检索结果-内蒙古大学图书馆

arXiv 2020年

作者： Wang, Guangming Chen, Muyao Liu, Hanwen Yang, Yehui Liu, Zhe Wang, Hesheng The Department of Automation Institute of Medical Robotics Key Laboratory of System Control and Information Processing Ministry of Education Key Laboratory of Marine Intelligent Equipment System of Ministry of Education Shanghai Jiao Tong University Shanghai200240 China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology China The Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai200240 China The Department of Computer Science and Technology University of Cambridge

With the rapid development of measurwement technology, LiDAR and depth cameras are widely used in the perception of the 3D environment. Recent learning based methods for robot perception most focus on the image or video, but deep learning methods for dynamic 3D point cloud sequences are underexplored. Therefore, developing efficient and accurate perception method compatible with these advanced instruments is pivotal to autonomous driving and service robots. An Anchor-based Spatio-Temporal Attention 3D Convolution operation (ASTA3DConv) is proposed in this paper to process dynamic 3D point cloud sequences. The proposed convolution operation builds a regular receptive field around each point by setting several virtual anchors around each point. The features of neighborhood points are firstly aggregated to each anchor based on the spatio-temporal attention mechanism. Then, anchor-based 3D convolution is adopted to aggregate these anchors' features to the core points. The proposed method makes better use of the structured information within the local region and learns spatio-temporal embedding features from dynamic 3D point cloud sequences. Anchor-based Spatio-Temporal Attention 3D Convolutional Neural Networks (ASTA3DCNNs) are built for classification and segmentation tasks based on the proposed ASTA3DConv and evaluated on action recognition and semantic segmentation tasks. The experiments and ablation studies on MSRAction3D and Synthia datasets demonstrate the superior performance and effectiveness of our method for dynamic 3D point cloud sequences. Our method achieves the state-of-the-art performance among the methods with dynamic 3D point cloud sequences as input on MSRAction3D and Synthia datasets. Copyright © 2020, The Authors. All rights reserved.

关键词： Embeddings

来源：评论

学校读者我要写书评

暂无评论

Spatial-nonlocality-induced non-Markovian electromagnetically induced transparency in a single giant atom

引用

Physical Review A 2022年第4期106卷 043710-043710页

作者： Y. T. Zhu S. Xue R. B. Wu W. L. Li Z. H. Peng M. Jiang Department of Automation Shanghai Jiao Tong University Shanghai 200240 People's Republic of China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 People's Republic of China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240 People's Republic of China Center for Intelligent and Networked Systems Department of Automation Tsinghua University Beijing 100084 People's Republic of China Key Laboratory of Low-Dimensional Quantum Structures and Quantum Control of Ministry of Education Key Laboratory for Matter Microstructure and Function of Hunan Province Department of Physics and Synergetic Innovation Center for Quantum Effects and Applications Hunan Normal University Changsha 410081 People's Republic of China School of Electronics and Information Engineering Soochow University Suzhou 215006 People's Republic of China

The nonlocal waveguide coupling of giant atoms can bring up novel physics and applications. In this paper, we find unconventional electromagnetically induced transparency in giant atoms that has not been reported so far. We present a consistent theory for describing the unconventional EIT which includes a real-space scattering method and a time-delayed master equation. Our analysis shows this phenomenon is a full quantum effect led by a quantized interaction between the atom and the waveguide. Our theory shows that it can be observed when the time delay between two neighboring coupling points is comparable to the relaxation time of the atom. This phenomenon results from the inherent nonlocality of the giant atom, which physically forces propagating fields to be standing waves in space and the atom exhibiting retardations in time.

关键词： Quantum optics with artificial atoms Scattering theory Quantum master equation

来源：评论

学校读者我要写书评

暂无评论

End-to-End 3D Point Cloud Learning for Registration Task Using Virtual Correspondences

End-to-End 3D Point Cloud Learning for Registration Task Usi...

引用

2020 IEEE/RSJ International Conference on intelligent Robots and Systems (IROS)

作者： Huanshu Wei Zhijian Qiao Zhe Liu Chuanzhe Suo Peng Yin Yueling Shen Haoang Li Hesheng Wang The Chinese University of Hong Kong T Stone Robotics Institute Hong Kong Shanghai Jiao Tong University China University of Cambridge United Kingdom Carnegie Mellon University Insititue of Medical Robotics 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 Shanghai China Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology China

ISBN: (数字)9781728162126

ISBN: (纸本)9781728162133

3D Point cloud registration is still a very challenging topic due to the difficulty in finding the rigid transformation between two point clouds with partial correspondences, and it's even harder in the absence of any initial estimation information. In this paper, we present an end-to-end deep-learning based approach to resolve the point cloud registration problem. Firstly, the revised LPD-Net is introduced to extract features and aggregate them with the graph network. Secondly, the self-attention mechanism is utilized to enhance the structure information in the point cloud and the cross-attention mechanism is designed to enhance the corresponding information between the two input point clouds. Based on which, the virtual corresponding points can be generated by a soft pointer based method, and finally, the point cloud registration problem can be solved by implementing the SVD method. Comparison results in ModelNet40 dataset validate that the proposed approach reaches the state-of-the-art in point cloud registration tasks and experiment resutls in KITTI dataset validate the effectiveness of the proposed approach in real applications.

关键词： Three-dimensional displays Aggregates Pose estimation Feature extraction Task analysis intelligent robots

来源：评论

学校读者我要写书评

暂无评论

Resource Allocation for Coupled Slices in Edge-Assisted Industrial IoT Systems

Resource Allocation for Coupled Slices in Edge-Assisted Indu...

引用

IEEE International Conference on Communications in China (ICCC)

作者： Xiaojing Wen Cailian Chen Cheng Ren Ling Lyu Xinping Guan Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education of China and Shanghai Engineering Research Center of Intelligent Control and Management Shanghai P. R. China School of Information Science and Technology Dalian Maritime University Dalian China

Multiple types of sensors are utilized for remote monitoring of single industrial process to compensate for the limited accuracy of a single type of sensor. Network slicing technology is considered promising for collecting data from heterogeneous sensors and meeting diverse Quality of Service (QoS) requirements. However, existing research on network slicing optimization mainly focuses on inter-slice resource constraints based on slice heterogeneity, neglecting slice coupling feature. In this regard, this paper proposes a novel network slicing framework for edge-assisted industrial IoT systems. The framework includes a slice coupling model and network resource allocation (transmission and computing) to address the problem of improving estimation performance while ensuring system convergence. The slice coupling model is primarily composed of the estimation error covariance of two slices, calculated using the Age of Task (AoT) as a bridge, which reflects the accuracy and freshness of the estimation. To reduce the complexity of the direct solution, the optimization problem is scaled down and decoupled. The iterative Particle Swarm Optimization (PSO) algorithm is proposed to determine the allocation rates of inter-slice transmission and computing resources. Simulation results demonstrate that the proposed algorithm achieves a flexible balance under heterogeneous estimation weights and exhibits near-optimal performance.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Sparse Prior Is Not All You Need: When Differential Directionality Meets Saliency Coherence for Infrared Small Target Detection

arXiv

引用

arXiv 2024年

作者： Zhou, Fei Fu, Maixia Qian, Yulei Yang, Jian Dai, Yimian Ministry of Education Henan Key Laboratory of Grain Photoelectric Detection and Control Henan University of Technology Zhengzhou China Nanjing Marine Radar Institute Nanjing China PCA Lab Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education Jiangsu Key Lab of Image and Video Understanding for Social Security School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing China

Infrared small target detection is crucial for the efficacy of infrared search and tracking systems. Current tensor decomposition methods emphasize representing small targets with sparsity but struggle to separate targets from complex backgrounds due to insufficient use of intrinsic directional information and reduced target visibility during decomposition. To address these challenges, this study introduces a Sparse Differential Directionality prior (SDD) framework. SDD leverages the distinct directional characteristics of targets to differentiate them from the background, applying mixed sparse constraints on the differential directional images and continuity difference matrix of the temporal component, both derived from Tucker decomposition. We further enhance target detectability with a saliency coherence strategy that intensifies target contrast against the background during hierarchical decomposition. A Proximal Alternating Minimization-based (PAM) algorithm efficiently solves our proposed model. Experimental results on several real-world datasets validate our method’s effectiveness, outperforming ten state-of-the-art methods in target detection and clutter suppression. Our code is available at https://***/GrokCV/SDD. Copyright © 2024, The Authors. All rights reserved.

关键词： Tensors

来源：评论

学校读者我要写书评

暂无评论

A novel TSK fuzzy system incorporating multiview collaborative transfer learning for personalized epileptic EEG detection

arXiv

引用

arXiv 2021年

作者： Li, Andong Deng, Zhaohong Lou, Qiongdan Choi, Kup-Sze Shen, Hongbin Wang, Shitong School of Artificial Intelligence and Computer Science Jiangnan University Jiangsu Key Laboratory of Digital Design and Software Technology Wuxi214122 China Centre for Smart Health Hong Kong Polytechnic University Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Shanghai200240 China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

—In clinical practice, electroencephalography (EEG) plays an important role in the diagnosis of epilepsy. EEG-based computer-aided diagnosis of epilepsy can greatly improve the accuracy of epilepsy detection while reducing the workload of physicians. However, there are many challenges in practical applications for personalized epileptic EEG detection (i.e., training of detection model for a specific person), including the difficulty in extracting effective features from one single view, the undesirable but common scenario of lacking sufficient training data in practice, and the no guarantee of identically distributed training and test data. To solve these problems, we propose a TSK fuzzy system-based epilepsy detection algorithm that integrates multi-view collaborative transfer learning. To address the challenge due to the limitation of single-view features, multi-view learning ensures the diversity of features by extracting them from different views. The lack of training data for building a personalized detection model is tackled by leveraging the knowledge from the source domain (reference scene) to enhance the performance of the target domain (current scene of interest), where mismatch of data distributions between the two domains is resolved with adaption technique based on maximum mean discrepancy. Notably, the transfer learning and multi-view feature extraction are performed at the same time. Furthermore, the fuzzy rules of the TSK fuzzy system equip the model with strong fuzzy logic inference capability. Hence, the proposed method has the potential to detect epileptic EEG signals effectively, which is demonstrated with the positive results from a large number of experiments on the CHB-MIT dataset. © 2021, CC BY-NC-ND.

关键词： Electrophysiology

来源：评论

学校读者我要写书评

暂无评论

The method of image restoration in the environments of dust

The method of image restoration in the environments of dust

引用

IEEE International Conference on Mechatronics and Automation

作者： Yuanyu Wang Yuanzong Li Tianxu Zhang Department of Computer Fundamental Education TaiYuan University of Technology TaiYuan China College of Mechanical Engineering TaiYuan University of Technology TaiYuan China Institute for Pattern Recognition and A.I State Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology WuHan China

In order to solve the problem of image degradation caused by dust environments, an image degradation model considering multiple scattering factors caused by dust was first established using the first-order multiple scattering method. Then, a dark channel prior principle was applied to present an image restoration algorithm based on the image degradation model. Finally, a particle swarm optimization algorithm was applied to optimize the atmospheric light and the exposure parameters. This optimization algorithm was established according to the criterion of the image evaluation based on kirsch operator with dual threshold. By using the method an optimistic result of image restoration was obtained. The experimental results have shown that the method not only enhanced luminance and contrast, but also discovered more detail edges information. The method provided a foundation for target recognition in the dust environments.

关键词： image edge detection image restoration Degradation Atmospheric modeling Optical scattering Optical imaging

来源：评论

学校读者我要写书评

暂无评论

Needle Segmentation Using 3D Quick Randomized Hough Transform

Needle Segmentation Using 3D Quick Randomized Hough Transfor...

引用

International Workshop on intelligent Networks and intelligent Systems (ICINIS)

作者： Wu Qiu Mingyue Ding Ming Yuchi Institute for Pattern Recognition and Artificial Intelligence Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan Hubei China Department of Biomedical Engineering School of Life Science and Technology Huazhong University of Science and Technology Wuhan Hubei China

A quick 3D needle segmentation algorithm for 3D US data is described in this paper. The algorithm includes the 3D quick randomized Hough transform (3DGHT), which is based on the 3D randomized Hough transform and coarse-fine searching strategy. We tested it with water phantom. The results show that our algorithm works well in 3D US images with angular deviation less than 1 degree and position deviation less than 1 mm, and the computational time of segmentation with 35 MB data is within 1s.

关键词： Needles image segmentation Electrodes Ultrasonic imaging intelligent networks Artificial intelligence educational technology Hemorrhaging Imaging phantoms Radio frequency

来源：评论

学校读者我要写书评

暂无评论

Study on the Method of image Restoration in the Environment of Dust

Study on the Method of Image Restoration in the Environment ...

引用

International Conference on Wireless Communications, Networking and Mobile Computing (WiCom)

作者： Yuanyu Wang Yuanzong Li Tianxu Zhang Department of Computer Fundamental Education Taiyuan University Of Technology Taiyuan China College of Mechanical Engineering Taiyuan University Of Technology Taiyuan China Institute of Pattern Recognition and A.I State Key Laboratory of Image Processing and Intelligent Control HuaZhong University of Science and Technology Wuhan China

In order to solve the problem of image degradation caused by dust environments, an image degradation model considering multiple scattering factors caused by dust was first established using the first-order multiple scattering method. Then, a dark channel prior principle was applied to present an image restoration algorithm based on the image degradation model. Finally, GA optimization algorithm was applied to optimize the atmospheric light and the exposure parameters. This optimization algorithm was established according to the criterion of the image evaluation based on kirsch operator with automatic threshold. By using the method an optimistic result of image restoration was obtained. The experimental results have shown that the method not only enhanced luminance and contrast, but also discovered more detail edges information. The method provided a foundation for target recognition in the dust environments.

关键词： image edge detection image restoration Scattering Degradation Gallium Atmospheric modeling Genetic algorithms

来源：评论

学校读者我要写书评

暂无评论

Sensor-based Multi-agent Coverage control with Spatial Separation in Unstructured Environments

arXiv

引用

arXiv 2024年

作者： Wang, Xinyi Xu, Jiwen Gao, Chuanxiang Chen, Yizhou Zhang, Jihan Wang, Chenggang Ding, Yulong Chen, Ben M. Department of Mechanical and Automation Engineering The Chinese University of Hong Kong N.T. Shatin Hong Kong Department of Automation Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai200240 China Department of Control Science and Engineering Tongji University Shanghai China Frontiers Science Center for Intelligent Autonomous Systems Ministry of Education China

Multi-robot systems have increasingly become instrumental in tackling coverage problems. However, the challenge of optimizing task efficiency without compromising task success still persists, particularly in expansive, unstructured scenarios with dense obstacles. This paper presents an innovative, decentralized Voronoi-based coverage control approach to reactively navigate these complexities while guaranteeing safety. This approach leverages the active sensing capabilities of multi-robot systems to supplement GIS (Geographic Information System), offering a more comprehensive and real-time understanding of environments like post-disaster. Based on point cloud data, which is inherently non-convex and unstructured, this method efficiently generates collision-free Voronoi regions using only local sensing information through spatial decomposition and spherical mirroring techniques. Then, deadlock-aware guided map integrated with a gradient-optimized, centroid Voronoi-based coverage control policy, is constructed to improve efficiency by avoiding exhaustive searches and local sensing pitfalls. The effectiveness of our algorithm has been validated through extensive numerical simulations in high-fidelity environments, demonstrating significant improvements in task success rate, coverage ratio, and task execution time compared with others. Copyright © 2024, The Authors. All rights reserved.

关键词： Multipurpose robots

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：