. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.

关键词： Navigation

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Ship Target Detection Method Based on Local Saliency Enhancement 5

Ship Target Detection Method Based on Local Saliency Enhance...

引用

5th IEEE International Conference on Electronic Information and Communication Technology, ICEICT 2022

作者： Li, Nana Pan, Xueli Yang, Lixia Huang, Zhixiang Wu, Zhenhua Zhang, Xianqi Anhui University Information Materials and Intelligent Sensing Laboratory of Anhui Province Hefei China Anhui University Information Materials and Intelligent Sensing Laboratory of Anhui Province Key Laboratory of Intelligent Computing & Signal Processing Ministry of Education Hefei China East China Institute of Optoelectronic Integrated Devices Suzhou China

ISBN: (数字)9781665472111

ISBN: (纸本)9781665472111

Due to the non-uniformity of ship target scattering, speckle noises and side lobes, synthetic aperture radar (SAR) ship target detection is facing great challenges. Therefore, to improve the detection performance in this scenario, the ship detection method based on the local saliency enhancement is proposed in this paper. Firstly, the proposed method improves the target-to-clutter ratio (TCR) by combining the relative differences of multi-features between ship target and the clutter background, and the threshold segmentation is performed based on the final local enhancement results. The experimental results show that the proposed method can suppress clutter background and speckle noises, improve the TCR and the algorithm has a high detection rate and a low false alarm rate in the complex background and multi-target marine environment. © 2022 IEEE.

关键词： Synthetic aperture radar

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Entity disambiguation method based on Graph Attention Networks 14

Entity disambiguation method based on Graph Attention Networ...

引用

14th International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2022

作者： Qiang, Chengyu Li, Xiaogo Ma, Xianyan Han, Wei Yao, Yi School of Computer Science and Technology Xi'an University of Posts and Telecommunications Shaanxi Xi'an71012 China Shaanxi Key Laboratory of Network Data Analysis and Intelligent Processing Shaanxi Xi'an710121 China Xi 'an Key Laboratory of Big Data and Intelligent Computing Shaanxi Xi'an710121 China

ISBN: (纸本)9781665499781

Entity disambiguation based on entity-link is a technique which constructs the mappings between entity reference items appearing in the short text and target entity in knowledge base respectively. In this paper we propose an entity disambiguation method based on Graph Attention Networks for semi-structured knowledge base data. First, a global Knowledge Graph is constructed from the semi-structured knowledge base, and the entity reference items are embedded by Bert pre-trained model meanwhile. Next, Graph Attention Networks which leverages masked self-attention layers is applyed on candidate entity nodes of global Knowledge Graph to fetch a vector of node level. Furtherly, we compute similarity scores rank between the entity reference items and the candidate entity to complete the task of entity disambiguation. The experimental results on CCKS2019 dataset achieve state-of-the-art. © 2022 IEEE

关键词： Natural language processing systems

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Variational Clustering and Denoising of Spatial Transcriptomics

Variational Clustering and Denoising of Spatial Transcriptom...

引用

2023 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2023

作者： Li, Cuiyuan Zhang, Fa Hu, Kai Cui, Xuefeng Shandong University School of Computer Science and Technology Qingdao China Beijing Institute of Technology School of Medical Technology Beijing China Xiangtan University Key Laboratory of Intelligent Computing and Information Processing of Ministry of Education Xiangtan China Xiangnan University Key Laboratory of Medical Imaging and Artificial Intelligence of Hunan Province Chenzhou China

ISBN: (纸本)9798350337488

Spatial transcriptomics data provides a unique opportunity to investigate both gene expression and spatial structure in tissues at the same time. However, incorporating spatial information to accurately identify spatial domains is difficult due to factors such as high-dimensionality, sparsity, noise, and dropout events. To address these issues, we introduce vGraphST, a novel graph-based deep learning approach tailored for spatial transcriptomics data. Our method combines auto-encoder and contrastive learning techniques to process high-dimensional data and generate meaningful low-dimensional embeddings. Additionally, we use continuous distributions instead of discrete values in both the latent space and the denoised gene expression space. Specifically, Gaussian distributions are used to model the latent space, while zero-inflated Poisson distributions are used to model the denoised gene expression space. Experimental results demonstrate the effectiveness of vGraphST in accurately representing and analyzing spatial transcriptomics data. When compared to other methods using the DLPFC dataset, vGraphST achieves an average Adjusted Rand Index (ARI) of 0.58, demonstrating its superiority in segmenting spatial domains and recognizing biologically relevant spatiotemporal patterns. © 2023 IEEE.

关键词： clustering contrastive learning denoising spatial transcriptomics variational auto-encoder

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BMDP:Blockchain-Based Multi-Cloud Storage Data Provenance 26

BMDP:Blockchain-Based Multi-Cloud Storage Data Provenance

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26th International Conference on Computer Supported Cooperative Work in Design, CSCWD 2023

作者： Wang, Feiyu Zhou, Jian-Tao Guo, Xu Inner Mongolia University College of Computer Science Inner Mongolia Hohhot China Inner Mongolia Key Laboratory of Social Computing and Data Processing Inner Mongolia Engineering Laboratory for Big Data Analysis Technology Engineering Research Center of Ecological Big Data Ministry of Education Natl. Loc. Jt. Eng. Research Center of Intelligent Information Processing Technology for Mongolian Inner Mongolia Engineering Laboratory for Cloud Computing and Service Software China

ISBN: (纸本)9798350331684

In a multi-cloud storage system, provenance data records all operations and ownership during its lifecycle, which is critical for data security and audibility. However, recording provenance data also poses some challenging security and storage issues. In this paper, we present a secure and efficient multi-cloud storage data source scheme, BMDP. We use blockchain technology to ensure the secure storage of provenance data and design a smart contract to utilize the provenance data to ensure the proper operation of the multi-cloud storage system. Finally, we analyze the scheme's safety and do simulation experiments to show that the scheme has practicality. © 2023 IEEE.

关键词： Smart contract

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CAMG: Context-Aware Moment Graph Network for Multimodal Temporal Activity Localization via Language 12th

CAMG: Context-Aware Moment Graph Network for Multimodal Tem...

引用

12th National CCF Conference on Natural Language processing and Chinese computing, NLPCC 2023

作者： Hu, Yuelin Xu, Yuanwu Zhang, Yuejie Feng, Rui Zhang, Tao Lu, Xuequan Gao, Shang School of Computer Science Shanghai Key Laboratory of Intelligent Information Processing Shanghai Collaborative Innovation Center of Intelligent Visual Computing Fudan University Shanghai200433 China School of Information Management and Engineering Shanghai Key Laboratory of Financial Information Technology Shanghai University of Finance and Economics Shanghai200433 China School of Information Technology Deakin University Waurn PondsVIC3216 Australia

ISBN: (纸本)9783031446924

Temporal Activity Localization via Language (TALL) is a challenging task for language based video understanding, especially when a video contains multiple moments of interest and the language query has words describing complex context dependencies between the moments. Latest studies have proposed various ways to exploit the temporal context of adjacent moments, but two apparent limitations remained. First, only limited context information was encoded based on RNNs or 2-D convolutions, which highly depended on the pre-sorting of proposals and lacked flexibility. Second, semantically correlated content in different moments was ignored, i.e., semantic context. To address these limitations, we propose a novel GCN-based framework, i.e., Context-Aware Moment Graph (CAMG) network, to jointly model the temporal context and semantic context. Also, we design a multi-step fusion scheme to aggregate object, motion and textual features. A Query-Gated Integration Module is further designed to select queried objects and filter out noisy ones. Our model achieves superior performance to state-of-the-art methods on two widely-used benchmark datasets. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Semantics

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User Information Enhanced Knowledge Graph Convolutional Networks for Recommender Systems 14

User Information Enhanced Knowledge Graph Convolutional Netw...

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14th International Conference on Measuring Technology and Mechatronics Automation, ICMTMA 2022

作者： Hao, Junyu Li, Xiaoge School of Computer Science and Technology Xi'an University of Posts and Telecommunications Shaanxi Xi'an71012 China Shaanxi Key Laboratory of Network Data Analysis and Intelligent Processing Shaanxi Xi'an710121 China Xi'an Key laboratory of Big Data and Intelligent Computing Shaanxi Xi'an710121 China

ISBN: (纸本)9781665499781

To deeply excavate the information contained in user data and better alleviate cold start problem, we propose KGCN++, a user information enhanced knowledge graph convolutional networks model for recommender system, which simulates nerves' influence diffusion of information of user and items in a unified framework. The model combines user information and user-item interaction information into a user knowledge graph, which advances KGCN by injecting high-order user potential information reflected in user graph and high-order influence of items reflected in item knowledge graph. In addition, we have designed the influence factors of different items on users, which are used to characterize the weight of items on the user's information dissemination, so as to distinguish users with different information. Through extensive experiments on real-world datasets, we demonstrate that KGCN++ achieves substantial gains in a variety of ecenarios, including movie and book recommendation, better performance compared to the other methods. © 2022 IEEE

关键词： Recommender systems

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Blockchain-Based Multi-Cloud Data Storage System Disaster Recovery

Blockchain-Based Multi-Cloud Data Storage System Disaster Re...

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2023 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2023

作者： Wang, Feiyu Zhou, Jian-Tao College of Computer Science Inner Mongolia University Inner Mongolia Hohhot China Engineering Research Center of Ecological Big Data Ministry of Education Natl. Loc. Jt. Eng. Research Center of Intelligent Information Processing Technology for Mongolian Inner Mongolia Engineering Laboratory for Cloud Computing and Service Software Inner Mongolia Key Laboratory of Social Computing and Data Processing Inner Mongolia Engineering Laboratory for Big Data Analysis Technology China

ISBN: (纸本)9798350337020

Cloud storage services have been used by most businesses and individual users. However, data loss, service interruptions and cyber attacks often lead to cloud storage services not being provided properly, and these incidents have caused financial losses to users. Second, traditional and single-cloud model disaster recovery services are no longer suitable for the current complex cloud storage systems. Therefore, a scheme to provide disaster recovery for cloud storage services in a multi-cloud storage environment is needed in real production. In this paper, we propose a disaster recovery scheme based on blockchain technology. The proposed scheme outlined in this study aims to address the issue of data availability within the cloud storage landscape. The proposed scheme achieves this goal by dividing data into hot and cold categories, verifying the integrity of copy data via blockchain technology, and utilizing blockchain networks to manage multi-cloud storage systems. Experimental findings demonstrate that the proposed scheme yields superior results in terms of computation and time overheads. © 2023 IEEE.

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AUCSeg: AUC-oriented pixel-level long-tail semantic segmentation 24

AUCSeg: AUC-oriented pixel-level long-tail semantic segmenta...

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Proceedings of the 38th International Conference on Neural Information processing Systems

作者： Boyu Han Qianqian Xu Zhiyong Yang Shilong Bao Peisong Wen Yangbangyan Jiang Qingming Huang Key Lab. of Intelligent Information Processing Institute of Computing Technology CAS and School of Computer Science and Tech. University of Chinese Academy of Sciences Key Lab. of Intelligent Information Processing Institute of Computing Technology CAS and Peng Cheng Laboratory School of Computer Science and Tech. University of Chinese Academy of Sciences School of Computer Science and Tech. University of Chinese Academy of Sciences and Key Lab. of Intelligent Information Processing Institute of Computing Technology CAS and Key Laboratory of Big Data Mining and Knowledge Management CAS

ISBN: (纸本)9798331314385

The Area Under the ROC Curve (AUC) is a well-known metric for evaluating instance-level long-tail learning problems. In the past two decades, many AUC optimization methods have been proposed to improve model performance under long-tail distributions. In this paper, we explore AUC optimization methods in the context of pixel-level long-tail semantic segmentation, a much more complicated scenario. This task introduces two major challenges for AUC optimization techniques. On one hand, AUC optimization in a pixel-level task involves complex coupling across loss terms, with structured inner-image and pairwise inter-image dependencies, complicating theoretical analysis. On the other hand, we find that mini-batch estimation of AUC loss in this case requires a larger batch size, resulting in an unaffordable space complexity. To address these issues, we develop a pixel-level AUC loss function and conduct a dependency-graph-based theoretical analysis of the algorithm's generalization ability. Additionally, we design a Tail-Classes Memory Bank (T-Memory Bank) to manage the significant memory demand. Finally, comprehensive experiments across various benchmarks confirm the effectiveness of our proposed AUCSeg method. The code is available at https://***/boyuh/AUCSeg.

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Drug-Protein Interaction Prediction by Fusion of Attention and Graph Neural Network

Drug-Protein Interaction Prediction by Fusion of Attention a...

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第42届中国控制会议

作者： Tianrui Chen Shouheng Tuo Zengyu Feng School of Computer Science and Technology Xi'an University of Posts and Telecommunications Shaanxi Key Laboratory of Network Data Analysis and Intelligent Processing Xi'an Key Laboratory of Big Data and Intelligent Computing

The identification of drug-protein interactions(DTIs) is a critical step in drug development and ***,detecting these interactions using scientific methods presents a formidable *** models often struggle to extract relevant information from drug-protein sequences,and they fail to consider pre-existing interactions between ***,we introduce a deep learning model,DPAG,based on attention mechanisms and graph neural networks,which overcomes these *** leverages information from both the drug and protein sequences,as well as the association between drug-protein pairs,to predict *** conducted multiple experiments to evaluate the performance of the model in benchmark datasets,and the results showed that DPAG achieved excellent performance in terms of AUC,AUPR,precision,and *** findings suggest that DPAG holds significant potential as a promising tool for predicting DTIs in drug development and *** is available at https://***/veres se/DPAG.

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