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Research on Synthetic Data Generation and Multi-modal Target Detection

Research on Synthetic Data Generation and Multi-modal Target...

引用

第34届中国控制与决策会议

作者： Jiexi Liu Chenyu Wang Lei Xu Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision

Target Detection is one of the most important tasks in Computer Vision,which has broad application prospects in many *** the past few years,great progress has been made in this field with the rapid development of deep learning ***,it's still a big challenge at complex scenarios such as dim environment for traditional single-modal visible *** address this problem,researchers introduce thermal images as additional modal in consideration of that thermal cameras are less susceptible to interference and explore how to fuse the two modalities information ***,the lack of large labeled and high-quality visible-thermal datasets hampers the usage of convolutional neural networks for ***,we propose to use image-to-image translation model combined with a differentiable data augmentation method to generate fake thermal images from labeled visible images and use multi-modal target detection model to prove the validity of the *** experiment results show that our method can provide us a large labeled dataset of synthetic visible-thermal image pairs with better generalization and the introduction of thermal modality can obtain a better performance than single modality.

关键词： Image-to-image translation Multi-modal target detection Deep learning

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Process Noise Estimator Based on Observation Sequence and its Application on Inertial Navigation system

Process Noise Estimator Based on Observation Sequence and it...

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Xiao Xuan Huang Kun Yang Liming Liang Yuan Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

Kalman filter has been extensively applied in vast areas. However, it is widely acknowledged that the performance of Kalman filter depends on the accuracy of priori information such as model structure, statistics information of process and observation noise. Obtaining the covariance matrix of process noise is difficult in some application *** such background, this paper presents a process noise estimation algorithm based on the noise observation sequence. By constructing a transform matrix and removing the state variables from the observation, the noise observation sequence can be established, through which the covariance matrix of process noise can be estimated. Comparing to conventional adaptive filter, this algorithm needs less calculation. Moreover,the noise estimation process is separated from Kalman filter thus ensures Kalman Filters independence and optimality. The simulation results show that the new algorithm can effectively estimate the process noise covariance, and remain uninfluenced by the initial condition.

关键词： Adapt Kalman filter noise estimate

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A Self-correcting Localization Approach for Automobile Robots Based on the Two Dimensional LADAR

A Self-correcting Localization Approach for Automobile Robot...

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第35届中国控制会议

作者： Jing Li Wenxue Liu Junzheng Wang Jianan Qiao Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

ISBN: (纸本)9781509009107

In this paper,a novel localization approach for autonomous mobile robots is *** can accomplish the all-terrain localization function with the laser radar(LADAR) and the inertial measurement unit(IMU).First of all,for the multiple-input nonlinear localization system,a fuzzy filter is built up to estimate the position of the mobile ***,an efficient evaluation index is raised to determine whether the landmarks extracted from the adjacent data frame are the same,which can help the mobile robot to realize the self-correction *** the final,the experiments in the real world are implemented to show the effectiveness of the proposed approach.

关键词： Localization SLAM Fuzzy filter Self-correcting Obstacle match

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Event-triggered High-gain Observer Design for Nonlinear systems

Event-triggered High-gain Observer Design for Nonlinear Syst...

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第35届中国控制会议

作者： Yuan Huang Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781509009107

In this work,an event-triggered high gain observer（ET-HGO） design is considered for a continuous-time nonlinear system combined with disturbance and *** the event-trigger scheme,the performance of the ET-HGO depends on the triggering condition ***,in this work,for the high-gain observer considered,an event-triggered transmission strategy,which does not relies on the other system state but the output of the control system,is proposed such that the observation error is asymptotically ***,with mild restriction,the observation error is guaranteed to be bounded all the *** obtained theoretical results are evaluated through the numerical simulations.

关键词： High-gain observer event-triggered transmission state estimation

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3D Semantic Mapping Based on Convolutional Neural Networks

3D Semantic Mapping Based on Convolutional Neural Networks

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第37届中国控制会议

作者： Jing Li Yanyu Liu Junzheng Wang Min Yan Yanzhi Yao Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

As an important part of environmental perception, maps guarantee the accuracy of intelligent robots in navigation,localization and path planning. The traditional 3D maps mainly focus on the spatial structure of the objects, which lacks the semantic information. A method is proposed in the paper, this method combines convolutional neural networks（CNNs） and Simultaneous Localization and Mapping（SLAM） to create global dense 3D semantic maps for indoor scenes. The deep neural network that includes convolution and deconvolution is designed to predict semantic category of every pixel. RGB-D camera is used to obtain scene information, accomplish localization and build 3D maps simultaneously. The semantic information is integrated into the 3D scene, we present an octree map method to replace traditional point clouds method, which can reduce the error from pose estimation and single frame labeling. By this method, the accuracy of semantic information is greatly improved.

关键词： CNNs SLAM Semantic Map Octree Map

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An Improved Segmentation Method for Porous Transducer CT Images

An Improved Segmentation Method for Porous Transducer CT Ima...

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2019第十一届数字图像处理国际会议

作者： Meiling Wang Ruoyu Guo Ke Ning Li Ming Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision

The paper presents an improved image segmentation method with a straightforward workflow for porous transducer CT images,which can be used to establish porous transducer three-dimensional model and further study its *** distribution of CT images is firstly analyzed and Gaussian filtering is conducted to reduce divergence of CT *** improved fully convolutional neural network model based on U-Net,for which multi-channel images are set as network input,is trained using training *** proposed method improves pore connectivity of the segmentation *** of porosity and permeability relative errors as well as MIOU on test set shows that the proposed method is an effective and generic two-phase segmentation method for porous transducer CT images without need of adjusting any parameters.

关键词： Porous transducer image segmentation permeability pore connectivity fully convolutional neural network

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Target tracking algorithm with adaptive learning rate complementary filtering

Target tracking algorithm with adaptive learning rate comple...

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第三十九届中国控制会议

作者： Yulei Pan Yongqiang Bai Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

The Correlation filtering algorithm is not effective for fast deformation and fast movement. It is easy to lose when encountering problems such as occlusion. However, it has a good advantage of dealing with situations such as motion blur and lighting changes. A tracking algorithm based on color statistical features has a good effect on the rotation and translation of *** Staple algorithm combines the two algorithms to track using complementary fusion, but it also does not handle the occlusion and other issues well. In this paper, based on the Staple algorithm, the average peak correlation energy（APCE） and the maximum response are introduced. The value is used as the tracking confidence, and a detector using a support vector machine（SVM） is *** the tracking confidence is low, the target is blocked or moved violently. At this time, the detector works,and the search area is expanded around the original area for the target. At the same time, because the traditional tracking algorithm uses a fixed learning rate to update the template, this paper uses an adaptive tracking learning rate. When the tracking confidence is low, the update speed of the target model is reduced, which can effectively deal with the occlusion deformation in the tracking process. OTB100 benchmark experiments show that this method can solve the occlusion problem during target tracking. The degree of change is robust and stability.

关键词： Target Tracking Complementary Filtering Re-detection Adaptive Learning Rate

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Analysis of LoRa for Electronic Shelf Labels Based on Distributed Machine Learning 42

Analysis of LoRa for Electronic Shelf Labels Based on Distri...

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42nd Chinese control Conference, CCC 2023

作者： Khan, Malak Abid Ali Ma, Hongbin Jin, Ying Ma, Jingxiang Rehman, Zia Ur Rahman, Mizanur School of Automation Beijing Institute of Technology Beijing100081 China Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

ISBN: (纸本)9789887581543

Deforestation is the primary source of global warming;traditional shelf labels use paper to display the price of the products, and human forces play a pivotal role in updating the tags where the pandemic has strictly limited its power. Various technologies provide connectivity and a fast-updating system to eliminate the paper-based approach. LoRa is one of the contenders to design the system for electronic shelf labels (ESLs). In this paper, LoRa has been used to minify data losses and guarantee the successful decoding of the carrier signals. The data parallelism at the network server (NS) is used to distribute the data packets among the gateways (GWs) for concurrent transmissions to the end devices (EDs). The EDs are placed in different ranges using machine clustering to avoid intra-SF interference and collision. The data rate (DR) and spreading factors (SFs) have been proposed to improve the performance of pure and slotted ALOHA for the properly allocated tags. The orthogonality principles follow industrial, scientific, and medical regulations (ISM) to avoid data traffic congestion. GWs under different duty cycles (DC) and bandwidth (BW) are examined to minify the network saturation and reduce the energy harvesting of the tags. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Deforestation

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A new control method of quadruped robot walking on rough terrain based on linear inverted pendulum method

A new control method of quadruped robot walking on rough ter...

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IEEE International Conference on Robotics and Biomimetics

作者： Xin Li Junyao Gao Qiang Huang Haojian Lu Zhe Xu Yi Liu Intelligent Robotics Institute Key Laboratory of Intelligent Control and Decision of Complex System Beijing China

ISBN: (纸本)9781479973989

This paper proposes a new method of linear inverted pendulum control, which is used to control the quadruped robot walking on regular uneven terrain such as ramp and stair, furthermore, this method can be applied to a more rugged terrain. This paper analyzes the dynamic parameters of a quadruped robot walking on the complex terrain, which means the supporting points of the robot lie in different heights relative to the level ground. In order to ensure the same leg length, there will be energy dissipation caused by the raise of the center of mass. Therefore this paper proposes a dual length linear inverted pendulum method (DLLIPM), which not only effectively reduces the energy dissipation, but also promotes the workspace utilization. In addition, Newton-Raphson algorithm is used to optimize the linear inverted pendulum movement, which makes the movement symmetrical and smooth. Finally this paper presents simulation results with DLLIPM on a quadruped robot with 16 degrees of freedom.

关键词： Legged locomotion Foot Trajectory Mathematical model Robot sensing systems

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Target Assignment Optimization of Heterogeneous Sensor Networks in Urban Environment

Target Assignment Optimization of Heterogeneous Sensor Netwo...

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第三十九届中国控制会议

作者： Chen Chen Cheng Zihao Xu Wei School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex System

Preventing and controlling Low-Slow-Small(LSS) targets are problems to be solved due to their good concealment in urban environment. Consequently, the problem of target assignment is studied in this paper. Firstly, a target assignment model based on heterogeneous sensor networks is proposed. The characteristics of LSS targets and the influence of environmental factors such as climate and terrain are considered on this model. At the same time, the detection capabilities of different detection nodes and collaborative tracking capabilities are also considered. Secondly, an intelligent optimization algorithm GSAPSO based on PSO is proposed to maximize tracking effect of the sensors. Finally, the simulations are used to compare the GSAPSO algorithm with the traditional PSO and GAPSO algorithms. The results demonstrate that the proposed algorithm has better tracking effect.

关键词： Target assignment Urban environment Heterogeneous sensor networks PSO

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