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检索条件"机构=Key Laboratory of Pattern Recognition and Intelligent Control"

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Skeleton-based fast path planning for UAV

Skeleton-based fast path planning for UAV

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MIPPR 2009 - Remote Sensing and GIS Data Processing and Other Applications: 6th International Symposium on Multispectral Image Processing and pattern recognition

作者： Liu, Xin Zhou, Chengping Ding, Mingyue Cai, Chao Institute for Pattern Recognition and Artificial Intelligence National Lab. for Multi-spectral Information Processing Technologies Huazhong University of Science and Technology Wuhan 430074 China College of Life Science and Technology Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819478092

A new path planning method for UAV in static workspace is presented. The method can find a nearly optimal path in short time which satisfies the UAV kinematic constraints. The method makes use of the skeletons to construct the graph of the planning space considering the configuration of the obstacles and utilizes the graph to find a shortest collision-free path, and a novel technique is utilized to convert the free path into a feasible path. The method can be applied to different applications and easy to be implemented. Experimental results showed that the path planning can be done in a fraction of second on a contemporary workstation (2-3 seconds) under the condition of satisfying the kinematic constraints. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Motion planning

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Needle segmentation in 3D ultrasound images based on phase-grouping

Needle segmentation in 3D ultrasound images based on phase-g...

引用

MIPPR 2009 - Medical Imaging, Parallel Processing of Images, and Optimization Techniques: 6th International Symposium on Multispectral Image Processing and pattern recognition

作者： Zhao, Siying Qiu, Wu Ming, Yuchi Ding, Mingyue Institute of Pattern Recognition and Artificial Intelligence Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China Institute of Pattern Recognition and Artificial Intelligence Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Hubei 10086 China School of Life Science and Technology Huazhong University of Science and Technology Wuhan 430074 China School of Life Science and Technology Huazhong University of Science and Technology Hubei 10086 China

ISBN: (纸本)9780819478085

Three Dimensional (3D) ultrasound images can provide spatial information to help doctors locate the needle position precisely in ultrasound-guided surgery. In this paper, we present a method called "3D Phase-grouping" to segment the needle inside the patient. The method is an extension from 2D phase-grouping to the 3D case via a new mathematic model-the outer products of adjacent orientation vectors. Firstly, the voxels with the same outer products of the gradient orientation vectors of the adjacent points are divided into Line Support Regions (LSR). Then, the needle is extracted with the 3D Least-Squares line fitting method in the maximal LSR. Synthetic and 3D ultrasound phantom data were tested. The segmentation results were evaluated by the angular deviation, position deviation and computational time. Compared with the 3D Hough transform, 3D Phase-Grouping is more accurate and faster without using pre-information. The computational complexity and robustness of the algorithm remain to be our future research topics. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Needles

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High-Precision and Arbitrary-length Fixed-Point Fast Hartley Transform without Multiplications

High-Precision and Arbitrary-length Fixed-Point Fast Hartley...

引用

WRI International Conference on Communications and Mobile Computing, CMC

作者： Zhenbing Liu Jianguo Liu Guoyou Wang Key Laboratory of Education Ministry for Image Processing and Intelligent Control State Key Laboratory of Multispectral Information Processing Technologies Institute of Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology Wuhan China

Discrete Hartley transform (DHT) is an important tool in digital signal processing. In this paper, based on our previous work of performing DHT via linear sums of discrete moments, we have made development to eliminate multiplications in discrete Hartley transforms by performing appropriate bit operations and shift in binary system, which can be implemented by integer additions of fixed points. An efficient and regular systolic array is designed to implement it, and the complexity analysis is also given. Different to other fast Hartley transforms, our algorithm can deal with arbitrary length signals and get high precision. The approach is also applicable to multi-dimensional DHT and DHT inverses.

关键词： Discrete transforms Signal processing algorithms Digital signal processing Systolic arrays Laboratories Educational technology Very large scale integration Hardware Mobile communication Mobile computing

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Path planning for UAV based on quantum-behaved particle swarm optimization

Path planning for UAV based on quantum-behaved particle swar...

引用

MIPPR 2009 - Medical Imaging, Parallel Processing of Images, and Optimization Techniques: 6th International Symposium on Multispectral Image Processing and pattern recognition

作者： Fu, Yangguang Ding, Mingyue Zhou, Chengping Cai, Chao Sun, Yangguang Institute for Pattern Recognition and Artificial Intelligence State Key Laboratory for Multi-spectral Information Processing Technologies Huazhong University of Science and Technology Wuhan 430074 China College of Life Science and Technology Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819478085

Based on quantum-behaved particle swarm optimization (QPSO), a novel path planner for unmanned aerial vehicle (UAV) is employed to generate a safe and flyable path. The standard particle swarm optimization (PSO) and quantum-behaved particle swarm optimization (QPSO) are presented and compared through a UAV path planning application. Every particle in swarm represents a potential path in search space. For the purpose of pruning the search space, constraints are incorporated into the pre-specified cost function, which is used to evaluate whether a particle is good or not. As the system iterated, each particle is pulled toward its local attractor, which is located between the personal best position (pbest) and the global best position (gbest) based on the interaction of particles' individual searches and group's public search. For the sake of simplicity, we only consider planning the projection of path on the plane and assume threats are static instead of moving. Simulation results demonstrated the effectiveness and feasibility of the proposed approach. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Motion planning

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High-Precision Discrete Convolution Algorithm Based on Moments

High-Precision Discrete Convolution Algorithm Based on Momen...

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WRI International Conference on Communications and Mobile Computing, CMC

作者： Jianguo Liu Zhenbing Liu Guoyou Wang Key Laboratory of Education Ministry for Image Processing and Intelligent Control State Key Laboratory of Multispectral Information Processing Technologies Institute of Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology Wuhan China

Convolution is an important and useful operation in the fields of digital signal processing. In this paper, based on the previous work of performing discrete Fourier transform (DFT) via linear sums of discrete moments, we have made development to eliminate multiplications in discrete Fourier transforms by performing appropriate bit operations and shift operations in binary system, which can be implemented by integer additions of fixed points; then using the convolution theorem with the DFT, we compute the convolution with two DFTs, a point-by-point product, and an inverse DFT. Our algorithm involves fewer multiplications and can deal with arbitrary length signals.

关键词： Convolution Signal processing algorithms Discrete Fourier transforms Very large scale integration Algorithm design and analysis Laboratories Educational technology Digital signal processing Mobile communication Mobile computing

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Fast on-ship route planning using improved sparse A-star algorithm for UAVs

Fast on-ship route planning using improved sparse A-star alg...

引用

MIPPR 2009 - Medical Imaging, Parallel Processing of Images, and Optimization Techniques: 6th International Symposium on Multispectral Image Processing and pattern recognition

作者： Yang, Xin Ding, Mingyue Zhou, Chengping Cai, Chao Yu, Qi Shao, Shuai Institute for Pattern Recognition and Artificial Intelligence State Key Laboratory for Multi-spectral Information Processing Technologies Huazhong University of Science and Technology Wuhan 430074 China College of Life Science and Technology Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819478085

This paper presented improved Sparse A-Star Search (SAS) algorithm to pursue a fast route planner for Unmanned Aerial Vehicles (UAVs) on-ship applications. Our approach can quickly produce 3-D trajectories composed by a set of successive navigation points from certain known initial locations to predetermined target locations. The result routes are not only ensuring collision avoidance with the environmental obstacles, but also satisfying specific routes constraints and objectives. The experiment results demonstrated the feasibility of the method, which makes our route planner be more useful in real systems. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Ships

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Path Integral Based Contour Extraction Method Using Multilevel Metropolis Sampling

Path Integral Based Contour Extraction Method Using Multilev...

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7th International Conference on Photonics and Imaging in Biology and Medicine

作者： Yangguang, Sun Tian, Lan Xiaowei, Fu Mingyue, Ding Institute of Pattern Recognition and Artificial Intelligence Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China School of Life Science and Technology Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819475398

In this paper we proposed a novel path integral method using multilevel Metropolis sampling to extract the contours of interested objects of medical images, which is a quantum statistical approach inspired by the essential characteristics of quantum. The implemented multilevel Metropolis sampling is a fast approach to the sampling problem and can be used to sample any distribution function and calculate all actions for the movements of quantum particle towards the position with high probability density likely to be accepted. Comparing with traditional deformable models based on classical mechanics which are sensitive to the initialization of contour and difficult to adapt topology changes of the contour, our work has the capability to break through the limitations of deformable models and makes the boundary extraction in high noise and low contrast of medical images possible. Experiments were performed with synthetic and medical images and the feasibility and potential of our method was demonstrated. © 2009 SPIE.

关键词： Distribution functions

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A statistical approach to contour extraction based on quantum mechanics

A statistical approach to contour extraction based on quantu...

引用

Medical Imaging 2009 - Image Processing

作者： Sun, Yangguang Lan, Tian Fu, Xiaowei Ding, Mingyue Institute of Pattern Recognition and Artificial Intelligence Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China School of Life Science and Technology Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819475107

Contour extraction is a key issue in many medical applications. A novel statistical approach based on quantum mechanics to extract contour of the interested object of medical images was proposed in this paper. The natures of quantum statistical concepts such as the quantum discontinuity and the wave function correspond to the discrete and gray possibility of an image respectively. Contour extraction will be performed by the quantum particle movement, where the particle will be moved forward to the position with high probability density edges in image potential field. Experimental results with medical images demonstrated that the proposed approach has the capability to extract contours with arbitrary initialization and handle topology changes as well as both the inner and outer contours by a single initialization. keywords: Statistical approach, contour extraction, path integral, quantum mechanics. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Medical applications

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A novel path planning method based on path network

A novel path planning method based on path network

引用

MIPPR 2009 - Medical Imaging, Parallel Processing of Images, and Optimization Techniques: 6th International Symposium on Multispectral Image Processing and pattern recognition

作者： Li, Shidong Ding, Mingyue Cai, Chao Institute for Pattern Recognition and Artificial Intelligence National Lab. for Multi-spectral Information Processing Technologies Huazhong University of Science and Technology Wuhan 430074 China Hubei University for Nationalities Enshi Hubei 445000 China College of Life Science and Technology Image Processing and Intelligent Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819478085

Traditional path planning methods are too slow to meet the real-time requirement in practical applications. In order to solve this problem, an idea of path net was proposed in this paper. The path planning procedure is divided into two steps: network segment planning and segment assembling. The first step was done with Fast Marching Method, including port selection of segment and network segment planning. Second step, the A* searching method was chosen to select segments for assembling. Experiments demonstrated that our method can obtain an optimal route in a few of seconds after the start and goal are given while several minutes are needed for traditional methods. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Motion planning

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Path planning using FMM with direction and curvature constrained

Path planning using FMM with direction and curvature constra...

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MIPPR 2009 - Remote Sensing and GIS Data Processing and Other Applications: 6th International Symposium on Multispectral Image Processing and pattern recognition

ISBN: (纸本)9780819478092

It is difficult to meet both direction and curvature constraints for traditional Fast Marching (FM) method in path planning. Based on adjusting the cost function in Eiknoal equation-the control equation for FM, a new model for computing the integrated cost function was presented in this paper. A relationship formula about curvature radius was obtained and three kinds of adjusting strategies were given;two of them were used to modify the route to meet with the requires of turning constraint in this paper. Experiments showed that the improved model can be used to plan the path with FMM for agent such as unmanned aerial vehicle (UAV) or robot, which is limited to pass through the scene matching areas. And our preliminary experiments demonstrated that the strategies are feasible and efficient to obtain path with certain curvature radius. The model can also be used to represent the problem such as an aircraft flying in a flow field. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Motion planning

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