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A novel 3D terrain matching algorithm based on image laser radar

A novel 3D terrain matching algorithm based on image laser r...

引用

7th World Congress on Intelligent Control and Automation (WCICA 2008), vol.17

作者： Junbin Gong Hua Cheng Jie Ma Jinwen Tian State Key Laboratory for Multi-spectral Information Processing Technologies Institute for Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology Wuhan China

The imaging laser radar was an ideal imaging sensor to get the high precision 3D terrain for Terrain aided navigation (TAN). For the application, decreasing the mismatching rate was very important. In this paper, the measurement model of imaging laser radar was introduced and a novel 3D terrain matching algorithm with low mismatching rate was presented. According to the theory of function orthogonal decomposition, a terrain orthogonal decomposition feature vector (TODFV), composed of the orthogonal decomposition coefficients of the digital elevation map (DEM), was employed to represent the features of the terrain. Then TODFV was used to generate an interim matching position vector (IMPV). The IMPV were utilized to do real-time confidence analysis to improve the matching confidence, and were fused to give the final matching at the last. The algorithm could effectively decrease the mismatching rate of terrain matching algorithm, and improved the reliability of TAN. Experiments showed that the algorithm was effective and robust.

关键词： Terrain matching Feature vector Image laser radar

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The Design and Implement of 3D Terrain Matching Processor for Image Laser Radar

The Design and Implement of 3D Terrain Matching Processor fo...

引用

Congress on Image and Signal processing, CISP

作者： Junbin Gong Yufei Sun Hongbo Xu Jinwen Tian State Key Laboratory for Multi spectral Information Processing Technologies Institute for Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology Wuhan China

The imaging laser radar is fine measure equipment for TAN with the ability to get the high precision 3D terrain. A 3D terrain matching processor was needed to be designed for the specifical application. In this paper, base on the specialty of the imaging laser radar, the3D terrain matching processor was designed, with scheme of DSP+FPGA calculating engine, multi-level memory system, flexible parallel architecture, and FPGA-embedded accelerators. A parallel correlating accelerator base on 2D modular systolic array and other structures were designed to improve the system performance in FPGA. In the end, with strictly abiding the rules of high-speed circuit designing, the detail physical implement was drawn out. The experiments showed that the system could work well in the harsh military environment with high real-time, high reliability, and flexible architecture.

关键词： Laser radar Optical design Radar imaging Radar equipment Radar measurements Process design Engines Parallel architectures Systolic arrays System performance

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The Design and Implementation of a High Performance and High Flexibility Memory Interface Architecture for Embedded Application

The Design and Implementation of a High Performance and High...

引用

The 9th International Conference for Young Computer Scientists(第九届国际青年计算机大会)

作者： Hualong Zhao Hongshi Sang Tianxu Zhang Integrated Circuit Design Center State Key Lab for Multi-spectral Information Processing Technologies Institute for Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology Wuhan 430074 P.R.China

Two of the most significant factors in the success of today's system-on-chip (SoC) designs are the ability to deliver efficient access to off-chip high speed memory and the ability to be compatible with several different interface-timings of several different sorts of memories. This paper introduces a novel general external memory interface (GEMI) architecture for the high performance and high flexibility memory interface. Several techniques and methods, i.e. data and command buffers based on asynchronous FIFO, optimized bank management, multiple bus width adaptation, improved WISHBONE bus interface, optimized array-structure data accessing, are proposed in this paper for fulfilling the requirements mentioned above. And the performance improvement by using of our architecture and techniques is analyzed. At the end of the paper, the simulation and tape-out results are provided. The whole implementation of architecture is proven to be not only functional and efficient, but also flexible, programmable and reusable by simulation and silicon verification.

关键词： Memory interface bank management wishbone array-structure data accessing GEMI.

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Imaging lidar based 3D terrain matching using feature vector

Imaging lidar based 3D terrain matching using feature vector

引用

MIPPR 2007: multispectral Image processing

作者： Hua, Cheng Jinwen, Tian Jie, Ma Junbin, Gong Lin, Wu State Key Laboratory for Multi-spectral Information Processing Technologies Institute for Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology China

ISBN: (纸本)9780819469519

A novel 3D terrain matching algorithm is presented in this paper. A terrain feature vector map (FVM), composed of local mean and local gradient, is employed to represent the terrain elevation map (TEM). Compared with traditional matching algorithm using the magnitude of gradient to match, the new algorithm uses each component of the gradient vector to match individually, and it is able to generate two interim matching positions. Different from traditional matching algorithms which usually estimate an optimum matching position under some criterions at the end, the new algorithm fused the two interim matching positions to generate a final matching position or refuse to position in order to increase the matching confidence, which is very important because it is hardly acceptable to employ a mismatched position to correct the error of Inertial Navigation System (INS). Due to the stability of terrain and the high-precision of lidar ranging, the mean of a sensed terrain elevation map (STEM) sized terrain is quite stable. So it is bestowed to accelerate the matching process and to reduce mismatches at different terrain heights. Compared with other mismatch-eliminated methods based on neural network (NN) or support vector machine (SVM), the new method do not need training samples and is more stable and robust. Experimental results show that the proposed algorithm is effective and robust.

关键词： Pattern matching

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Intensity-based correlation for heterogeneous images scene matching

Intensity-based correlation for heterogeneous images scene m...

引用

MIPPR 2007: Automatic Target Recognition and Image Analysis;and multispectral Image Acquisition

作者： Sheng, Zhong Huimin, Cao Tianxu, Zhang State Key Lab. for Multi-spectral Information Processing Technology Institute for Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819469502

Downward looking scene matching is an important technique of the aircraft automation guidance. To solve the heterogeneous images scene matching problem, we present two effective methods based on intensity-based correlation in this paper. One is to search the real match position based on the feature of the peak on the correlation surface. We propose a criterion to search the proper matching. The other is to use a non-linear filter to pre-process the images, which reduces the influence of ambient lighting while keeping the necessary image details since the contour of the scene is the stable and unchanged feature. Also, we use a Fourier analysis to explain the contribution of different frequency spectrum in the correlation. By using this frequency information, we propose a simpler kernel filter method based on pre-process, which has the similar performance with non-linear filter pre-process but has less computation complexity. This simple kernel is more suitable for the embedded DSP real-time application.

关键词： Pattern matching

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Real time peaks extraction

Real time peaks extraction

引用

MIPPR 2007: Automatic Target Recognition and Image Analysis;and multispectral Image Acquisition

作者： Xiao, Zhou Ruolan, Hu Guilin, Zhang State Key Lab for Multi-spectral Information Processing Technologies Institute for Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819469502

Peaks extraction is a kind of post-process in many image application or vision tasks that can be used for finding the optimum solution in the solution space. In this paper a real time method is proposed. A candidate queue is first build for containing highest peaks in the image in ascending order. Then the image is scanned in sequence. At each scanning position every candidate in the queue is updated respectively by some criterions given in this paper. After the image is scanned over, the highest peaks in the image is achieved in the queue. All the process can be accomplished by logic circuit, so the method is very suitable for hardware system such as FPGA and so on.

关键词： Feature extraction

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Submarine navigation based on gravity gradient-terrain matching

Submarine navigation based on gravity gradient-terrain match...

引用

MIPPR 2007: Remote Sensing and GIS Data processing and Applications;and Innovative multispectral technology and Applications

作者： Xiong, Ling Ma, Jie Zhang, Li Tian, Jin-Wen Liu, Jian State Key Laboratory for Multi-spectral Information Processing Technologies Education Ministry for Image Processing and Intelligence Control Huazhong University of Science and Technology Wuhan 430074 China College of Information Science and Engineering Wuhan University of Science and Technology Wuhan 430081 China

ISBN: (纸本)9780819469540

Based on the geophysics technology, a gravity gradient-terrain matching submarine navigation approach is proposed in this paper. The submarine's current position obtained by matching the measured gravity gradient data to the prepared gravity gradient reference map is used to correct the inertial navigation system's accumulated error. Although the precision gradiometer is in use, there is no world-wide gravity gradient map. The ocean's gravity gradient data is even scarce. Therefore, a gravity gradient matching navigation system directly utilizing the gravity gradient reference map can't be realized. With the sensitivity of gravity gradient to terrain, the gravity gradient reference map can be computed from the local terrain elevation data and the preparing approach of the gravity gradient map is proposed in detail in the paper. Since the seabed terrain elevation map, especially highly accurate offing terrain elevation map has been presurveyed, the location can be actualized through matching the real-time measured gravity gradient data to the prepared gravity gradient reference map. Simulations show that the submarine navigation approach on gravity gradient -terrain matching is feasible and can be put into practice.

关键词： Navigation

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Computational simulation of second order motion perception

Computational simulation of second order motion perception

引用

MIPPR 2007: Automatic Target Recognition and Image Analysis;and multispectral Image Acquisition

作者： Bin, Sun Nong, Sang State Key Lab. for Multi-spectral Information Processing Technologies Institute for Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819469502

Physiological studies have provided clear evidence of neurons sensitive to second-order motion, and first-order motion mechanisms are blind to second-order motion. In this paper, we propose a computational simulation of second order motion perception, which bases on energy-based detector with a preceded nonlinear process called texture grabber. Generally, a texture grabber consists of a linear spatial filter, a linear temporal filter and a nonlinear transform, such as full-wave rectification. Here Difference of Gaussians (DoG) functions are used as the spatial filters, and Difference of Gammas (DoGamma) functions are chosen as the temporal filters. A series of experiments are computed and the results confirm that our motion perception system detects second-order motion correctly.

关键词： Motion estimation

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Topologically logic ally clustering: A method for discarding mismatches

Topologically logic ally clustering: A method for discarding...

引用

MIPPR 2007: Pattern Recognition and Computer Vision

作者： Yongtao, Wang Dazhi, Zhang Chenqiang, Gao Jinwen, Tian State Key Laboratory for Multi-Spectral Information Processing Technologies Huazhong University of Science and Technology Wuhan 430074 China Institute for Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819469526

Wide baseline stereo correspondence has become a challenging and attractive problem in computer vision and its related applications. Getting high correct ratio initial matches is a very important step of general wide baseline stereo correspondence algorithm. Ferrari et al. suggested a voting scheme called topological filter in [3] to discard mismatches from initial matches, but they didn't give theoretical analysis of their method. Furthermore, the parameter of their scheme was uncertain. In this paper, we improved Ferraris' method based on our theoretical analysis, and presented a novel scheme called topologically clustering to discard mismatches. The proposed method has been tested using many famous wide baseline image pairs and the experimental results showed that the developed method can efficiently extract high correct ratio matches from low correct ratio initial matches for wide baseline image pairs.

关键词： Image analysis

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Accurate dynamic scene model with double-layer Gaussian mixture

Accurate dynamic scene model with double-layer Gaussian mixt...

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MIPPR 2007: Automatic Target Recognition and Image Analysis;and multispectral Image Acquisition

作者： Hong, Yang Yihua, Tan Jinwen, Tian Jian, Liu State Key Lab. for Multi-spectral Information Processing Technologies Institute for Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology Wuhan 430074 China

ISBN: (纸本)9780819469502

Gaussian mixture model is a popular method to model dynamic scenes viewed by a fixed camera. However, we found that it is not a trivial problem for each component of Gaussian mixture to learn the accurate parameters for complex pixels. Furthermore, traditional method of Gaussian mixture has to make a tradeoff between system stability and convergence rate. We developed a mechanism of double-layer Gaussian mixture model for moving object detection from dynamic scenes, which can improve the convergence rate without compromising the system stability. Additionally, temporal consistency of variances was taken into account to alleviate camouflage problems in the process of detection.

关键词： Object recognition

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