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GridNet:efficiently learning deep hierarchical representation for 3D point cloud understanding

Frontiers of Computer Science 2022年第1期16卷 1-9页

作者： Huiqun WANG Di HUANG Yunhong WANG Laboratory of Intelligent Recognition and Image Processing School of Computer Science and EngineeringBeihang UniversityBeijing100191China

In this paper,we propose a novel and effective approach,namely GridNet,to hierarchically learn deep representation of 3D point *** incorporates the ability of regular holistic description and fast data processing in a single framework,which is able to abstract powerful features progressively in an efficient ***,to capture more accurate internal geometry attributes,anchors are inferred within local neighborhoods,in contrast to the fixed or the sampled ones used in existing methods,and the learned features are thus more representative and discriminative to local point *** delivers very competitive results compared with the state of the art methods in both the object classification and segmentation tasks.

关键词： 3D point clouds deep representations

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FIFAWC:a dataset with detailed annotation and rich semantics for group activity recognition

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Frontiers of Computer Science 2024年第6期18卷 271-272页

作者： Duoxuan PEI Di HUANG Yunhong WANG State Key Laboratory of Software Development Environment School of Computer Science and EngineeringBeihang UniversityBeijing 100191China Intelligent Recognition and Image Processing Lab. School of Computer Science and EngineeringBeihang UniversityBeijing 100191China

1 *** Activity recognition(GAR),which aims to identify activities performed collectively in videos,has gained significant attention *** conventional action recognition centered on single individuals,GAR explores the c... 详细信息

关键词： has collective gained

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Learning group interaction for sports video understanding from a perspective of athlete

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Frontiers of Computer Science 2024年第4期18卷 175-188页

作者： Rui HE Zehua FU Qingjie LIU Yunhong WANG Xunxun CHEN Intelligent Recognition and Image Processing(IRIP)Lab School of Computer Science and EngineeringBeihang UniversityBeijing 100191China Hangzhou Innovation Institute Behang UniversityHangzhou 310051China National Computer Network Emergency Response Technical Team/Coordination Center of China(CNCERT or CNCERT/CC) Beijing 100029China

Learning activities interactions between small groups is a key step in understanding team sports *** research focusing on team sports videos can be strictly regarded from the perspective of the audience rather than the *** team sports videos such as volleyball and basketball videos,there are plenty of intra-team and inter-team *** this paper,a new task named Group Scene Graph Generation is introduced to better understand intra-team relations and inter-team relations in sports *** tackle this problem,a novel Hierarchical Relation Network is *** all players in a video are finely divided into two teams,the feature of the two teams’activities and interactions will be enhanced by Graph Convolutional Networks,which are finally recognized to generate Group Scene *** evaluation,built on Volleyball dataset with additional 9660 team activity labels,a Volleyball+dataset is proposed.A baseline is set for better comparison and our experimental results demonstrate the effectiveness of our ***,the idea of our method can be directly utilized in another video-based task,Group Activity *** show the priority of our method and display the link between the two ***,from the athlete’s view,we elaborately present an interpretation that shows how to utilize Group Scene Graph to analyze teams’activities and provide professional gaming suggestions.

关键词： group scene graph group activity recognition scene graph generation graph convolutional network sports video understanding

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A Micro-Expression recognition Network Based on Attention Mechanism and Motion Magnification

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IEEE Transactions on Affective Computing 2024年

作者： Wu, Falin Xia, Yu Ma, Boyi Hu, Tianyang Yang, Jingyao Li, Haoxin Huang, Di Beihang University SNARS Laboratory School of Instrumentation and Optoelectronic Engineering Beijing China Beihang University Intelligent Recognition and Image Processing Lab. School of Computer Science and Engineering Beijing China

Micro-expressions (MEs) are spontaneous facial movements that reveal an individual's genuine emotions and play a crucial role in various domains, including lie detection, criminal analysis, mental health treatment, national security, and others. Micro-expression recognition is a highly complex aspect within the domain of affective computing, aimed at identifying subtle facial motions that are difficult for humans to discern accurately. To model the subtle facial muscle motions and the brief duration of MEs, we propose a robust micro-expression recognition (MER) network, named the attention mechanismbased motion magnification guided micro-expression recognition network (AM-MM-MER). This network consists of two primary components: the ST-MEMM network, which enhances subtle motions in micro-expression videos to reveal imperceptible facial muscle motions, and the AM-MER, which focuses on facial landmarks related to micro-expressions and incorporates novel landmark positions to extract the underlying relationships among these landmarks, thereby reducing interference from video magnification and irrelevant identity features. Extensive analysis on the CASME II and SAMM datasets demonstrates the high accuracy and effectiveness of the proposed network, achieving superior results compared to state-of-the-art methods. Ablation studies further illustrate the robustness of the proposed network. © 2010-2012 IEEE.

关键词： National security

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Vision-based 3D occupancy prediction in autonomous driving: a review and outlook

arXiv

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arXiv 2024年

作者： Zhang, Yanan Zhang, Jinqing Wang, Zengran Xu, Junhao Huang, Di Laboratory of Intelligent Recognition and Image Processing School of Computer Science and Engineering Beihang University Beijing100191 China

In recent years, autonomous driving has garnered escalating attention for its potential to relieve drivers’ burdens and improve driving safety. Vision-based 3D occupancy prediction, which predicts the spatial occupancy status and semantics of 3D voxel grids around the autonomous vehicle from image inputs, is an emerging perception task suitable for cost-effective perception system of autonomous driving. Although numerous studies have demonstrated the greater advantages of 3D occupancy prediction over object-centric perception tasks, there is still a lack of a dedicated review focusing on this rapidly developing field. In this paper, we first introduce the background of vision-based 3D occupancy prediction and discuss the challenges in this task. Secondly, we conduct a comprehensive survey of the progress in vision-based 3D occupancy prediction from three aspects: feature enhancement, deployment friendliness and label efficiency, and provide an in-depth analysis of the potentials and challenges of each category of methods. Finally, we present a summary of prevailing research trends and propose some inspiring future outlooks. To provide a valuable reference for researchers, a regularly updated collection of related papers, datasets, and codes is organized at https://***/zya3d/Awesome-3D-Occupancy-Prediction. Copyright © 2024, The Authors. All rights reserved.

关键词： Vehicle-to-grid

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Gait Planning and Motion Control Based on Vrep Simulation for Quadruped Robot 5

Gait Planning and Motion Control Based on Vrep Simulation fo...

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5th World Robot Conference Symposium on Advanced Robotics and Automation, WRC SARA 2023

作者： Zhou, Linqi Chen, Zhihua Liu, Jun Liu, Zhi Chen, Yumeng Zhang, Liting Nanchang Hangkong University Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition Moe Key Lab of Nondestructive Testing Technology Nanchang330063 China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing100081 China

ISBN: (纸本)9798350307320

Gait planning of quadruped robots plays an important role in achieving less walking, including dynamic and static gait. In this article, a static and dynamic gait control method based on center of gravity stability margin is proposed. Firstly, the robot model and kinematics modeling are introduced. Secondly, the robot's foot static and dynamic gait were planned and the foot trajectory was designed. Finally, two types of gait of the robot were simulated using Vrep simulation software, and the differences in stability and speed between the coordinated gait with speed and stability in the static and dynamic gait of a 12 degree of freedom robot were analyzed, verifying the effectiveness of the gait control method proposed in this paper. © 2023 IEEE.

关键词： Robot programming

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Isoform Function Prediction Based on Heterogeneous Graph Attention Networks

Isoform Function Prediction Based on Heterogeneous Graph Att...

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2023 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2023

作者： Guo, Kuo Li, Yifan Chen, Hao Shen, Hong-Bin Yang, Yang Shanghai Jiao Tong University Key Lab. of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering Department of Computer Science and Engineering Shanghai200240 China Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Institute of Image Processing and Pattern Recognition Shanghai200240 China Carnegie Mellon University School of Computer Science Computational Biology Department PittsburghPA15213 United States

ISBN: (纸本)9798350337488

Isoforms refer to different mRNA molecules transcribed from the same gene, which can be translated into proteins with varying structures and functions. Predicting the functions of isoforms is an essential topic in bioinformatics as it can provide valuable insights into the intricate mechanisms of gene regulation and biological processes. Conventionally, gene function labels are standardized in Gene Ontology (GO) terms. However, traditional methods for predicting isoform function are largely limited by the absence of isoform-specific labels, sparse annotations, and the vast number of GO terms. To address these issues, we propose HANIso, a deep learning-based method for isoform function prediction. HANIso leverages a pretrained protein language model to extract features from protein sequences. It also integrates heterogeneous information, such as isoform sequence features, GO annotations, and isoform interaction data, using a Heterogeneous Graph Attention Network (HAN). This allows the model to learn the importance of different sources of information and their semantic relationships through the attention mechanism. Our method can predict function labels at both the gene level and isoform level. We conduct experiments on two species datasets, and the results demonstrate that our method outperforms existing methods on both AUROC and AUPRC. HANIso has the potential to overcome the limitations of traditional methods and provide a more accurate and comprehensive understanding of isoform function. © 2023 IEEE.

关键词： alternative splicing gene ontology heterogeneous graph attention network isoform function prediction protein language model

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SliceProp: A Slice-Wise Bidirectional Propagation Model for Interactive 3D Medical image Segmentation 1

SliceProp: A Slice-Wise Bidirectional Propagation Model for ...

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1st IEEE International Conference on Medical Artificial Intelligence, MedAI 2023

作者： Xu, Xin Lu, Wenjing Lei, Jiahao Qiu, Peng Shen, Hong-Bin Yang, Yang Shanghai Jiao Tong University Key Lab. of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering Department of Computer Science and Engineering Shanghai200240 China Shanghai Ninth People's Hospital Shanghai Jiao Tong University School of Medicine Department of Vascular Surgery China Shanghai Jiao Tong University Institute of Image Processing and Pattern Recognition Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

ISBN: (纸本)9798350358780

Interactive medical image segmentation methods have become increasingly popular in recent years. These methods combine manual labeling and automatic segmentation, reducing the workload of annotation while maintaining high accuracy. However, most current interactive segmentation frameworks are limited to 2D image data, and are not suitable for 3D image data due to the large size and high complexity of 3D data, as well as the challenges posed by information asymmetry and sparse annotation. In this paper, we propose SliceProp, an interactive segmentation framework that implements slice-wise label Bidirectional Propagation (LBP) for 3D medical image segmentation. SliceProp extends the interactive 2D image segmentation algorithm to 3D image segmentation, and can handle 3D data with large size and high complexity. Moreover, equipped with a Backtracking Feedback Check (BFC) module, SliceProp effectively addresses the issues of information asymmetry and spatial sparse annotation in 3D medical image segmentation. Additionally, we adopt an uncertainty-based criterion to pri-oritize the slices to be refined interactively, which enhances the efficiency of the interaction process by enabling the model to focus on the regions with the most unreliable predictions. SliceProp is evaluated on two datasets and achieves promising results compared to state-of-the-art methods. © 2023 IEEE.

关键词： Medical imaging

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Expression-Latent-Space-guided GAN for Facial Expression Animation based on Discrete labels

Expression-Latent-Space-guided GAN for Facial Expression Ani...

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International Conference on Automatic Face and Gesture recognition

作者： Xueping Wang Weixin Li Di Huang Intelligent Recognition and Image Processing Laboratory School of Computer Science and Engineering Beihang University Beijing China

ISBN: (纸本)9781665431774

Facial expression animation aims to synthesize face images that correspond to the target expression in a continuum. This is a challenging task because the animation not only cares about the smooth transition in the generated sequence but also needs to take the facial expression and identity details into consideration. Most existing expression animation methods resort to continuous expression labels, e.g. Action Units (AUs) or landmark sequences. Compared with discrete expression labels, the annotations of a considerable part of them are ambiguous and prone to errors. However, how to animate facial expression conditioned on discrete expression labels is less investigated and existing methods cannot generate satisfactory facial details. To tackle these problems, we propose an end-to-end Expression-Latent-Space-guided Generative Adversarial Network (ELS-GAN) model, which utilizes discrete expression labels as input to generate images with expected expressions, and employs expression latent space learning to control the expression changing process. An expression ranking loss is also proposed to strengthen expression intensity learning during generation. Moreover, we put forward a Self-Attention Generator to synthesize face images with fine details by considering both local areas and the long-range dependency of different areas. Extensive experiments show that our method can generate continuous intermediate expression between source and target expressions only conditioned on discrete labels and superior results are achieved compared with state-of-the-art methods.

关键词： Interpolation Face recognition Genetic expression Process control Gesture recognition Animation Generative adversarial networks

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An Active Landing Recovery Method for Quadrotor UAV: Localization, Tracking and Buffering Landing

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IFAC-PapersOnLine 2023年第2期56卷 3366-3372页

作者： Yongkang Xu Zhihua Chen Shoukun Wang Junzheng Wang National Key Lab of Autonomous Intelligent Unmanned Systems Beijing Institute of Technology Beijing CO 100081 P.R.China Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition and MOE Key Lab of Nondestructive Testing Technology School of Information Engineering Nanchang Hangkong University Nanchang CO 330063 P.R. China

This paper proposes a principle of fully autonomous ground mobile landing recovery of Unmanned Aerial Vehicles (UAV) for the problems of relatively fixed landing point, passive recovery, poor flexibility, and environmental adaptability, which mainly includes localization, landing point tracking, and buffering landing for quadrotor UAV. Firstly, aiming at the problem that it is difficult to accurately obtain the position of a UAV in dynamic mobile landing recovery, a target location method based on Asynchronous Multisensor Information Fusion(AMIF) and servo turntable focus tracking is proposed. Secondly, to achieve fast and high-precision tracking of UAVs, a tracking control strategy of an independently driven landing recovery system and a Stewart six-degree of freedom platform is proposed. Then, to solve the problems of large impact force and center of gravity instability in the landing process of UAV, a stationarity control algorithm based on model prediction and a compliance control algorithm based on adaptive variable impedance are designed to achieve active compliance control while adjusting the position and attitude of the receiving surface in real-time. Finally, a quadrotor unmanned landing and recovery experimental platform is built to verify the feasibility of the ground mobile landing and recovery strategy proposed in this paper and the effectiveness of the control algorithm.

关键词： Quadrotor UAV Mobile Autonomous recovery Target localization Falling point tracking Buffering landing

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