Sign information is the key to overcoming the inevitable saturation error in compressive sensing systems, which causes information loss and results in bias. For sparse signal recovery from saturation, we propose to us...
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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 environm...
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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.
In Epilepsy EEG signal classification, the main time-frequency features can be extracted by using sparse representation with marching pursuit (MP) algorithm. However, the computational burden is so heavy that it is al...
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In Epilepsy EEG signal classification, the main time-frequency features can be extracted by using sparse representation with marching pursuit (MP) algorithm. However, the computational burden is so heavy that it is almost impossible to apply MP to real time signal processing. To reduce complexity of sparse representation, we propose to adopt harmony search method in searching the best atoms. Because harmony search method can find the best atoms in continuous time-frequency dictionary, the performance of epilepsy EEG signal classification is enhanced. The validity of this method is proved by experimental results.
Nowadays, with the high-speed iteration of convolution neural network, the efficient object detector emerges one after another. As an important branch of computer vision, object detection aims to detect where and what...
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Nowadays, with the high-speed iteration of convolution neural network, the efficient object detector emerges one after another. As an important branch of computer vision, object detection aims to detect where and what the object is. However, nowadays, many detector cannot extract abundant semantic information to discriminate the location and size of the objects, resulting in poor performance of the network. In this paper, a new module is proposed, named Abundant Semantic Information Module (ASIM), to enrich and expand the semantic information of the object with more and larger receptive fields. In ASIM, we blend the extracted feature maps to different degrees with different blending factors and fuse them so that all object information is given full attention. Compared to the baseline method, a wealth of experiments show that our module has achieved a significant performance improvement.
to improve the clarity of objects in a dark-light environment, and to facilitate the identification and detection of targets behind. People perceive the color and brightness of a point not only depending on the pixel ...
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to improve the clarity of objects in a dark-light environment, and to facilitate the identification and detection of targets behind. People perceive the color and brightness of a point not only depending on the pixel value of the point but also the absolute light entering the human eye is related to the color and brightness around the point. The self-calibration model we used considers the surrounding information, which avoids the information pollution, such as large regions of dark background information. In this model, we introduce a heterogeneous convolution filter, which makes reasonable use of different parts of the filter. Through this operation, information from multiple different scale spaces can be fused, and the field of view when applying the convolution layer is greatly increased without increasing the hyper-parameters, thus producing a more distinctive feature representation. Then the self-calibration model is combined with the backbone reinforcement network, which can not only retain the information of the original scale space but also efficiently collect the latent space information to guide the feature transformation in the original space. After the different channels of the image are processed separately, the dependency between the channels can be established by using the heterogeneous convolution filter. Finally, the test on the ExDark data set proves that our dark target enhancement effect has been significantly improved.
Remote sensing object detection is an important research area in computer vision, widely applied in both military and civilian domains. However, challenges in remote sensing image object detection such as large image ...
Remote sensing object detection is an important research area in computer vision, widely applied in both military and civilian domains. However, challenges in remote sensing image object detection such as large image sizes, complex backgrounds, and significant variations in target scales are prevalent. To address these issues, this paper proposes a new Feature Denoising and Fusion Module (FDFM) aimed at enhancing the accuracy and robustness of object detection. This module comprises a Multi-Scale Denoising Submodule(MDS) and an Attention Optimization Submodule(AOS). The Multi-Scale Denoising Module aims to suppress lower-level texture noise by utilizing higher-level semantic features before the fusion process, reducing the impact of lower-level noise on subsequent multi-scale feature fusion. Meanwhile, the Attention Optimization Module seeks to enhance the precision of self-attention computations within the Multi-Scale Denoising Module without increasing the parameter count. The efficacy of this method was evaluated on public datasets DOTA, VisDrone, VOC and COCO, showing improvements in comparison to baseline models.
In this paper, the Harmony Search (HS)-aided BP neural networks are used for the classification of the epileptic electroencephalogram (EEG) signals. It is well known that the gradient descent-based learning method can...
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—In clinical practice, electroencephalography (EEG) plays an important role in the diagnosis of epilepsy. EEG-based computer-aided diagnosis of epilepsy can greatly improve the accuracy of epilepsy detection while re...
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Kernel methods have been extensively used in a variety of machine learning tasks such as classification, clustering, and dimensionality reduction. For complicated practical tasks, the traditional kernels, e.g., Gaussi...
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Kernel methods have been extensively used in a variety of machine learning tasks such as classification, clustering, and dimensionality reduction. For complicated practical tasks, the traditional kernels, e.g., Gaussian kernel and sigmoid kernel, or their combinations are often not sufficiently flexible to fit the data. In this paper, we present a Data-Adaptive Nonparametric Kernel (DANK) learning framework in a data-driven manner. To be specific, in model formulation, we impose an adaptive matrix on the kernel/Gram matrix in an entry-wise strategy. Since we do not specify the formulation of the adaptive matrix, each entry in the adaptive matrix can be directly and flexibly learned from the data. Therefore, the solution space of the learned kernel is largely expanded, which makes our DANK model flexible to capture the data with different local statistical properties. Specifically, the proposed kernel learning framework can be seamlessly embedded to support vector machines (SVM) and support vector regression (SVR), which has the capability of enlarging the margin between classes and reducing the model generalization error. Theoretically, we demonstrate that the objective function of our DANK model embedded in SVM/SVR is gradient-Lipschitz continuous. Thereby, the training process for kernel and parameter learning in SVM/SVR can be efficiently optimized in a unified framework. Further, to address the scalability issue in nonparametric kernel learning framework, we decompose the entire optimization problem in DANK into several smaller easy-to-solve problems, so that our DANK model can be efficiently approximated by this partition. The effectiveness of this approximation is demonstrated by both empirical studies and theoretical guarantees. Experimentally, the proposed DANK model embedded in SVM/SVR achieves encouraging performance on various classification and regression benchmark datasets when compared with other representative kernel learning based algorithms. Copyrig
Asymmetric kernels naturally exist in real life, e.g., for conditional probability and directed graphs. However, most of the existing kernel-based learning methods require kernels to be symmetric, which prevents the u...
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