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An unmanned aerial vehicle pose estimation system based on SLAM

IOP Conference Series: Materials Science and engineering 2019年第4期569卷

作者： Xinglei Dou Yuzhou Huo Yongchang Liu Xin Wang College of Software Engineering Jilin University Changchun Jilin 130012 China College of Computer Science and Technology Jilin University Changchun Jilin 130012 China Key Laboratory of Symbolic Computation and Knowledge Engineer of Ministry of Education Jilin University Changchun Jilin 130012 China

This paper presents an unmanned aerial vehicle (UAV) pose estimation system based on monocular simultaneous localization and mapping (SLAM) guided by the desired shot. The system enables UAV to automatically adjust the pose to achieve a shot close to the desired shot provided by the user. The SLAM module in the system includes ORB feature-based visual odometry and Levenberg-Marquardt method-based optimizer. To ensure the reliability of the camera pose estimation result, the bag of words model is used to select an image which has enough good matches with the desired shot. The experimental results prove that the system is valid and effective.

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An Algorithm for the Discretization of an Ideal Projector

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Journal of Systems Science & Complexity 2016年第5期29卷 1400-1410页

作者： JIANG Xue ZHANG Shugong LI Zhe Institute of Mathematics Key Laboratory of Symbolic Computation and Knowledge Engineering (Ministry of Education) Jilin University Department of Applied Mathematics School of Science Changchun University of Science and Technology

Ideal interpolation is a generalization of the univariate Hermite interpolation. It is well known that every univariate Hermite interpolant is a pointwise limit of some Lagrange ***, a counterexample provided by Shekhtman Boris shows that, for more than two variables,there exist ideal interpolants that are not the limit of any Lagrange interpolants. So it is natural to consider: Given an ideal interpolant, how to find a sequence of Lagrange interpolants(if any) that converge to it. The authors call this problem the discretization for ideal interpolation. This paper presents an algorithm to solve the discretization problem. If the algorithm returns "True", the authors get a set of pairwise distinct points such that the corresponding Lagrange interpolants converge to the given ideal interpolant.

关键词： Discretization ideal interpolation Lagrange interpolation.

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Tuning the Learning Rate for Stochastic Variational Inference

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Journal of Computer Science & Technology 2016年第2期31卷 428-436页

作者： Xi-Ming Li Ji-Hong Ouyang College of Computer Science and Technology Jilin University Changchun 130000 China Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Changchun 130000 China

Stochastic variational inference （SVI） can learn topic models with very big corpora. It optimizes the variational objective by using the stochastic natural gradient algorithm with a decreasing learning rate. This rate is crucial for SVI; however, it is often tuned by hand in real applications. To address this, we develop a novel algorithm, which tunes the learning rate of each iteration adaptively. The proposed algorithm uses the Kullback-Leibler （KL） divergence to measure the similarity between the variational distribution with noisy update and that with batch update, and then optimizes the learning rates by minimizing the KL divergence. We apply our algorithm to two representative topic models： latent Dirichlet allocation and hierarchical Dirichlet process. Experimental results indicate that our algorithm performs better and converges faster than commonly used learning rates.

关键词： stochastic variational inference online learning adaptive learning rate topic model

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Simultaneous Prediction for Multiple key Performance Indicators in Semiconductor Wafer Fabrication

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Chinese Journal of Electronics 2016年第6期25卷 1159-1165页

作者： CAO Zhengcai LIU Xuelian HAO Jinghua LIU Min College of Information Science and Technology Beijing University of Chemical Technology Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University Department of Automation Tsinghua University

The prediction and key factors identification for lot Cycle time(CT) and Equipment utilization(EU) which remain the key performance indicators(KPI)are vital for multi-objective optimization in semiconductor manufacturing industry. This paper proposes a prediction methodology which predicts CT and EU simultaneously and identifies their key factors. Bayesian neural network(BNN) is used to establish the simultaneous prediction model for Multiple key performance indicators(MKPI),and Bayes theorem is key solution in model complexity controlling. The closed-loop structure is built to keep the stability of MKPI prediction model and the weight analysis method is the basis of identifying the key factors for CT and EU. Compared with Artificial neural network(ANN)and Selective naive Bayesian classifier(SNBC), the simulation results of the prediction method of BNN are proved to be more feasible and effective. The prediction accuracy of BNN has been obviously improved than ANN and SNBC.

关键词： Prediction for MKPI Cycle time Equipment utilization BNN key factors identification

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Zero-shot user intent detection via capsule neural networks

arXiv

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arXiv 2018年

作者： Xia, Congying Zhang, Chenwei Yan, Xiaohui Chang, Yi Yu, Philip S. Department of Computer Science University of Illinois at Chicago ChicagoIL60607 United States Huawei Technologies San JoseCA95050 United States College of Artificial Intelligence Jilin University Changchun China College of Computer Science and Technology Jilin University Changchun China Key Laboratory of Symbolic Computation and Knowledge Engineering Ministry of Education China

User intent detection plays a critical role in question-answering and dialog systems. Most previous works treat intent detection as a classification problem where utterances are labeled with predefined intents. However, it is labor-intensive and time-consuming to label users' utterances as intents are diversely expressed and novel intents will continually be involved. Instead, we study the zero-shot intent detection problem, which aims to detect emerging user intents where no labeled utterances are currently available. We propose two capsule-based architectures: IntentCapsNet that extracts semantic features from utterances and aggregates them to discriminate existing intents, and IntentCapsNet-ZSL which gives IntentCapsNet the zero-shot learning ability to discriminate emerging intents via knowledge transfer from existing intents. Experiments on two real-world datasets show that our model not only can better discriminate diversely expressed existing intents, but is also able to discriminate emerging intents when no labeled utterances are available. Copyright © 2018, The Authors. All rights reserved.

关键词： knowledge management

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SPHLU:An Efficient Algorithm for Processing PRkNN Queries on Uncertain Data

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Chinese Journal of Electronics 2016年第3期25卷 403-406页

作者： WANG Shengsheng LI Yang CHAI Sheng BOLOU Bolou Dickson College of Computer Science and Technology Key Laboratory of Symbolic Computing and Knowledge Engineering of Ministry of EducationJilin University

Query on uncertain data has received much attention in recent years, especially with the development of Location-based services(LBS). Little research is focused on reverse k nearest neighbor queries on uncertain data. We study the Probabilistic reverse k nearest neighbor(PRkN N) queries on uncertain data. It is succinctly shown that, PRkN N query retrieves all the points that have higher probabilities than a given threshold value to be the Reverse k-nearest neighbor(RkN N) of query data *** previous works on this topic mostly process with k > *** algorithms allow the cases for k > 1, but the efficiency is inefficient especially for large k. We propose an efficient pruning algorithm — Spatial pruning heuristic with louer and upper bound(SPHLU) for solving the PRkN N queries for k > 1. The experimental results demonstrate that our algorithm is even more efficient than the existent algorithms especial for a large value of k.

关键词： Spatial database Uncertain data R-tree Probabilistic reverse k nearest neighbor queries

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Autonomous Domain Correlation-Based Cross-domain Network View Caching Method for SDN Distributed Controller

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Chinese Journal of Electronics 2016年第6期25卷 1127-1133页

作者： FU Tao HU Liang CHAI Sheng CHE Xilong College of Computer Science and Technology Jilin University Key Laboratory of Symbolic Computing and Knowledge Engineering of Ministry of Education Jilin University

Software-defined networks(SDN) maintain a global view of the network, thus improving the intelligence of forwarding decisions. With the expansion of the network scale, distributed controllers are used in a variety of large-scale networks in which subnetworks managed by controller instance are called autonomous domains. We analyze statistic frequency of communication across the autonomous domain. We calculate the autonomous domain correlations for controller instances using acquired statistical information. We cache network views to highly correlated controller instances. Distributed controllers are capable of considering both the average response time and overall storage. An experiment shows that our method can fully take advantage of these two performance indicators.

关键词： Software-defined networks(SDN) Distributed controller Network analyze Network view cache

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Efficient Image Transmission Schemes over Zigbee-Based Image Sensor Networks

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Chinese Journal of Electronics 2016年第2期25卷 284-289页

作者： TAO Dan YANG Guangwei CHEN Houjin WU Hao LIU Pingping School of Electronic and Information Engineering Beijing Jiaotong University Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University College of Computer Science and Technology Jilin University

Image transmission is one of the biggest challenges in wireless sensor networks because of the limited resource on sensor nodes. We proposed two image transmission schemes driven by reliability and real time considerations in order to transfer JPEG images over Zigbee-based sensor networks. By adding two bytes counter in the header of data packet, we can easily solve the repeated data reception problem caused by retransmission mechanism in traditional Zigbees network layer. We proposed an efficient retransmission and acknowledgment mechanism in Zigbees application layer. By classifying different data reception response events, we can provide data packets with differential responses and ensure that image packets can be transferred quickly even with large maximum number of retransmission. Practical results show the effectiveness of our solutions to make image transmission over Zigbee-based sensor networks efficient.

关键词： Image sensor networks Image transmission Retransmission and acknowledgment mechanism Zigbee

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Iris Recognition Based on Adaptive Gabor Filter 12th

Iris Recognition Based on Adaptive Gabor Filter

引用

12th Chinese Conference on Biometric Recognition, CCBR 2017

作者： Liu, Shuai Liu, Yuanning Zhu, Xiaodong Huo, Guang Cui, Jingwei Chen, Yihao Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University ChangchunJilin130012 China School of Software Jilin University ChangchunJilin130012 China School of Computer Science and Technology Jilin University ChangchunJilin130012 China Informatization Office Northeast Electric Power University Jilin132012 China

ISBN: (纸本)9783319699226

Aiming at the problem of multi-category iris recognition, there proposes a method of iris recognition algorithm based on adaptive Gabor filter. Use DE-PSO to adaptive optimize the Gabor filter parameters. DE-PSO is composed of particle swarm optimization and differential evolution algorithm. Use 16 groups of 2D-Gabor filters with different frequencies and directions to process iris images. According to the direction and frequency of maximum response amplitude, transform iris features into 512-bit binary feature encoding. Calculate the Hamming distance of feature code and compare with the classification threshold, determine iris the type of iris. Experiment on a variety of iris databases with multiple Gabor filter algorithms, the results showed that this algorithm has higher recognition rate, the ROC curve is closer to the coordinate axis and the robustness is better, compare with other Gabor filter algorithm. © 2017, Springer International Publishing AG.

关键词： Hamming distance

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Intelligent CPSS and its application to health care computing

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Science China(Information Sciences) 2016年第5期59卷 10-12页

作者： Dayou LIU Bo YANG Shang GAO Yungang ZHU Yong LAI College of Computer Science and Technology Jilin University Key Laboratory of Symbol Computation and Knowledge Engineering of the Ministry of Education Jilin University

The rapid development of cyber-physical systems(CPS)had a tremendous impact on human behavior and *** human involvement,CPS has naturally evolved into cyberphysical social systems(CPSS)[1].The top five technology brea... 详细信息

关键词： CPSS net

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