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

作者： Qianliang Wu Yaqi Shen Haobo Jiang Guofeng Mei Yaqing Ding Lei Luo Jin Xie Jian Yang PCA Lab Key Lab of Intelligent Perception and Systems for High-Dimensional Information of Ministry of Education and Jiangsu Key Lab of Image and Video Understanding for Social Security School of Computer Science and Engineering Nanjing University of Science and Technology Faculty of Engineering and Information Technology University of Technology Sydney Sydney NSW Australia

Point Cloud Registration is a fundamental and challenging problem in 3D computer vision. Recent works often utilize geometric structure features in downsampled points (patches) to seek correspondences, then propagate these sparse patch correspondences to the dense level in the corresponding patches' neighborhood. However, they neglect the explicit global scale rigid constraint at the dense level point matching. We claim that the explicit isometry-preserving constraint in the dense level on a global scale is also important for improving feature representation in the training stage. To this end, we propose a Graph Matching Optimization based Network (GMONet for short), which utilizes the graph-matching optimizer to explicitly exert the isometry preserving constraints in the point feature training to improve the point feature representation. Specifically, we exploit a partial graph-matching optimizer to enhance the super point (i.e., down-sampled key points) features and a full graph-matching optimizer to improve the dense level point features in the overlap region. Meanwhile, we leverage the inexact proximal point method and the mini-batch sampling technique to accelerate these two graph-matching optimizers. Given high discriminative point features in the evaluation stage, we utilize the RANSAC approach to estimate the transformation between the scanned pairs. The proposed method has been evaluated on the 3DMatch/3DLoMatch and the KITTI datasets. The experimental results show that our method performs competitively compared to state-of-the-art baselines.

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JobFormer: Skill-Aware Job Recommendation with Semantic-Enhanced Transformer

arXiv

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arXiv 2024年

作者： Guan, ZhiHao Yang, Jia-Qi Yang, Yang Zhu, Hengshu Li, Wenjie Xiong, Hui the Nanjing University of Science and Technology Nanjing210094 China State Key Laboratory for Novel Software Technology Nanjing University Nanjing210023 China Career Science Lab BOSS Zhipin Beijing100028 China the Hong Kong Polytechnic University Hong Kong the Artificial Intelligence Thrust The Hong Kong University of Science and Technology Guangzhou 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 China

Job recommendation aims to provide potential talents with suitable job descriptions (JDs) consistent with their career trajectory, which plays an essential role in proactive talent recruitment. In real-world management scenarios, the available JD-user records always consist of JDs, user profiles, and click data, in which the user profiles are typically summarized as the user’s skill distribution for privacy reasons. Although existing sophisticated recommendation methods can be directly employed, effective recommendation still has challenges considering the information deficit of JD itself and the natural heterogeneous gap between JD and user profile. To address these challenges, we proposed a novel skill-aware recommendation model based on the designed semantic-enhanced transformer to parse JDs and complete personalized job recommendation. Specifically, we first model the relative items of each JD and then adopt an encoder with the local-global attention mechanism to better mine the intra-job and inter-job dependencies from JD tuples. Moreover, we adopt a two-stage learning strategy for skill-aware recommendation, in which we utilize the skill distribution to guide JD representation learning in the recall stage, and then combine the user profiles for final prediction in the ranking stage. Consequently, we can embed rich contextual semantic representations for learning JDs, while skill-aware recommendation provides effective JD-user joint representation for click-through rate (CTR) prediction. To validate the superior performance of our method for job recommendation, we present a thorough empirical analysis of large-scale real-world and public datasets to demonstrate its effectiveness and interpretability. Copyright © 2024, The Authors. All rights reserved.

关键词： User profile

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Recurrent Structure Attention Guidance for Depth Super-Resolution

arXiv

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arXiv 2023年

作者： Yuan, Jiayi Jiang, Haobo Li, Xiang Qian, Jianjun Li, Jun Yang, Jian PCA Lab Key Lab of Intelligent Perception and Systems for High-Dimensional Information 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

image guidance is an effective strategy for depth super-resolution. Generally, most existing methods employ handcrafted operators to decompose the high-frequency (HF) and low-frequency (LF) ingredients from low-resolution depth maps and guide the HF ingredients by directly concatenating them with image features. However, the hand-designed operators usually cause inferior HF maps (e.g., distorted or structurally missing) due to the diverse appearance of complex depth maps. Moreover, the direct concatenation often results in weak guidance because not all image features have a positive effect on the HF maps. In this paper, we develop a recurrent structure attention guided (RSAG) framework, consisting of two important parts. First, we introduce a deep contrastive network with multi-scale filters for adaptive frequency-domain separation, which adopts contrastive networks from large filters to small ones to calculate the pixel contrasts for adaptive high-quality HF predictions. Second, instead of the coarse concatenation guidance, we propose a recurrent structure attention block, which iteratively utilizes the latest depth estimation and the image features to jointly select clear patterns and boundaries, aiming at providing refined guidance for accurate depth recovery. In addition, we fuse the features of HF maps to enhance the edge structures in the decomposed LF maps. Extensive experiments show that our approach obtains superior performance compared with state-of-the-art depth super-resolution methods. Copyright © 2023, The Authors. All rights reserved.

关键词： Iterative methods

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Structure Flow-Guided Network for Real Depth Super-Resolution

arXiv

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arXiv 2023年

Real depth super-resolution (DSR), unlike synthetic settings, is a challenging task due to the structural distortion and the edge noise caused by the natural degradation in real-world low-resolution (LR) depth maps. These defeats result in significant structure inconsistency between the depth map and the RGB guidance, which potentially confuses the RGB-structure guidance and thereby degrades the DSR quality. In this paper, we propose a novel structure flow-guided DSR framework, where a cross-modality flow map is learned to guide the RGB-structure information transferring for precise depth upsampling. Specifically, our framework consists of a cross-modality flow-guided upsampling network (CFUNet) and a flow-enhanced pyramid edge attention network (PEANet). CFUNet contains a trilateral self-attention module combining both the geometric and semantic correlations for reliable cross-modality flow learning. Then, the learned flow maps are combined with the grid-sampling mechanism for coarse high-resolution (HR) depth prediction. PEANet targets at integrating the learned flow map as the edge attention into a pyramid network to hierarchically learn the edge-focused guidance feature for depth edge refinement. Extensive experiments on real and synthetic DSR datasets verify that our approach achieves excellent performance compared to state-of-the-art methods. Copyright © 2023, The Authors. All rights reserved.

关键词： Semantics

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Extended State Observer Based Fault-Tolerant Predictive Control for a Four-Mecanum Wheels Mobile Robot 14

Extended State Observer Based Fault-Tolerant Predictive Cont...

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14th IEEE International Conference on Cyber technology in Automation, Control, and Intelligent Systems, CYBER 2024

作者： Yang, Binghao Wang, Dongliang Wen, Ziling Wei, Wu Li, Wenji Fan, Zhun Shantou University Key Lab of Digital Signal and Image Processing of Guangdong Province Guangdong 515063 China Shantou University School of Department of Electronic and Information Engineering Guangdong 515063 China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangdong Guangzhou510640 China School of Automation Science and Engineering South China University of Technology Guangdong Guangzhou510641 China

ISBN: (纸本)9798331506056

The application of unmanned vehicles in industrial cargo transportation is becoming increasingly widespread, particularly playing a significant role in transporting heavy-duty goods. However, when performing such tasks, whether in single-vehicle transportation or multi-vehicle collaborative transportation, the occurrence of wheel failures can potentially lead to serious safety accidents. Therefore, this paper proposes a fault-tolerant control scheme, establishing a kinematic model considering disturbances and failures, and adopts model predictive control for trajectory tracking. Additionally, an extended state observer is introduced to observe system states and counteract disturbances. To address potential failure issues, a controller reconstruction strategy is proposed. Finally, the effectiveness and superiority of the controller is validated through numerical simulation and comparative experiment. © 2024 IEEE.

关键词： Mobile robots

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Video smoke removal based on low-rank tensor completion via spatial-temporal continuity constraint

Video smoke removal based on low-rank tensor completion via ...

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作者： Zhu, Hu Xu, Guoxia Liu, Lu Deng, Lizhen Jiangsu Province Key Lab on Image Processing and Image Communication Nanjing University of Posts and Telecommunication Nanjing China Department of Computer Science Norwegian University of Science and Technology Gjovik Norway National Engineering Research Center of Communication and Network Technology Nanjing University of Posts and Telecommunication Nanjing China

Smoke has a very bad effect on the outdoor vision system. Not only are the videos with poor visual effects obtained, but also the quality and structure of the videos are reduced. In this paper, we propose a video smoke removal method based on low-rank tensor completion via spatial-temporal continuity constraint. The proposed method is based on the smoke mixing model and consider the sparseness of smoke and the global and local consistency of clean video. Then, the optimal solution of the smoke removal algorithm model is quickly realized by the Alternating Direction Method of Multiplier. Finally, we evaluate the experiment results of real-world data and simulated data from the visual effects and objective indicators. And the experiment results show that our proposed algorithm can achieve better smoke removal results. © 2021 John Wiley & Sons, Ltd.

关键词： Smoke

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Background Semantics Matter: Cross-Task Feature Exchange Network for Clustered Infrared Small Target Detection With Sky-Annotated Dataset

arXiv

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arXiv 2024年

作者： Xiao, Mengxuan Dai, Qun Zhu, Yiming Guo, Kehua Wang, Huan Shu, Xiangbo Yang, Jian Dai, Yimian School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing China PCALab Key Lab of Intelligent Perception and Systems for High-Dimensional Information Ministry of Education Jiangsu Key Lab of Image and Video Understanding for Social Security China School of Computer Science and Engineering Central South University China

Infrared small target detection poses unique challenges due to the scarcity of intrinsic target features and the abundance of similar background distractors. We argue that background semantics play a pivotal role in distinguishing visually similar objects for this task. To address this, we introduce a new task-clustered infrared small target detection, and present DenseSIRST, a novel benchmark dataset that provides per-pixel semantic annotations for background regions, enabling the transition from sparse to dense target detection. Leveraging this dataset, we propose the Background-Aware Feature Exchange Network (BAFE-Net), which transforms the detection paradigm from a single task focused on the foreground to a multi-task architecture that jointly performs target detection and background semantic segmentation. BAFE-Net introduces a dynamic cross-task feature hard-exchange mechanism to embed target and background semantics between the two tasks. Furthermore, we propose the Background-Aware Gaussian Copy-Paste (BAG-CP) method, which selectively pastes small targets into sky regions during training, avoiding the creation of false alarm targets in complex non-sky backgrounds. Extensive experiments validate the effectiveness of BAG-CP and BAFE-Net in improving target detection accuracy while reducing false alarms. The DenseSIRST dataset, code, and trained models are available at https://***/GrokCV/BAFE-Net. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantic Segmentation

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Graph Matching Optimization Network for Point Cloud Registration

arXiv

引用

arXiv 2023年

作者： Wu, Qianliang Shen, Yaqi Jiang, Haobo Mei, Guofeng Ding, Yaqing Luo, Lei Xie, Jin Yang, Jian 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 China The Faculty of Engineering and Information Technology University of Technology Sydney SydneyNSW2007 Australia

Point Cloud Registration is a fundamental and challenging problem in 3D computer vision. Recent works often utilize the geometric structure information in point feature embedding or outlier rejection for registration while neglecting to consider explicitly isometry-preserving constraint (e.g., point pair linked edge’s length preserving after transformation) in training. We claim that the explicit isometry-preserving constraint is also important for improving feature representation abilities in the feature training stage. To this end, we propose a Graph Matching Optimization based Network (GMONet for short), which utilizes the graph-matching optimizer to explicitly exert the isometry preserving constraints in the point feature training to improve the point feature representation. Specifically, we exploit a partial graph-matching optimizer to optimize the super point (i.e., down-sampled key points) features and a full graph-matching optimizer to optimize fine-level point features in the overlap region. Meanwhile, we leverage the inexact proximal point method and the mini-batch sampling technique to accelerate these two graph-matching optimizers. Given high discriminative point features in the evaluation stage, we utilize the RANSAC approach to estimate the transformation between the scanned pairs. The proposed method has been evaluated on the 3DMatch/3DLoMatch benchmarks and the KITTI benchmark. The experimental results show that our method performs competitively compared to state-of-the-art baselines. Copyright © 2023, The Authors. All rights reserved.

关键词： Surface measurement

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X-ray image-Based COVID-19 Patient Detection Using Machine Learning-Based Techniques

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Computer Systems science & Engineering 2022年第11期43卷 671-682页

作者： Shabana Habib Saleh Alyahya Aizaz Ahmed Muhammad Islam Sheroz Khan Ishrat Khan Muhammad Kamil Department of Information Technology College of ComputerQassim UniversityBuraidah52571Saudi Arabia Department of Electrical Engineering College of Engineering&Information TechnologyOnaizah CollegesOnaizah51911Saudi Arabia Digital Image Processing Lab Islamia CollegePeshawar25120KPKPakistan Department of Computer Science College of Computer and Information SciencesPrince Sultan UniversityRiyadh11586Saudi Arabia Department of Electrical Engineering National University of Computer and Emerging SciencesPeshawarPakistan

In early December 2019,the city of Wuhan,China,reported an outbreak of coronavirus disease(COVID-19),caused by a novel severe acute respiratory syndrome coronavirus-2(SARS-CoV-2).On January 30,2020,the World Health Organization(WHO)declared the outbreak a global pandemic *** the face of the COVID-19 pandemic,the most important step has been the effective diagnosis and monitoring of infected *** COVID-19 using Machine Learning(ML)technologies can help the health care unit through assistive diagnostic suggestions,which can reduce the health unit's burden to a certain *** paper investigates the possibilities of ML techniques in identifying/detecting COVID-19 patients including both conventional and exploring from chest X-ray images the effect of viral *** approach includes preprocessing,feature extraction,and ***,the features are extracted using the Histogram of Oriented(HOG)and Local Binary Pattern(LBP)feature ***,for the extracted features classification,six ML models of Support Vector Machine(SVM)and K-Nearest Neighbor(KNN)is *** results show that the diagnostic accuracy of random forest classifier(RFC)on extracted HOG plusLBP features is as high as 94%followed by SVM at 93%.The sensitivity of the K-nearest neighbour model has reached an accuracy of 88%.Overall,the predicted approach has shown higher classification accuracy and effective diagnostic *** is a highly useful tool for clinical practitioners and radiologists to help them in diagnosing and tracking the cases of COVID-19.

关键词： image pre-processing detection classification x-ray images filter

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Planning with Learned Dynamic Model for Unsupervised Point Cloud Registration 30

Planning with Learned Dynamic Model for Unsupervised Point C...

引用

30th International Joint Conference on Artificial Intelligence, IJCAI 2021

作者： Jiang, Haobo Qian, Jianjun Xie, Jin Yang, Jian PCA Lab Key Lab of Intelligent Perception and Systems for High-Dimensional Information 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 China

ISBN: (纸本)9780999241196

Point cloud registration is a fundamental problem in 3D computer vision. In this paper, we cast point cloud registration into a planning problem in reinforcement learning, which can seek the transformation between the source and target point clouds through trial and error. By modeling the point cloud registration process as a Markov decision process (MDP), we develop a latent dynamic model of point clouds, consisting of a transformation network and evaluation network. The transformation network aims to predict the new transformed feature of the point cloud after performing a rigid transformation (i.e., action) on it while the evaluation network aims to predict the alignment precision between the transformed source point cloud and target point cloud as the reward signal. Once the dynamic model of the point cloud is trained, we employ the cross-entropy method (CEM) to iteratively update the planning policy by maximizing the rewards in the point cloud registration process. Thus, the optimal policy, i.e., the transformation between the source and target point clouds, can be obtained via gradually narrowing the search space of the transformation. Experimental results on ModelNet40 and 7Scene benchmark datasets demonstrate that our method can yield good registration performance in an unsupervised manner. © 2021 International Joint Conferences on Artificial Intelligence. All rights reserved.

关键词： Dynamic models

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