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International Conference on Computer Vision (ICCV)

作者： Lu Zhang Chenbo Zhang Jiajia Zhao Jihong Guan Shuigeng Zhou Shanghai Key Lab of Intelligent Information Processing and School of Computer Science Fudan University China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory China Department of Computer Science & Technology Tongji University China

Zero-shot object detection aims to localize and recognize objects of unseen classes. Most of existing works face two problems: the low recall of RPN in unseen classes and the confusion of unseen classes with background. In this paper, we present the first method that combines DETR and meta-learning to perform zero-shot object detection, named Meta-ZSDETR, where model training is formalized as an individual episode based meta-learning task. Different from Faster R-CNN based methods that firstly generate class-agnostic proposals, and then classify them with visual-semantic alignment module, Meta-ZSDETR directly predict class-specific boxes with class-specific queries and further filter them with the predicted accuracy from classification head. The model is optimized with meta-contrastive learning, which contains a regression head to generate the coordinates of class-specific boxes, a classification head to predict the accuracy of generated boxes, and a contrastive head that utilizes the proposed contrastive-reconstruction loss to further separate different classes in visual space. We conduct extensive experiments on two benchmark datasets MS COCO and PASCAL VOC. Experimental results show that our method outperforms the existing ZSD methods by a large margin.

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A Method for Marine Ship Formation Intention Recognition based on BiConvLSTM-Attention

A Method for Marine Ship Formation Intention Recognition bas...

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Electronic Information Engineering and Computer science (EIECS), 2021 International Conference on

作者： Yunqiao Xi Junping Zhang Jian Liu Linlin Wang Hongfeng Xu Linxiu Chen Jixiang Jiang School of Electronics and Information Engineering Harbin Institute of Technology Harbin China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Institute of Electrical and Mechanical Engineering Beijing China

To solve the problem that current dynamic intention recognition methods fail to make full use of time domain variation information between multi-temporal group targets, which leads to low accuracy of intention recognition. This paper proposes a bidirectional convolutional long short term memory-attention network for marine formation target intention recognition. The network takes the multi-source trajectory data of the marine ship formation target as the input, extracts and uses the target change rule and time domain characteristics of the Marine formation data, and trains the model to have the ability to independently learn the weight of information in different time periods. The simulation results show that the method has good performance and can meet the needs of practical application.

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Point Cloud Preprocessing on 3D LiDAR data for Unmanned Surface Vehicle in Marine Environment

Point Cloud Preprocessing on 3D LiDAR data for Unmanned Surf...

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Information technology,Big Data and Artificial Intelligence (ICIBA), International Conference on IEEE International Conference on

作者： Xianzhi Qi Wenxing Fu Pei An Bingli Wu Jie Ma National Key Laboratory of Science and Technology on Multispectral Information Processing School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (数字)9781728152240

ISBN: (纸本)9781728152257

Point cloud preprocessing is still a challenging task in the marine environment, for it is difficult to filter out non-obstacle points while avoiding damage to the obstacle completeness. In this paper, we propose a novel data preprocessing method on 3D LiDAR data for the unmanned surface vehicle in the marine environment. It consists of two tasks: outlier removal and wake filtering. As the spatial resolution of LiDAR changes with distance, we exploit distance normalization on statistical outlier filter for robust outlier removal. Considering the gradient difference between wave wake and obstacle surface near the water, we define and calculate the vertical state of point cloud on the range image to obtain the pre-filtering point set, and then use the RANSAC method to filter out the wake points. Experiments on real data has demonstrated the effectiveness of the proposed algorithm both in terms of feasibility and accuracy.

关键词： Three-dimensional displays Laser radar Filtering Filtering algorithms Spatial resolution Task analysis Measurement by laser beam

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A summary of the development of cooperative and intelligent technology for multi-UAV systems

A summary of the development of cooperative and intelligent ...

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2019 IEEE International Conference on Unmanned systems and Artificial Intelligence, ICUSAI 2019

作者： Zhou, Huan Su, Qian Fu, Wenxing Xu, Cheng Zheng, Meiyun Yang, Jingguang Aeronautical Engineering College Air Force Engineering University Xi'an China School of Astronautics Northwest Polytechnical University Xi'an China Unmanned System Research Institute Northwest Polytechnical University Xi'an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China School of Marine Science and Technology Northwest Polytechnical University Xi'an China Aviation Maintenance Sergeant School of Air Force Engineering University Xinyang China

ISBN: (纸本)9781728158594

In the process of formation cooperative autonomous flight and mission execution, multi-UAV systems have the characteristics of large disturbance, strong coupling of multi variables, high degree of uncertainty and complex cooperative factors, so there are many difficulties in the design of cooperative and intelligent control system. How to effectively develop the cooperative and intelligent technology of multi-UAV systems has become an urgent problem in the field of unmanned system and artificial intelligence. This paper first introduces the key technologies involved in UAV system at present, and then analyzes the challenges faced by the development of UAV system. Finally, it focuses on the development trend of multi-UAV systems cooperation and intelligent technology in the future. The research results have strong theoretical guidance significance for the cooperation and intelligent development of multi-UAV systems in China. © 2019 IEEE.

关键词： Flight control systems

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Credibility Evaluation of Aircraft HWIL Simulation Based on the Time-Varying Area Metric

Credibility Evaluation of Aircraft HWIL Simulation Based on ...

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High Performance and Smart Computing (HPSC), IEEE International Conference on

作者： Huapin Geng Ning Wang Jiahui Tong Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-mechanical Engineering Institute Beijing China Beijing Electro-mechanical Engineering Institute Beijing China

ISBN: (数字)9798350389463

ISBN: (纸本)9798350389470

Credibility evaluation of aircraft HWIL simulation is usually measured by the degree of consistency between simulation test data and the measured data. A new method for evaluating the credibility of aircraft HWIL simulation is established based on the idea of time-varying area measurement and uncertainty measurement Mainly for univariate, single simulation, multivariable and multi-simulation. The DTW distance measurement method is used to obtain the weight coefficients of correlated multiple response variables, and the effectiveness of uncertainty measurement method in obtaining the credibility of aircraft HWIL simulation at a certain level of confidence is verified through typical examples.

关键词： Weight measurement Uncertainty Correlation Area measurement Measurement uncertainty Distance measurement Indexes

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Meta-ZSDETR: Zero-shot DETR with Meta-learning

arXiv

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arXiv 2023年

作者： Zhang, Lu Zhang, Chenbo Zhao, Jiajia Guan, Jihong Zhou, Shuigeng Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory China Department of Computer Science & Technology Tongji University China

关键词： Object detection

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SAR Image Registration Based on Feature Points Using Improved CSP-DenseNet

SAR Image Registration Based on Feature Points Using Improve...

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Pattern Recognition and Artificial Intelligence (PRAI), International Conference on

作者： Ziwei Wang Yanjiao Yang Guangzhou Qu Qingxi Chi Beijing Electro-Mechanical Engineering Institute Beijing China Beijing Electro-Mechanical Engineering Institute Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

Synthetic aperture radar (SAR) image registration is widely used in integrated navigation system with development of guidance system in sensors and other applications. However, there exists some difficulty because of the quality and imaginary principle of SAR images. In this article, a brand-new method based on feature points using improved CSP-DenseNet is proposed to solve the problems of SAR image registration with weak and noisy texture. Deep features of interest points in SAR images are extracted using the proposed network from the crops of search image and template image respectively. The method has an advantage of preserving abundant feature information in SAR images under the influence of insufficient image information and noise of SAR images. The CSP-DenseNet architecture has a cross-stage construction optimizing fused by CSP-Net and DenseNet to extract matching features. The network is partially connected in specific convolutional layers for feature reusing and computation resources saving. Then, Brute Force Matcher and RANSAC voting are successively applied for a larger number of matching pairs and high-precise matching vertexes. Experimental results on various SAR image matching methods show that the proposed method provides better performance than other approaches compared.

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An autonomous path planning method considering terrain aided navigation constraints

An autonomous path planning method considering terrain aided...

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Chinese Automation Congress (CAC)

作者： Min Jiang Cheng Xu Hua Ji Yuqi Wang Beijing Electro-Mechanical Engineering Institute Bejing China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Bejing China

In order to solve the autonomous path planning problem with terrain aided navigation constraints, a navigation-first path planning method was adopted, that is, the distribution of terrain matching regions and the drift of navigation errors were given priority, and the path planning problem was transformed into the shortest path problem of single source directed graph to determine the nodes on the path. Secondly, the path planning between adjacent nodes is transformed into a path planning problem with initial direction constraint and terminal direction freedom/constraint, and the lateral path is smoothed. Finally, for the local path passing through the no-fly zone, the obstacle avoidance path planning with initial and terminal direction constraints is carried out based on convex optimization method. The simulation results show that the autonomous path planning method considering terrain aided navigation constraints can plan the shortest flight path under the constraints of navigation accuracy, maneuverability and no-fly zone.

关键词： Smoothing methods Navigation Trajectory planning Simulation Directed graphs Turning Path planning

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A strategy of multi-UAV cooperative path planning based on CCPSO

A strategy of multi-UAV cooperative path planning based on C...

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IEEE International Conference on Unmanned systems (ICUS)

作者： Yuanna Liu Hao Lu dept. School of Electronics and Information Northwestern Polytechnical University Xi’an China dept. Science and Technology on Complex System Control Intelligent Agent Cooperation Laboratory Beijing China

ISBN: (纸本)9781728137933

Multi-UAV cooperative formation flying has significant advantages in broadening the scope of UAV operations and improving combat effectiveness. How to realize the cooperative path planning of multi-UAV is an open issue. In order to solve the search performance degradation as dimension increases, a strategy of multi-UAV cooperative path planning based on Cooperative Coevolution Particle Swarm Optimization (CCPSO) is proposed in this paper. Firstly, the initial Dubins path is generated for each UAV in the formation, of which the longest one is selected as the reference path. Intermediate waypoints are designed to modify the initial paths to avoid collisions with obstacles. Then, CCPSO algorithm is applied to optimize path parameters and adjust the path length to be equal to the reference path to ensure time coordination. Collision avoidance between UAVs is achieved in the collaborative evaluation phase. Finally, an formation rendezvous example and comparison with CCGA are given to explain the validity and excellent search ability of the proposed method.

关键词： Path planning Optimization Particle swarm optimization Safety Unmanned aerial vehicles Collision avoidance Planning

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Motion primitives-based and Two-phase Motion Planning for Fixed-wing UAV

Motion primitives-based and Two-phase Motion Planning for Fi...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Zheng Tan Yang Lyu Hanchen Lu Quan Pan Faculty of Automation Northwestern Polytechnical University Xi'an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing Electro-Mechanical Engineering Institute Beijing China

ISBN: (纸本)9781665476881

We present an efficient two-phase approach to motion planning for fixed-wing Unmanned Aerial Vehicles (UAV) navigating in complex 3D air slalom environments. Firstly, in discrete 3D workspace, a global planner computer a obstacle-free path roughly which satisfies the kinematic constraints of the UAV. Given a coarse global path, a local planner generate a Dubins curve with collision avoidance based on the UAS's perception constraints, dynamic constraints and the collision perception information received. We also introduce a method of decoupling the horizontal and vertical motion directions of the fixed-wing UAV, realizing the 2D Dubins curve planning in 3D workspace, along with precomputed sets of motion primitives derived from the vehicle dynamics model in order to achieve high efficiency. Finally, the feasibility of two-phase 3D motion planning in appropriate FOV is experimentally demonstrated.

关键词： Solid modeling Three-dimensional displays Navigation Dynamics Organizations Kinematics Autonomous aerial vehicles

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