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Online Multi-Object Tracking Under Moving Unmanned Aerial Vehicle Platform Based on Object Detection and Feature Extraction Network

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Journal of Shanghai Jiaotong university(Science) 2024年第3期29卷 388-399页

作者：刘增敏王申涛姚莉秀蔡云泽 Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China JD Business Growth Department Beijing 100176China Institute of Marine Equipment Shanghai Jiao Tong UniversityShanghai 200240China

In order to solve the problem of small object size and low detection accuracy under the unmanned aerial vehicle(UAV)platform,the object detection algorithm based on deep aggregation network and high-resolution fusion module is ***,a joint network of object detection and feature extraction is studied to construct a real-time multi-object tracking *** the problem of object association failure caused by UAV movement,image registration is applied to multi-object tracking and a camera motion discrimination model is proposed to improve the speed of the multi-object tracking *** simulation results show that the algorithm proposed in this study can improve the accuracy of multi-object tracking under the UAV platform,and effectively solve the problem of association failure caused by UAV movement.

关键词： moving unmanned aerial vehicle(UAV)platform small object feature extraction image registration multi-object tracking

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Lidar-Visual-Inertial Odometry with Online Extrinsic Calibration

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Journal of Shanghai Jiaotong university(Science) 2023年第1期28卷 70-76页

作者：茅天阳赵文韬王景川陈卫东 Department of Automation Institute of Medical RoboticsShanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai 200240China

To achieve precise localization,autonomous vehicles usually rely on a multi-sensor perception system surrounding the mobile *** is a time-consuming process,and mechanical distortion will cause extrinsic calibration ***,we propose a lidar-visual-inertial odometry,which is combined with an adapted sliding window mechanism and allows for online nonlinear optimization and extrinsic *** the adapted sliding window mechanism,spatial-temporal alignment is performed to manage measurements arriving at different *** nonlinear optimization with online calibration,visual features,cloud features,and inertial measurement unit(IMU)measurements are used to estimate the ego-motion and perform extrinsic *** experiments were carried out on both public datasets and real-world *** indicate that the proposed system outperforms state-of-the-art open-source methods when facing challenging sensor-degenerating conditions.

关键词： autonomous vehicles multi-sensor fusion online calibration

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SpliceCannon: A novel framework for the prediction of canonical and non-canonical splice sites based on deep learning

SpliceCannon: A novel framework for the prediction of canoni...

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2023 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2023

作者： Zhang, Yanju Qi, Wangjing Lin, Ruohan Fan, Jinli Guilin University of Electronic Technology Guangxi Key Laboratory of Image and Graphic Intelligent Processing Guilin China Huaqiao University College of Computer Science and Technology Xiamen China

ISBN: (纸本)9798350337488

Accurately predicting splice sites in DNA sequences is not only of utmost importance in the study of gene expression and protein synthesis, but also crucial to precisely understanding the pathogenesis of various diseases related to splicing. In the past few decades, several tools for identifying splice sites have been developed, however, many of them ignore the contextual influence in DNA sequences in the process of encoding, consequently leading to considerable false positives in prediction. Additionally, most methods solely investigate canonical splicing whereas pay little attention to non-canonical ones. To address the issues mentioned above, we propose a comprehensive method, SpliceCannon, for accurately predicting both canonical and non-canonical splice sites based on neural networks. This method uses the combination of k-nucleotide frequencies and Doc2vec to encode the sequence, then employs a series of comprehensive neural networks such as bidirectional long short-term memory networks and residual networks to effectively extract features from the original sequence while avoiding the problems such as gradient vanishing. The results demonstrate that our method consistently achieves high accuracy when tested on multiple species. Compared to other recent methods, our model exhibits superior performance, stronger generalization ability, and wider applicability. In particular, The recognition accuracy is also remarkably high on the non-canonical dataset. We envision that this proposed method will serve as a promising tool for splice sites prediction to facilitate genomic research. © 2023 IEEE.

关键词： Bidirectional long short-term memory networks Canonical and non-canonical splice sites Deep learning Skip connection

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Real-time arbitrarily-shaped scene text spotting with weakly supervised points

Real-time arbitrarily-shaped scene text spotting with weakly...

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2023 International Conference on Computer Graphics, Artificial Intelligence, and Data processing, ICCAID 2023

作者： Zhao, Longyang Zhang, Shuhao Xu, Zhi School of Computer Science and Information Security Guilin University of Electronics Technology No.1 Jinji road Guilin541004 China Guangxi Key Laboratory of Image and Graphic Intelligent Processing Guilin541004 China

ISBN: (纸本)9781510677685

Recently, there has been widespread interest in arbitrary-shaped scene text spotting, showing notable progress in both speed and accuracy. However, common issues such as model complexity, slow inference speed, and challenges in deployment persist. For this reason, this paper proposes Weakly Supervised Point-collection Network (WSPNet) for arbitrarily shaped scene text, which adopts deformable convolutional single-shot network architecture to realize multi-branch parallel reading of text, and combines weakly supervised text line point sampling to realize sampling recognition and transcription of arbitrarily shaped text instances. To enhance the robustness of multi-scale fusion, we utilize the Text Feature Fusion (TFF) module to dynamically acquire key features at different scales during the fusion process. This approach aims to reduce discrepancies in scale fusion. Extensive experiments on arbitrarily shaped benchmarks show that WSPNet achieves competitive accuracy and speed. For example, the proposed method achieves an end-to-end text recognition F-measure of 63.4 on the Total-Text dataset at 35.5 FPS, which is competitive with the best results in terms of speed and accuracy balance. © 2024 SPIE.

关键词： Network architecture

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SSD object detection algorithm based on knowledge map

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International Journal of Wireless and Mobile Computing 2024年第2期27卷 152-160页

作者： Huang, Li Wang, Xiaofeng Lu, Jianhua Hu, Wei Zhang, Changrong College of Computer Science and Technology Wuhan University of Science and Technology Hubei Wuhan China China Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Hubei Wuhan China Key Laboratory of Metallurgical Equipment and Control Technology of the Ministry of Education Wuhan University of Science and Technology Hubei Wuhan China Precision Manufacturing Research Institute Research Centre for Biomimetic Robot and Intelligent Measurement and Control Wuhan University of Science and Technology Hubei Wuhan China

With the pervasive integration of artificial intelligence into all aspects of human life, talent emerges as a primary resource. Upon analysing the current state of talent training in higher education institutions, issues such as dispersed knowledge points, overlapping content, a singular practice approach and ineffective evaluation have been identified. In response to these challenges, this paper proposes a multidisciplinary and comprehensive practical teaching methodology grounded in the knowledge graph framework. It delves into diverse paths for practical teaching and assessment, including aspects like teaching objectives, problem decomposition, resource integration, implementation methods and performance evaluation. The practical application of the SSD algorithm in researching service robot indoor object detection serves as an illustrative example. Employing the holistic practical teaching approach facilitated by the knowledge graph, this model guides students in acquiring object detection expertise, thereby enhancing their comprehensive development. Copyright © 2024 Inderscience Enterprises Ltd.

关键词： Object detection

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Infrared image enhancement based on adaptive weighted guided filter

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The Journal of China Universities of Posts and Telecommunications 2022年第2期29卷 73-84页

作者： Lu Ying Huang Shiqi Wang Wenqing Sun Ke School of Automation Xi’an University of Posts and TelecommunicationsXi'an 710121China Xi’an Key Laboratory of Advanced Control and Intelligent Processing Xi’an University of Posts and TelecommunicationsXi'an 710121China

The physical principle of infrared imaging leads to the low contrast of the whole image,the blurring of contour and edge details,and it is also sensitive to *** improve the quality of infrared image and visual effect,an adaptive weighted guided filter(AWGF) for infrared image enhancement algorithm was *** core idea of AWGF algorithm is to propose an adaptive strategy to update the weights of guided filter(GF) parameters,which not only improves the accuracy of regularization parameter estimation in GF theory,but also achieves the purpose of removing infrared image noise and improving its detail contrast.A large number of real infrared images were used to verify AWGF algorithm,and good experimental results were *** with other guided filtering algorithms,the halo phenomenon at the edge of infrared images processed by the AWGF algorithm is significantly avoided,and the evaluation parameter values of information entropy(IE),average gradient(AG),and moment of inertia(MI)are relatively *** shows that the quality of infrared image processed by the AWGF algorithm is better.

关键词： infrared image guided filter(GF) adaptive weight image enhancement regularization parameter

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Short-Term Smart Grid Load Forecasting Based on CNN-BiLSTM with Attention Mechanism 6

Short-Term Smart Grid Load Forecasting Based on CNN-BiLSTM w...

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6th International Conference on Energy, Power and Grid, ICEPG 2024

作者： Sun, Feihu Zhong, Yanru Guilin University of Electronic Technology School of Computer Science and Information Security Guangxi Guilin China Guilin University of Electronic Technology Guangxi Key Laboratory of Image and Graphic Intelligent Processing Guangxi Guilin China

ISBN: (纸本)9798350377798

The existing power load data exhibits complex multidimensionality, while existing techniques often focus on learning and forecasting from single load data. To fully exploit the complex multidimensionality of the existing power load data and enhance the accuracy of short-term load forecasting, a smart grid short-term load forecasting model based on attention mechanism and CNN-BiLSTM is proposed. Firstly, the one-dimensional convolutional network (1D-CNN) slides along the temporal dimension to extract multidimensional features such as temperature and humidity from the raw power load data. Secondly, the Bidirectional Long Short-Term Memory network (BiLSTM) captures both historical and future information of the data through gate mechanisms and the bidirectional network structure. Lastly, the attention mechanism allocates weights to focus on important parts of the load sequence data, enhancing the model's ability to identify key information and further improving the accuracy of short-term power load forecasting. The method is experimented on a real-world multivariate load dataset and compared with existing learning methods. The proposed model achieved lower RMSE in 24-hour load forecasting compared to CNN-LSTM, CNN-BiLSTM, LSTM-Attention, BiLSTM-Attention and CNN-LSTM-Attention models by 13.2%, 10.6%, 6.7%, 5.7% and 5.9% respectively. © 2024 IEEE.

关键词： Long short-term memory

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Prescribed Performance control of Mobile Wheeled Inverted Pendulum Systems under Arbitrary Initial Conditions 8

Prescribed Performance Control of Mobile Wheeled Inverted Pe...

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8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023

作者： Zhang, Mengshi Cao, Yu Yang, Bo Huang, Jian School of Artificial Intelligence and Automation Huazhong University of Science and Technology Key Laboratory of the Ministry of Education for Image Processing and Intelligent Control Wuhan430074 China Shenzhen Huazhong University of Science and Technology Research Institute ShenZhen518060 China

ISBN: (纸本)9798350300178

Mobile wheeled inverted pendulum (MWIP) is a typical naturally unstable underactuated system and it is very necessary to constrain its transient response to improve the overall safety. Prescribed performance control (PPC) is an effective method, however the system initial conditions are usually required to be known and constraint, otherwise it can lead to singularity problems. In practical systems, it is often difficult to obtain the exact initial state leading to limitations in the application of PPC. To overcome this issue, this paper presented a composite error transformation function to address the problem of initial condition dependence. A continuous bounded function was designed to compress the arbitrary initial error into the predefined bound to avoid singularities. After a set time, it was degraded to an original system error. Based on this composite transformation, a state feedback controller was proposed for the underactuated MWIP system to achieve the constraint outputs. Then, by employing the Lyapunov theorem, it was guaranteed that the closed-loop system would remain stable. Various numerical simulations under different initial conditions were carried out to prove the validity of the proposed controller. © 2023 IEEE.

关键词： Closed loop systems

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A hybrid wind power prediction model based on seasonal feature decomposition and enhanced feature extraction

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Energy and AI 2024年第4期18卷 368-379页

作者： Weipeng Li Yuting Chong Xin Guo Jun Liu School of Automation and Information Engineering Xi’an University of TechnologyNo.5 Jinhua South RoadXi’an710048ShaanxiChina Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing No.5 Jinhua South RoadXi’an710048ShaanxiChina

Efficient and accurate wind power prediction is crucial for enhancing the reliability and safety of power *** data-driven forecasting methods are regarded as an effective ***,the inherent randomness and nonlinearity of wind power systems,along with the abundance of redundant information in measurement data,present challenges to forecasting *** integration of precise and efficient techniques for data feature decomposition and extraction is essential in conjunction with advanced driven data-forecasting *** on the seasonal variation characteristics of wind energy,a hybrid wind power prediction model based on seasonal feature decomposition and enhanced feature extraction is *** effectiveness and superiority of the proposed method in predictive accuracy are demonstrated through comprehensive multi-model experiment comparisons.

关键词： Wind power prediction Data-driven Hybrid model Seasonal feature decomposition Gated recurrent networks Attention mechanism

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Unlearning Recently Learned Data to Preserve Historical Learning for Dynamic Data Stream Classification

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Chinese Journal of Electronics 2025年第3期34卷 849-860页

作者： Guangxi Key Laboratory of Image and Graphic Intelligent Processing Guilin University of Electronic Technology Guilin 541004 China Guangxi Key Laboratory of Trusted Software Guilin University of Electronic Technology Guilin 541004 China School of Municipal and Surveying Engineering Hunan City University Yiyang 413000 China

At present, dynamic data stream classification has achieved many successful results through concept drift detection and ensemble learning. However, generally, due to delay in concept drift detection, the active classifier may further learn data belonging to a new concept. This will ultimately degrade the generalization capability of this active classifier on its corresponding concept. Thus, how can a classifier corresponding to one concept unlearns the learned data belonging to another concept? Two unlearning algorithms are proposed to address this problem. The first one based on the passive-aggressive (PA) algorithm adopts the least squares method to reversely update the already-trained model, achieving the effect of approximately unlearning, while another based on a modified PA algorithm achieves complete unlearning by modifying the loss function of the PA algorithm. The comprehensive experiments illustrated the effectiveness of these proposed methods.

关键词： Data stream Machine unlearning Concept drift Online learning

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