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IEEE International Conference on Robotics and Biomimetics

作者： Jun Hu Tao Wu Hao Fu Zhiyu Wang Kai Ding College of Intelligence Science and Technology National University of Defense Technology Changsha China Science and Technology on Near-Surface Detection Laboratory Wuxi China

Pedestrian detection is an indispensable technology for designing autonomous driving systems. This paper proposes a cascaded sliding window based real-time approach to generate 3D pedestrian proposals on point clouds only. After rasterizing the raw point cloud, a 3D sliding window is adopted to extract pedestrian candidates. Two features are proposed to improve the proposal performance. One is the central points density feature, which acts as a filter to speed up the process and reduce false alarms. The other is the location feature, including the density distribution and height difference distribution of the point cloud, which describes the profile and location of an object in a sliding window. The scores generated by this feature are then applied to non-maximum suppression (NMS) to remove sub-optimal boxes. Experiments on the KITTI 3D object detection benchmark show that our approach achieves state-of-the-art results among comparable methods, while maintaining the speed and accuracy trade-off.

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detection of UXO-like Targets with Portable Transient Electromagnetic System

Detection of UXO-like Targets with Portable Transient Electr...

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IEEE Advanced Information technology, Electronic and Automation Control Conference (IAEAC)

作者： Jun Zhu Haiyang Zhang Yuelin Xu Yu Qiu Shuang Zhang Shudong Chen Science and Technology on Near-Surface Detection Laboratory Wuxi China College of Electronic Science and Engineering Jilin University Changchun China

With the advantages of strong anti-interference ability and high spatial resolution, electromagnetic induction (EMI) has proven to be successful in unexploded ordnance (UXO detection. Portable transient electromagnetic system can work in a variety of complex conditions where the large and heavy vehicular systems cannot be readily used. The detection of UXO-like targets with portable transient electromagnetic (TEM) system is discussed detailed in this paper. Firstly, with description of the single dipole model for UXO response approximation, the location and characteristic response extraction for UXO-like targets is talked with the DE algorithm. Then, the improved sensor of the portable TEM system with a single-layered transmitting coil and five 3-component receiving coils is introduced. The transmitting coil is constructed with a diameter, number of turns, and transmitting current of 0.5 m, 30, and 5 A, respectively. The receiving coil is constructed with a length, number of turns, and resonant frequency of 6 cm, 600, and 180 kHz, respectively. Finally, 12 UXOs and 6 harmless targets buried in the area of 10 m × 6 m at different depths in different orientations have been detected with the improved portable TEM system. Target location and characteristic response have been estimated by DE algorithm with the measured response. The experimental results show that the high-quality data provided by the improved portable TEM system combined with the DE algorithm based on the dipole model can locate and characterize the separated targets accurately. Most of the position errors are within 10cm in x position and 5cm in depths for separated buried targets. For the multiple-targets buried together, the system can still locate and characterize the targets even if the response of two targets overlaps.

关键词： Tensile stress Mathematical model Magnetic moments Perpendicular magnetic recording Magnetic fields Transient analysis

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Research on subaperture stitching and absolute measurement technique for large rectangular plane mirrors 11

Research on subaperture stitching and absolute measurement t...

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Optical Metrology and Inspection for Industrial Applications XI 2024

作者： Zhang, Shaoteng Hu, Yao Hao, Qun Wang, Zhen Yang, Lixin School of Optics and Photonics Beijing Institute of Technology Beijing100081 China National Key Laboratory on Near-Surface Detection Beijing10012 China Beijing Institute of Space Mechanics and Electricity Beijing100094 China

ISBN: (纸本)9781510682108

Large rectangular plane mirrors are widely used in high-power laser systems and synchrotron radiation sources, their surface precision affecting optical system performance. High-precision measurement methods are required to match these mirrors. The oblique incidence absolute measurement technique based on the rotational averaging method is a commonly method for these mirrors. But this method is complex, requires two additional plane mirrors. And it is limited by the angle of incidence, making it impossible to achieve both large aperture and high-resolution measurement simultaneously. Moreover, the method requires disassembling the test mirror during measurement, which significantly complicates the setup and adjustment process. Addressing the aforementioned shortcomings, this paper presents a high-precision measurement method for large rectangular plane mirrors. This method combines subaperture stitching techniques with the absolute measurement approach using the double shear translation method. It divides the test mirror into multiple overlapping subapertures and applies the double shear translation method to conduct absolute measurement on each subaperture region sequentially. Subsequently, employs algorithm to stitch the results together to achieve a complete surface. This method balances large aperture and high-resolution measurement, eliminates the influence of the reference surface. During the measurement process, only translations of the test mirror are required, making setup and adjustment relatively straightforward. Experimental validation of this method has demonstrated its ability to achieve high-precision measurement of rectangular plane mirrors. This paper presents an effective approach for high-precision measurement of large rectangular plane mirrors. © 2024 SPIE.

关键词： Optical systems

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Multi-camera wide field-of-view compound eye imaging system 11

Multi-camera wide field-of-view compound eye imaging system

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Optoelectronic Imaging and Multimedia technology XI 2024

作者： Qiao, Zhibo Hao, Qun Liu, Mengyao Wei, Jiale Cheng, Yang Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Beijing100081 China Yangtze Delta Region Academy Beijing Institute of Technology Jiaxing314019 China National Key Laboratory on Near-Surface Detection Beijing100072 China

ISBN: (纸本)9781510682061

With the rapid development of security surveillance and autonomous driving, the demand for wide field-of-view imaging is increasingly growing. Traditional wide field-of-view (FOV) single-camera systems often suffer from significant distortion, making it challenging to achieve comprehensive environmental perception. Compound eyes, with tightly packed multiple sub-eyes, have the advantages of being compact, lightweight, and possessing a wide FOV with high sensitivity to moving targets. This paper analyzes the characteristics of wide FOV imaging of biomimetic compound eyes and integrates the imaging features of multiple cameras to design a multi-camera imaging system based on a biomimetic compound eye imaging system. The proposed system comprises nine cameras with a resolution of 640×480 arranged in a spherical multi-row configuration to emulate the compound eye structure. Given that feature matching significantly impacts the effectiveness of video stitching, we analyze and compare existing typical feature-matching algorithms from the aspects of both matching accuracy and robustness. Consequently, we employ the LightGlue on top of SuperPoint features for feature point matching to ensure the accuracy of subsequent video stitching. Through imaging experiments, the results demonstrate that this video stitching algorithm achieves satisfactory stitching results with minimal mismatches. The proposed multi-camera wide field-of-view compound eye imaging can realize wide wide-field imaging of 170°×120°with 8 frames per second. © 2024 SPIE.

关键词： Imaging systems

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The Influence of Environmental Radiation on the Infrared Characteristics of Low Emissivity surface 5

The Influence of Environmental Radiation on the Infrared Cha...

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5th International Conference on Optoelectronic science and Materials, ICOSM 2023

作者： Lv, Xiangyin Wang, Yahui Chen, Zongsheng Li, Zhigang Shi, Jiaming Anhui Provincial Laboratory of Advanced Laser Technology National University of Defense Technology Hefei230037 China Science and Technology on Near-Surface Detection Laboratory Wuxi214000 China State Key Laboratory of Pulsed Power Laser Technology National University of Defense Technology Anhui Hefei230037 China Anhui Provincial Key Laboratory of Infrared and Low Temperature Plasma Hefei230037 China

ISBN: (纸本)9781510674547

Low emissivity coatings or thin film materials are currently the main technical means for achieving infrared stealth. Due to the high reflectivity of low emissivity surfaces, environmental radiation such as solar radiation and ground radiation may have a significant impact on the effective infrared radiation of low emissivity surfaces. In response to the current research on low emissivity surface infrared radiation mainly limited to its suppression of self radiation, and the lack of information on the impact of environmental radiation on its effective radiation, starting from establishing a general infrared feature model that includes self emitted reflected environmental radiation, the focus is on deriving the effects of solar radiation and ground radiation on low emissivity surfaces in two atmospheric infrared windows 3-5 μm-band and 8-14 μm. The influence model of effective infrared radiation in the 3-5 μm-band has been calculated and experimentally verified. The results indicate that solar radiation and ground radiation have an impact on low emissivity materials in the mid infrared region of 3-5 μm-band and far Infrared 8-14 μm. The impact of effective infrared radiation in the two bands is different and is related to factors such as ground temperature, the angle between the target surface and the ground, the atmospheric transmittance of solar radiation, and the angle of solar incidence. In general, reducing the emissivity of a surface can reduce its effective infrared radiation, which is beneficial for achieving infrared stealth. However, there are two common exceptions that make using low emissivity materials not a good way to achieve infrared stealth. One is that when the surface temperature of the target is below 60 ℃, due to the influence of solar radiation, reducing reflectivity in the 3-5 μm-band may actually enhance its effective radiation. That is a challenge to the targets in the background of low and normal temperatures during a clear day range to real

关键词： Infrared radiation

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Bucking coil used in unexploded ordnance detection with transient electromagnetic system

Bucking coil used in unexploded ordnance detection with tran...

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IEEE Advanced Information technology, Electronic and Automation Control Conference (IAEAC)

作者： Hejun Jiang Xinqun Luan Jun Hao Shuang Zhang Shudong Chen Science and Technology on Near-Surface Detection Laboratory Wuxi China College of Electronic Science and Engineering Jilin University Changchun China

Off-time response is usually measured by transient electromagnetic (TEM) system to detect subsurface targets. Compared with off-time response, on-time response of TEM system is more sensitive to high-conductivity targets, such as UXOs. However, it is difficult to obtain on-time response directly due to the strong primary field response. The key problem for on-time measurement is to eliminate the primary field response. Bucking coil is adopted here to compensation the primary field of transmitter coil at receiving coil for on-time response measuring. Firstly, the structure of the sensor with transmitting coil, bucking coil, and receiving coil is presented. Then, the primary field of transmitting coil and bucking coil at the position of receiving coil is calculated theoretically. With the side length of transmitting coil, bucking coil and the receiving coil fixed, the number of turns for transmitting coil and bucking coil are optimized for the best compensation. Calculated results show that the best compensation effect can reach 0.53%. Finally, the sensor with a transmitting coil (constructed with a side length and number of turns of 96 cm and 30, respectively), a bucking coil (constructed with a side length and number of turns of 26 cm and 8, respectively), and a receiving coil (constructed with a side length of 6 cm) was built. Measured results show that the primary field response after compensation is no more than 1% of the original response, and the maximum amplitude is only 0.4V. The on-time response of targets can be accurately recorded.

关键词： Geophysical measurements Magnetic field measurement Pollution measurement Current measurement Magnetic flux Transient analysis

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Location of Buried Target with Method of Auxiliary Sources

Location of Buried Target with Method of Auxiliary Sources

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IEEE Advanced Information technology, Electronic and Automation Control Conference (IAEAC)

作者： Shan Liang Shuang Zhang Shudong Chen Zhaohe Liu College of Electronic Science and Engineering Jilin University Changchun China Science and Technology on Near-Surface Detection Laboratory Wuxi China

It is a key problem to locate a buried target in UXO detection. The inversion algorithm based on the principle of least squares requires a large number of forward calculations to estimate the position of a target. The method of auxiliary sources (MAS) which can directly locate a UXO-like target is presented here without forward calculation. With a brief description of single dipole model for a UXO-like target, the basis of target location with magnetic field and scalar magnetic potential is deduced theoretically. Auxiliary sources made of elementary magnetic dipoles on a plane are applied to estimate the equivalent scalar magnetic potential from the measured magnetic field. Firstly, the moment of elementary magnetic dipoles is estimated by matching the measured magnetic field with the auxiliary sources modeled field. Then, the equivalent scalar magnetic potential is calculated with these elementary magnetic dipoles without a priori knowledge of the target's location. Finally, the position is calculated directly with the measured magnetic field and the equivalent scalar magnetic potential. The responses of four UXOs excited by a z-component square transmitting coil are recorded by a 9×9 3-component receiving coil array. With the auxiliary sources on a plane under the measurement grid, the equivalent scalar magnetic potential is calculated precisely. Experimental results show that the measured magnetic field matches well with the auxiliary sources modeled field, and the estimated positions of all targets are highly consistent with the measured ones. The horizontal error is within 2 cm, and the depth error is within 6 cm.

关键词： Magnetic field measurement Magnetic fields Position measurement Mathematical model Magnetometers Geophysical measurements Transient analysis

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Throwing-mine detection based on azimuth coherence

Throwing-mine detection based on azimuth coherence

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International Conference on Computational Problem-Solving (ICCP)

作者： Han-tao Sun Chang Wen-ge Zhao-he Liu National University of Defense Technology Changsha Hunan CN Science and Technology on Near-Surface Detection Laboratory Wuxi 214035 China

Throwing-mine detection is a typical problem of low RCS (radar cross section) targets detection in heavy clutter, in which the high false alarm rate is a difficult problem. Classical CFAR (Constant False Alarm Rate) detection algorithm only utilizes the image contrast characteristics, in the case of low SNR (Signal to Noise Ratio), a large number of false alarms generates. In order to further reduce false alarm rate, CFAR-IHP (Constant False Alarm Rate-Internal Hermitian Product) detection algorithm is proposed in this paper. CFAR-IHP is based on CFAR and target azimuth coherence characteristic, therefore, we first get the sub-aperture image sequence to extract target azimuth information by the sub-aperture processing algorithm for SAR image. Lastly, based on Ku-band SAR data, we use CFAR-IHP (Constant False Alarm Rate-Internal Hermitian Product) algorithm to detect the targets, experimental results show that the method further eliminate the clutter and the azimuth coherence helpfully reduces the false alarms.

关键词： Azimuth Coherence Synthetic aperture radar Clutter Image sequences Object detection Doppler effect

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Real-time 3D Single Object Tracking with Transformer

arXiv

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arXiv 2022年

作者： Shan, Jiayao Zhou, Sifan Cui, Yubo Fang, Zheng The Faculty of Robot Science and Engineering Northeastern University Shenyang China Science and Technology on Near-Surface Detection Laboratory Wuxi China

LiDAR-based 3D single object tracking is a challenging issue in robotics and autonomous driving. Currently, existing approaches usually suffer from the problem that objects at long distance often have very sparse or partially-occluded point clouds, which makes the features extracted by the model ambiguous. Ambiguous features will make it hard to locate the target object and finally lead to bad tracking results. To solve this problem, we utilize the powerful Transformer architecture and propose a Point-Track-Transformer (PTT) module for point cloud-based 3D single object tracking task. Specifically, PTT module generates fine-tuned attention features by computing attention weights, which guides the tracker focusing on the important features of the target and improves the tracking ability in complex scenarios. To evaluate our PTT module, we embed PTT into the dominant method and construct a novel 3D SOT tracker named PTT-Net. In PTT-Net, we embed PTT into the voting stage and proposal generation stage, respectively. PTT module in the voting stage could model the interactions among point patches, which learns context-dependent features. Meanwhile, PTT module in the proposal generation stage could capture the contextual information between object and background. We evaluate our PTT-Net on KITTI and NuScenes datasets. Experimental results demonstrate the effectiveness of PTT module and the superiority of PTT-Net, which surpasses the baseline by a noticeable margin, ∼10% in the Car category. Meanwhile, our method also has a significant performance improvement in sparse scenarios. In general, the combination of transformer and tracking pipeline enables our PTT-Net to achieve state-of-the-art performance on both two datasets. Additionally, PTT-Net could run in real-time at 40FPS on NVIDIA 1080Ti GPU. Our code is open-sourced for the research community at https://***/shanjiayao/PTT. © 2022, CC BY.

关键词： Optical radar

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Research on Dynamic Attitude Estimation and Control of Tricycle Based on MEMS Sensing

Research on Dynamic Attitude Estimation and Control of Tricy...

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International Conference on Micro/Nano Sensors for AI, Healthcare, and Robotics (NSENS)

作者： Yingjiao Rong Weixuan Ding Xinan Wang Guangyi Shi Science and Technology on Near-Surface Detection Laboratory Wuxi China Peking University Shenzhen Graduate School Shenzhen China

ISBN: (数字)9781728166520

ISBN: (纸本)9781728166537

Today's science and technology develop rapidly with the passage of time. In the highly competitive environment, everyone's time is twenty-four hours a day. No one can have more than one minute. Or less have a minute to go, so if you want to improve your competitiveness, efficient scheduling time is very important, people's daily needs for efficiency are also growing. In the process of moving these vehicles, how to move the same distance with others in less time, this demand and efficiency can also be seen from the tools we now use to produce vehicles (such as tricycles).In the high-precision control system design of the self-balancing vehicle of the tricycle vehicle, in addition to the high-precision inclination sensor to measure the dynamic inclination angle, the steering control has an absolute value encoder to learn the angle of the steering of the tricycle body. More importantly, in addition to the rear axle drive system on the wheel of the tricycle body itself, we also installed a stepper motor to control the balance of the tricycle body, so that the tricycle body can be at a higher speed. Under the steady steering, the tricycle body will not roll *** attitude measurement is a very important aspect in the design of high-precision control systems for self-balancing vehicles of tricycle vehicles. Because the motor is an open-loop system, we need to use the tilt sensor for attitude measurement to obtain high-precision angle values, and the obtained angle value and the motor form a closed-loop control system to achieve more precise motor control to control the tricycle body. balance. So we need to measure the angle change very accurately, because a single axial attitude tilt sensor can't meet our requirements, and because there are too many shortcomings, we can't get more accurate values in a dynamic environment, so we use A six-axis sensor that helps us get better precision and precision. Finally, we use the VEKF-based algorithm to eliminate the numerical

关键词： Acceleration Vehicle dynamics Kalman filters Accelerometers Sensors Heuristic algorithms Dynamics

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