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M3-CR: Multiscale Multibranch Mamba for SAR-Assisted Optical Image Thick Cloud Removal

IEEE Transactions on Geoscience and Remote Sensing 2025年 63卷

作者： Pan, Linpeng Song, Xuedong Xie, Fengying Zhang, Xiaozhe Ji, Haolin Shi, Zhenwei Beihang University School of Astronautics Beijing100191 China Tianmushan Laboratory Hangzhou311115 China Shanghai Aerospace Control Technology Institute Shanghai201109 China Beihang University Image Processing Center School of Astronautics State Key Laboratory of Virtual Reality Technology and Systems Beijing100191 China Shanghai Artificial Intelligence Laboratory Shanghai200232 China

SAR-assisted thick cloud removal from optical remote sensing images has long been a challenging task. Current mainstream methods face challenges in achieving an effective global receptive field, fully using multiscale features, and deeply integrating features from both modalities. To overcome these limitations, we propose the multiscale multibranch Mamba model for SAR-assisted thick cloud removal ( M3-CR). Specifically, we integrate the Mamba model into the task of SAR-assisted cloud removal, effectively modeling global dependencies within the images. Concurrently, a multiscale multibranch structure is introduced to extract and integrate multiscale information, and in combination with a convolutional branch to fully exploit the global and local geographic proximities inherent in remote sensing images. Furthermore, we present a novel feature fusion module leveraging the modal-traversing-2-D selective scan (MTSS2D) to enable deep interaction and integration of features from optical and SAR images. The experimental results on two benchmark databases show that the M3-CR achieves superior performance compared with state-of-the-art cloud removal approaches, while requiring fewer parameters and reduced floating-point operations (FLOPs). © 1980-2012 IEEE.

关键词： Optical remote sensing

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Web-based mixed reality video fusion with remote rendering

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virtual reality & Intelligent Hardware 2023年第2期5卷 188-199页

作者： Qiang ZHOU Zhong ZHOU State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191China

Background Mixed reality(MR)video fusion systems merge video imagery with 3D scenes to make the scene more realistic and help users understand the video content and temporal–spatial correlation between them,reducing the user′s cognitive *** video fusion are used in various applications;however,video fusion systems require powerful client machines because video streaming delivery,stitching,and rendering are computationally ***,huge bandwidth usage is another critical factor that affects the scalability of video-fusion *** Our framework proposes a fusion method for dynamically projecting video images into 3D models as *** Several experiments on different metrics demonstrate the effectiveness of the proposed *** The framework proposed in this study can overcome client limitations by utilizing remote ***,the framework we built is based on ***,the user can test the MR video fusion system with a laptop or tablet without installing any additional plug-ins or application programs.

关键词： Mixed reality Video fusion WebRTC Remote rendering

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Advancements in pigeon-inspired optimization and its variants

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Science China(Information Sciences) 2019年第7期62卷 5-14页

作者： Haibin DUAN Huaxin QIU State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical Engineering Beihang University Peng Cheng Laboratory

The returning of homing pigeons to their lofts from remote and unfamiliar locations with great accuracy remains a mystery. Pigeon-inspired optimization(PIO), which is a novel mono-objective continuous optimization algorithm, is inspired by the hidden mechanism behind the remarkable navigation capacity of homing pigeons. Since their development, PIO and its variants have been widely applied to various fields ranging from combinatorial optimization to multi-objective optimization in many areas, such as aerospace,medicine, and energy. This study aims to review the modifications of PIO from four aspects of improvement measures, namely, component replacement, operation addition, structure adjustment, and application expansion. It also summarizes the problems of existing research and plots the course of future effort.

关键词： pigeon-inspired optimization homing pigeon bio-inspired computing map and compass operator landmark operator

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Avian contrast sensitivity inspired contour detector for unmanned aerial vehicle landing

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Science China(Technological Sciences) 2017年第12期60卷 1958-1965页

作者： DENG YiMin DUAN HaiBin State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China

Runway detection is a demanding task for autonomous landing of unmanned aerial vehicles. Inspired by the attenuation effect and surround suppression mechanism, a novel biologically computational method based on the avian contrast sensitivity is proposed for runway contour detection. For the noisy stimuli, deniosed responses of the biologically inspired Gabor energy operator are generalized followed by the denoising layer and the multiresolution fusion layer. Moreover, two factors such as contour effect and texture suppression are considered in the contrast sensitivity based surround inhibition. Different from traditional detectors, which do not distinguish between contours and texture edges, the proposed method can respond strongly to contours and suppress the texture information. Applying the contrast sensitivity inspired detector to noisy runway scenes yields effective contours, while the non-meaningful texture elements are removed dramatically at the same time. Besides the superior performance over traditional detectors, the proposed method is capable to provide insight into the attenuation effect of the avian contrast sensitivity function and has potential applications in computer vision and pattern recognition.

关键词： contrast sensitivity function surround suppression contour perception unmanned aerial vehicle landing

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Pendulum-like oscillation controller for micro aerial vehicle with ducted fan based on LQR and PSO

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Science China(Technological Sciences) 2013年第2期56卷 423-429页

作者： DUAN HaiBin SUN ChangHao State Key Laboratory of Virtual Reality Technology and Systems Beihang University Science and Technology on Aircraft Control Laboratory Beihang University

This paper describes a novel type of pendulum-like oscillation controller for micro air vehicle(MAV) hover and stare state in the presence of external disturbances,which is based on linear-quadratic regulator(LQR) and particle swarm optimization(PSO).A linear mathematical model of pendulum phenomenon based upon actual wind tunnel test data representing the hover mode is established,and a hybrid LQR and PSO approach is proposed to stabilize *** is applied to parameter optimization of the designed LQR controller.A series of comparative experiments are conducted,and the results have verified the feasibility,effectiveness and robustness of our proposed approach.

关键词： micro air vehicle （MAV） pendulum-like oscillation linear-quadratic regulator （LQR） particle swarm optimization （PSO）

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A physical based meshless method for soft tissue deforming

A physical based meshless method for soft tissue deforming

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2011 IEEE International Symposium on IT in Medicine and Education, ITME 2011

作者： Hao, Aiming Huang, Zhen State Key Lab of Virtual Reality Technology and Systems Beijing China

ISBN: (纸本)9781612847023

This paper concentrated on how to apply meshless method to do physical based soft tissue deformation. First we approximated the deformation field using a Moving Least Squares (MLS) approximation method. Then, a compact force computation was applied to accelerate the physical computation speed. Finally we implemented a surface animation method to simulate the deformation of soft tissue under external forces. We made experiments with real properties of human soft tissue and the results showed that our method successfully made physical based deformation of human soft tissue. © 2011 IEEE.

关键词： Deformation

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Dynamic Characteristics Analysis and Vibration Experiment of Upper-time of Flight Counter (U-ToFC)

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Chinese Journal of Mechanical Engineering 2012年第5期25卷 868-874页

作者： WU Qiong ZHANG Yidu SONG Sunguang State Key Lab of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191China School of Mechanical Engineering andAutomation Beihang UniversityBeijing 100191China

The dynamic characteristic parameters of Up-time of Flight Counter （U-ToFC） are important for research of structure optimization and reliability. However, the current simulation is performed based on homogenous material and simplified constraint model, the correct and reliability of results are difficult to be guaranteed. The finite element method based on identification of material parameters is proposed for this investigation on dynamic analysis, simulation and vibration experiment of the U-ToFC. The structure of the U-ToFC is complicated. Its＇ outside is made of aluminum alloy and inside contains electronic components such as capacitors, resistors, inductors, and integrated circuits. The accurate material parameters of model are identified difficultly. Hence, the parameters identification tests are performed to obtain the material parameters of this structure. On the basis of the above parameters, the experiment and FEA are conducted to the U-ToFC. In terms of the flight acceptance test level, and two kinds of joints condition between the U-ToFC and fixture are considered. The natural frequencies, vibration shapes and the response of the power spectral density of the U-ToFC are obtained. The results show simulation which is based on parameters identification is similar with vibration experiment in natural frequencies and responses. The errors are less than 10%. The vibration modes of simulation and experiment are consistent. The paper provides a more reliable computing method for the dynamic characteristic analysis of large complicated structure.

关键词： random vibration dynamical characteristic parameters finite element analysis identification of material parameters

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Multi-granularity sequence generation for hierarchical image classification

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Computational Visual Media 2024年第2期10卷 243-260页

作者： Xinda Liu Lili Wang State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191China Peng Cheng Laboratory Shengzhen 518000China

Hierarchical multi-granularity image classification is a challenging task that aims to tag each given image with multiple granularity labels *** methods tend to overlook that different image regions contribute differently to label prediction at different granularities,and also insufficiently consider relationships between the hierarchical multi-granularity *** introduce a sequence-to-sequence mechanism to overcome these two problems and propose a multi-granularity sequence generation(MGSG)approach for the hierarchical multi-granularity image classification ***,we introduce a transformer architecture to encode the image into visual representation ***,we traverse the taxonomic tree and organize the multi-granularity labels into sequences,and vectorize them and add positional *** proposed multi-granularity sequence generation method builds a decoder that takes visual representation sequences and semantic label embedding as inputs,and outputs the predicted multi-granularity label *** decoder models dependencies and correlations between multi-granularity labels through a masked multi-head self-attention mechanism,and relates visual information to the semantic label information through a crossmodality attention *** this way,the proposed method preserves the relationships between labels at different granularity levels and takes into account the influence of different image regions on labels with different *** on six public benchmarks qualitatively and quantitatively demonstrate the advantages of the proposed *** project is available at https://***/liuxindazz/mgs.

关键词： hierarchical multi-granularity classification vision and text transformer sequence generation fine-grained image recognition cross-modality attenti

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A multi-strategy pigeon-inspired optimization approach to active disturbance rejection control parameters tuning for vertical take-off and landing fixed-wing UAV

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Chinese Journal of Aeronautics 2022年第1期35卷 19-30,I0001页

作者： Hangxuan HE Haibin DUAN State Key Laboratory of Virtual Reality Technology and Systems Beihang UniversityBeijing 100191China Peng Cheng Laboratory Shenzhen 518000China

In this *** Disturbance Rejection Control(ADRC)is utilized in the pitch control of a vertical take-off and landing fixed-wing Unmanned Aerial Vehicle(UAV)to address the problem of height fluctuation during the transition from hover to level *** the difficulty of parameter tuning of ADRC as well as the requirement of accuracy and rapidity of the controller,a Multi-Strategy Pigeon-Inspired Optimization(MSPIO)algorithm is *** Swarm Optimization(PSO),Genetic Algorithm(GA),the basic Pigeon-Inspired Optimization(PIO),and an improved PIO algorithm CMPIO are *** addition,the optimized ADRC control system is compared with the pure Proportional-Integral-Derivative(PID)control system and the non-optimized ADRC control *** effectiveness of the designed control strategy for forward transition is verified and the faster convergence speed and better exploitation ability of the proposed MSPIO algorithm are confirmed by simulation results.

关键词： Active Disturbance Rejection Control(ADRC) Pigeon-inspired optimization algorithm Transition mode Unmanned Aerial Vehicle(UAV) Vertical take-off and landing

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Extremum seeking control for UAV close formation flight via improved pigeon-inspired optimization

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Science China(Technological Sciences) 2024年第2期67卷 435-448页

作者： YUAN GuangSong DUAN HaiBin State Key Laboratory of Virtual Reality Technology and Systems School of Automation Science and Electrical EngineeringBeihang University(BUAA)Beijing 100083China

This paper proposes a comprehensive design scheme for the extremum seeking control(ESC)of the unmanned aerial vehicle(UAV)close formation *** proposed design scheme combines a Newton-Raphson method with an extended Kalman filter(EKF)to dynamically estimate the optimal position of the following UAV relative to the leading *** reflect the wake vortex effects reliably,the drag coefficient induced by the wake vortex is considered as a performance ***,the performance function is parameterized by the first-order and second-order terms of its Taylor series *** the excellent performance of nonlinear estimation,the EKF is used to estimate the gradient and the Hessian matrix of the parameterized performance *** output feedback of the proposed scheme is determined by iterative calculation of the Newton-Raphson *** with the traditional ESC and the classic ESC,the proposed design scheme avoids the slow continuous time integration of the *** allows a faster convergence of relative position ***,the proposed method can provide a smoother command during the seeking process as the second-order term of the performance function is taken into *** convergence analysis of the proposed design scheme is accomplished by showing that the output feedback is a supermartingale *** improve estimation performance of the EKF,a improved pigeon-inspired optimization(IPIO)is proposed to automatically tune the noise covariance *** Carlo simulations for a three-UAV close formation show that the proposed design scheme is robust to the initial position of the following UAV.

关键词： unmanned aerial vehicle close formation extremum seeking control Newton-Raphson method improved pigeon-inspired optimization

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