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Vector Field-Guided Circumnavigation for an Unmanned Surface Vehicle With Boundary and Obstacle Constraints

IEEE Transactions on Emerging Topics in computing 2025年

作者： Wu, Nailong Wang, Jigang Wang, Yueying He, Shuping Donghua University College of Information Science and Technology Shanghai201620 China Donghua University Engineering Research Center of Digitized Textile & Apparel Technology Ministry of Education Shanghai201620 China Shanghai University School of Mechatronic Engineering and Automation Shanghai200444 China Anhui University Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education School of Electrical Engineering and Automation Hefei230601 China

This article aims to tackle the challenge of rapid target circumnavigation by unmanned surface vehicles (USVs) under boundary and obstacle constraints through leveraging an emerging computing architecture specifically tailored for unmanned systems. Owing to the underactuation of USV dynamic systems and the presence of various time-varying surface disturbances, attaining rapid and accurate position control along with maneuverability poses a significant challenge to USVs. Therefore, when an USV maneuvers around a target in a confined search area with obstacles, it is essential for the guidance law to consider collision risks and environmental disturbances. This paper proposes a modified Lyapunov vector field with heading deviation compensation to circle the target in complex search regions. The vector field is designed to increase the radial velocity of the USV and accelerate convergence towards the target circle during the pursuit phase. By combining the proposed Lyapunov vector field with a boundary vector field, the USV can swiftly avoid boundaries and dynamic obstacles and then continue circling the target. The proposed computing architecture extends the application scope of the target circumnavigation to practical water surface environments, which is validated by extensive simulations and rigorous experiments. © 2025 IEEE.

关键词： Unmanned surface vehicles

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Motion Guided Region Message Passing for Video Captioning

Motion Guided Region Message Passing for Video Captioning

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International Conference on Computer Vision (ICCV)

作者： Shaoxiang Chen Yu-Gang Jiang Shanghai Key Lab of Intelligent Information Processing School of Computer Science Fudan University Shanghai Collaborative Innovation Center on Intelligent Visual Computing

ISBN: (纸本)9781665428132

Video captioning is an important vision task and has been intensively studied in the computer vision community. Existing methods that utilize the fine-grained spatial information have achieved significant improvements, however, they either rely on costly external object detectors or do not sufficiently model the spatial/temporal relations. In this paper, we aim at designing a spatial information extraction and aggregation method for video captioning without the need of external object detectors. For this purpose, we propose a Recurrent Region Attention module to better extract diverse spatial features, and by employing Motion-Guided Cross-frame Message Passing, our model is aware of the temporal structure and able to establish high-order relations among the diverse regions across frames. They jointly encourage information communication and produce compact and powerful video representations. Furthermore, an Adjusted Temporal Graph Decoder is proposed to flexibly update video features and model high-order temporal relations during decoding. Experimental results on three benchmark datasets: MSVD, MSR-VTT, and VATEX demonstrate that our proposed method can outperform state-of-the-art methods.

关键词： Location awareness Computer vision Visualization Message passing Computational modeling Detectors Feature extraction

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Size-invariance matters: rethinking metrics and losses for imbalanced multi-object salient object detection 24

Size-invariance matters: rethinking metrics and losses for i...

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Proceedings of the 41st International Conference on Machine Learning

作者： Feiran Li Qianqian Xu Shilong Bao Zhiyong Yang Runmin Cong Xiaochun Cao Qingming Huang Institute of Information Engineering Chinese Academy of Sciences Beijing China and School of Cyber Security University of Chinese Academy of Sciences Beijing China Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing China School of Computer Science and Technology University of Chinese Academy of Sciences Beijing China Institute of Information Science Beijing Jiaotong University Beijing China and School of Control Science and Engineering Shandong University Jinan China and Key Laboratory of Machine Intelligence and System Control Ministry of Education Jinan China School of Cyber Science and Tech. Shenzhen Campus Sun Yat-sen University School of Computer Science and Technology University of Chinese Academy of Sciences Beijing China and Key Laboratory of Intelligent Information Processing Institute of Computing Technology Chinese Academy of Sciences Beijing China and Key Laboratory of Big Data Mining and Knowledge Management Chinese Academy of Sciences Beijing China

This paper explores the size-invariance of evaluation metrics in Salient Object Detection (SOD), especially when multiple targets of diverse sizes co-exist in the same image. We observe that current metrics are size-sensitive, where larger objects are focused, and smaller ones tend to be ignored. We argue that the evaluation should be size-invariant because bias based on size is unjustified without additional semantic information. In pursuit of this, we propose a generic approach that evaluates each salient object separately and then combines the results, effectively alleviating the imbalance. We further develop an optimization framework tailored to this goal, achieving considerable improvements in detecting objects of different sizes. Theoretically, we provide evidence supporting the validity of our new metrics and present the generalization analysis of SOD. Extensive experiments demonstrate the effectiveness of our method. The code is available at https://***/Ferry-Li/SI-SOD.

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NOBGP: A Novel Optimized Balanced Graph Partitioning Algorithm 19th

NOBGP: A Novel Optimized Balanced Graph Partitioning Algorit...

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19th CCF Conference on Computer Supported Cooperative Work and Social computing, ChineseCSCW 2024

作者： Chen, Jiebin Hu, Ziqiang Ye, Renjie Zhang, Qishan Guo, Kun College of Computer and Data Science Fuzhou University Fuzhou350108 China Engineering Research Center of Big Data Intelligence Ministry of Education Fuzhou350108 China Fujian Key Laboratory of Network Computing and Intelligent Information Processing Fuzhou University Fuzhou350108 China Xianda College of Economics and Humanities Shanghai International Studies University Shanghai China

ISBN: (纸本)9789819623723

Large-scale graphs have become prevalent with the advent of the big data era. Distributed graph computing systems are commonly used for processing and analyzing large-scale graphs, with graph partitioning being a key prerequisite for their efficient computation. Graph partitioning aims to balance the load across partitions while minimizing the number of cut-edges. Moreover, it should achieve high efficiency and scalability. However, the existing popular graph partitioning algorithms do not fully take into account the internal topology of real-world graphs, which affects the final partition quality and convergence. Meanwhile, they easily fall into the local optimum due to partition load constraints. This paper introduces a Novel Optimized Balanced Graph Partitioning algorithm (NOBGP). First, we propose an initialization strategy based on label propagation of core vertices to achieve initial partitions with good locality and accelerate convergence. Second, we optimize the label propagation process to ensure balanced partitions and propose a probability-based disruption strategy to avoid the local optimum. We implement NOBGP on the distributed graph computing framework GraphX. Extensive experimental results on real-world graphs show that the proposed algorithm is scalable and performs better than the existing algorithms. We also run PageRank and Louvain applications using the graph partitioning results to demonstrate the efficiency of our algorithm. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Graph algorithms

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DAMPER: A Dual-Stage Medical Report Generation Framework with Coarse-Grained MeSH Alignment and Fine-Grained Hypergraph Matching

arXiv

引用

arXiv 2024年

作者： Huang, Xiaofei Chen, Wenting Liu, Jie Lu, Qisheng Luo, Xiaoling Shen, Linlin Computer Vision Institute College of Computer Science and Software Engineering Shenzhen University Shenzhen China Department of Electrical Engineering City University of Hong Kong Kowloon Hong Kong National Engineering Laboratory for Big Data System Computing Technology Shenzhen University China Guangdong Provincial Key Laboratory of Intelligent Information Processing China

Medical report generation is crucial for clinical diagnosis and patient management, summarizing diagnoses and recommendations based on medical imaging. However, existing work often overlook the clinical pipeline involved in report writing, where physicians typically conduct an initial quick review followed by a detailed examination. Moreover, current alignment methods may lead to misaligned relationships. To address these issues, we propose DAMPER, a dual-stage framework for medical report generation that mimics the clinical pipeline of report writing in two stages. In the first stage, a MeSH-Guided Coarse-Grained Alignment (MCG) stage that aligns chest X-ray (CXR) image features with medical subject headings (MeSH) features to generate a rough keyphrase representation of the overall impression. In the second stage, a Hypergraph-Enhanced Fine-Grained Alignment (HFG) stage that constructs hypergraphs for image patches and report annotations, modeling high-order relationships within each modality and performing hypergraph matching to capture semantic correlations between image regions and textual phrases. Finally,the coarse-grained visual features, generated MeSH representations, and visual hypergraph features are fed into a report decoder to produce the final medical report. Extensive experiments on public datasets demonstrate the effectiveness of DAMPER in generating comprehensive and accurate medical reports, outperforming state-of-the-art methods across various evaluation metrics. Copyright © 2024, The Authors. All rights reserved.

关键词： Coarse-grained modeling

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dugMatting: Decomposed-Uncertainty-Guided Matting

arXiv

引用

arXiv 2023年

作者： Wu, Jiawei Zhang, Changqing Li, Zuoyong Fu, Huazhu Peng, Xi Zhou, Joey Tianyi College of Mechanical and Electrical Engineering Fujian Agriculture and Forestry University Fuzhou China College of Intelligence and Computing Tianjin University Tianjin China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou China Institute of High Performance Computing Agency for Science Technology and Research Singapore College of Computer Science Sichuan University Chengdu China Singapore

Cutting out an object and estimating its opacity mask, known as image matting, is a key task in image and video editing. Due to the highly ill-posed issue, additional inputs, typically user-defined trimaps or scribbles, are usually needed to reduce the uncertainty. Although effective, it is either time consuming or only suitable for experienced users who know where to place the strokes. In this work, we propose a decomposed-uncertainty-guided matting (dugMatting) algorithm, which explores the explicitly decomposed uncertainties to efficiently and effectively improve the results. Basing on the characteristic of these uncertainties, the epistemic uncertainty is reduced in the process of guiding interaction (which introduces prior knowledge), while the aleatoric uncertainty is reduced in modeling data distribution (which introduces statistics for both data and possible noise). The proposed matting framework relieves the requirement for users to determine the interaction areas by using simple and efficient labeling. Extensively quantitative and qualitative results validate that the proposed method significantly improves the original matting algorithms in terms of both efficiency and efficacy. Copyright © 2023, The Authors. All rights reserved.

关键词： Uncertainty analysis

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Combining Kernelized Autoencoding and Centroid Prediction for Dynamic Multi-objective Optimization

arXiv

引用

arXiv 2023年

作者： Hou, Zhanglu Zou, Juan Ruan, Gan Liu, Yuan Xia, Yizhang Hunan Engineering Research Center of Intelligent System Optimization and Security Key Laboratory of Intelligent Computing and Information Processing Ministry of Education of China Key Laboratory of Hunan Province for Internet of Things and Information Security Xiangtan University Hunan Province Xiangtan411105 China CERCIA School of Computer Science University of Birmingham Edgbaston BirminghamB15 2TT United Kingdom

Evolutionary algorithms face significant challenges when dealing with dynamic multi-objective optimization because Pareto optimal solutions and/or Pareto optimal fronts change. This paper proposes a unified paradigm, which combines the kernelized autoncoding evolutionary search and the centriod-based prediction (denoted by KAEP), for solving dynamic multi-objective optimization problems (DMOPs). Specifically, whenever a change is detected, KAEP reacts effectively to it by generating two subpopulations. The first subpoulation is generated by a simple centriod-based prediction strategy. For the second initial subpopulation, the kernel autoencoder is derived to predict the moving of the Pareto-optimal solutions based on the historical elite solutions. In this way, an initial population is predicted by the proposed combination strategies with good convergence and diversity, which can be effective for solving DMOPs. The performance of our proposed method is compared with five state-of-the-art algorithms on a number of complex benchmark problems. Empirical results fully demonstrate the superiority of our proposed method on most test instances. Copyright © 2023, The Authors. All rights reserved.

关键词： Forecasting

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NEURAL NETWORK-ENHANCED hr-ADAPTIVE FINITE ELEMENT ALGORITHM FOR PARABOLIC EQUATIONS

arXiv

引用

arXiv 2025年

作者： Hao, Jiaxiong Huang, Yunqing Yi, Nianyu Yin, Peimeng Hunan Key Laboratory for Computation and Simulation in Science and Engineering School of Mathematics and Computational Science Xiangtan University Hunan Xiangtan411105 China National Center for Applied Mathematics in Hunan Key Laboratory of Intelligent Computing & Information Processing of Ministry of Education Xiangtan University Hunan Xiangtan411105 China Department of Mathematical Sciences University of Texas at El Paso El PasoTX79968 United States

In this paper, we present a novel enhancement to the conventional hr-adaptive finite element methods for parabolic equations, integrating traditional h-adaptive and r-adaptive methods via neural networks. A major challenge in hr-adaptive finite element methods lies in projecting the previous step’s finite element solution onto the updated mesh. This projection depends on the new mesh and must be recomputed for each adaptive iteration. To address this, we introduce a neural network to construct a mesh-free surrogate of the previous step finite element solution. Since the neural network is mesh-free, it only requires training once per time step, with its parameters initialized using the optimizer from the previous time step. This approach effectively overcomes the interpolation challenges associated with non-nested meshes in computation, making node insertion and movement more convenient and efficient. The new algorithm also emphasizes SIZING and GENERATE, allowing each refinement to roughly double the number of mesh nodes of the previous iteration and then redistribute them to form a new mesh that effectively captures the singularities. It significantly reduces the time required for repeated refinement and achieves the desired accuracy in no more than seven space-adaptive iterations per time step. Numerical experiments confirm the efficiency of the proposed algorithm in capturing dynamic changes of *** Codes 92B20, 65M60, 35K57 © 2025, CC BY.

关键词： Interpolation

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Multi-Layer Visual Perception for No-Reference Image Quality Assessment

Multi-Layer Visual Perception for No-Reference Image Quality...

引用

IEEE International Conference on Electronic information and Communication Technology (ICEICT)

作者： Junwei Qi Yingzhen Wang Qingchun Wang Yingsong Li College of Computer Science and Technology Harbin Engineering University Harbin China College of Information and Communication Engineering Harbin Engineering University Harbin China Shanghai Yanding Information Technology Co. Ltd. Shanghai China Key Laboratory of Intelligent Computing and Signal Processing Ministry of Education Anhui University Hefei Anhui China

In this work, we propose a no-reference image quality evaluation approach, aiming to solve the problem that the traditional convolutional neural network is insufficient to express the global information of the image. Therefore, in order to make the captured image features have the coherence of global context information, we combine a Transformer structure widely used in NLP (natural language processing) with the traditional CNN to realize the attention mechanism in the human visual perception characteristics. Firstly, the self-attention mechanism of Transformer is used to learn the global representation of the image from the multi-layer features extracted from different levels of CNN. Additionally, to forecast the ultimate image quality score, the global and local attributes are combined. Finally, the proposed algorithm is evaluated on three public datasets commonly used in CSIQ [1], TID2013 [2] and LIVE [3]. Compared with eight traditional no-reference image quality evaluation algorithms and five methods based on deep learning, the proposed algorithm achieves competitive results.

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Cross-Modal Object Tracking via Modality-Aware Fusion Network and A Large-Scale Dataset

arXiv

引用

arXiv 2023年

作者： Liu, Lei Zhang, Mengya Li, Cheng Li, Chenglong Tang, Jin The Information Materials and Intelligent Sensing Laboratory of Anhui Province Anhui Provincial Key Laboratory of Multimodal Cognitive Computation School of Artificial Intelligence Anhui University Hefei230601 China The Information Materials and Intelligent Sensing Laboratory of Anhui Province Key Laboratory of Intelligent Computing and Signal Processing The Ministry of Education Anhui Provincial Key Laboratory of Multimodal Cognitive Computation School of Computer Science and Technology Anhui University Hefei230601 China The School of Computer Science and Technology Anhui University Hefei230601 China

Visual tracking often faces challenges such as invalid targets and decreased performance in low-light conditions when relying solely on RGB image sequences. While incorporating additional modalities like depth and infrared data has proven effective, existing multi-modal imaging platforms are complex and lack real-world applicability. In contrast, near-infrared (NIR) imaging, commonly used in surveillance cameras, can switch between RGB and NIR based on light intensity. However, tracking objects across these heterogeneous modalities poses significant challenges, particularly due to the absence of modality switch signals during tracking. To address these challenges, we propose an adaptive cross-modal object tracking algorithm called Modality-Aware Fusion Network (MAFNet). MAFNet efficiently integrates information from both RGB and NIR modalities using an adaptive weighting mechanism, effectively bridging the appearance gap and enabling a modality-aware target representation. It consists of two key components: an adaptive weighting module and a modality-specific representation module. The adaptive weighting module predicts fusion weights to dynamically adjust the contribution of each modality, while the modality-specific representation module captures discriminative features specific to RGB and NIR modalities. MAFNet offers great flexibility as it can effortlessly integrate into diverse tracking frameworks. With its simplicity, effectiveness, and efficiency, MAFNet outperforms state-of-the-art methods in cross-modal object tracking. To validate the effectiveness of our algorithm and overcome the scarcity of data in this field, we introduce CMOTB, a comprehensive and extensive benchmark dataset for cross-modal object tracking. CMOTB consists of 61 categories and 1000 video sequences, comprising a total of over 799K frames. We believe that our proposed method and dataset offer a strong foundation for advancing cross-modal object tracking research. The dataset, toolkit, a

关键词： Large dataset

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