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作者： Chen, Xue Wang, Chunheng Xiao, Baihua Cai, Xinyuan State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9781479957514

In the Still-to-Video (S2V) face recognition, each subject is enrolled with only few high resolution images, while the probe is video clips of complex variations. As faces present distinct characteristics under different scenarios, recognition in the original space is obviously inefficient. Therefore, in this paper, we propose a novel discriminant analysis method to learn separate mappings for different scenario patterns (still, video), and further pursue a common discriminant space for the cross-scenario samples. To maximize the intra-individual correlation of samples in the mapping space, we formulate the learning objective by incorporating the intra-class compactness and the inter-class dispersion. The gradient descend algorithm is used to get the optimal solution. Experimental results on the COX-S2V dataset demonstrate the effectiveness of the proposed method and remarkable superiority over state-of-art methods. © 2014 IEEE.

关键词： Discriminant analysis

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Shadow lane robust detection by image signal local reconstruction

International Journal of Signal Processing, Image Processing...

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International Journal of Signal Processing, Image Processing and Pattern Recognition 2016年第3期9卷 89-102页

作者： Du, Mingfang Junzheng, Wang Nan, Li Duoyang, Li School of Automation Beijing Union University Beijing China State Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing China Beijing Key Laboratory of Information Service Engineering

In order to resolve shadow interference and slow image processing speed in the visual navigation of unmanned vehicles on city roads, a new lane detection algorithm based on the Inverse Perspective Mapping(IPM) of vertical sub-image reconstruction using local bands was proposed. The lane’s IPM aerial image was obtained using the projective transformation of three-dimensional images of city roads. The ROI portion of the IPM map was decomposed and analyzed using the sym3 wavelet, and after analyzing and comparing the experimental results the first and second levels of the vertical sub images were selected for the reconstruction, compression, and removal of shadows from the original image. The Canny algorithm was proposed and adopted in order to extract the edge features of the reconstructed images according to real-time road image quality. A modified, polar angle, constraint-based, fast Hough transform was used to locate the candidate lanes. Finally, the main control point, straight-line-fitting algorithm was used to fit the final lanes, which achieved the precise location and recognition of the lane lines. The California Polytechnic lane data set, a public data platform, which is now widely used in road visual recognition fields around the world, was selected for the testing and verification of the algorithm. The results of the experiment and actual operation indicated that, despite having a storage space of approximately one tenth the size of similar algorithms, this detection algorithm effectively solves the issue of shadow removal, meets the real-time requirements of roadway image processing systems for unmanned vehicles with a recognition time of less than 20ms, and is robust. © 2016 SERSC.

关键词： Wavelet transforms

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ChatGPT Chats on Computational Experiments:From Interactive Intelligence to Imaginative Intelligence for Design of Artificial Societies and Optimization of Foundational Models

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IEEE/CAA Journal of Automatica Sinica 2023年第6期10卷 1357-1360页

作者： Xiao Xue Xiangning Yu Fei-Yue Wang College of Intelligence and Computing Tianjin UniversityTianjin 300350China State Key Laboratory for Management and Control of Complex Systems the Institute of Automdtion of Chinese Academg of SciencesBeijing 100190China

POWERED by the rapid development of Internet,the penetration of the Internet of Things,the emergence of big data,and the rise of social media,more and more complex systems are exhibiting the characteristics of social,physical,and information *** systems are known as cyber-physicalsocial systems(CPSS)[1],[2].These CPSS face unprecedented challenges in design,analysis,management,control and integration due to their involvement with human and social factors[3],[4].To cope with this challenge,there are two main approaches to CPSS research.

关键词： Intelligence Foundation involvement

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Online Context-based Person Re-identification and Biometric-based Action Recognition for Service Robots 29

Online Context-based Person Re-identification and Biometric-...

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第29届中国控制与决策会议

作者： Ning An Shi-Ying Sun Xiao-Guang Zhao Zeng-Guang Hou State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences

ISBN: (纸本)9781509046584

In this paper, we address the problem of person re-identification and action recognition for service robots,which undergoes lack of training dataset for model learning, reduction of feature set discriminative power in changing scenarios, and high complexity of the algorithm computation. An online context-based person re-identification algorithm is proposed, which learns the person model online without pre-collect dataset and adjusts the weight of features according to the context information. An online biometric-based action recognition algorithm is proposed, actions are recognized by simply matching the skeleton vectors extracted from five linkage mechanisms of human body. The proposed algorithms are evaluated on a service robot system, extensive experimental results show that they performs efficiently and effectively in various real-life scenarios.

关键词： person re-identification action recognition online processing human-robot interaction service robot

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Feature Fusion Based Insulator Detection for Aerial Inspection 36

Feature Fusion Based Insulator Detection for Aerial Inspecti...

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第36届中国控制会议

作者： YAN Tiantian YANG Guodong YU Junzhi University of Chinese Academy of Sciences State Key Laboratory of Management and Control for Complex Systems Institute of Automation ofChinese Academy of Sciences

ISBN: (纸本)9781538629185

This paper presents a detection method of insulator stings for aerial inspection based on *** local sub-images of insulator strings are firstly collected from aerial videos and tagged to establish a training *** fusion feature is then composed by the histogram of oriented gradients（HOG） feature and local binary pattern（LBP） feature after the principal component analysis（PCA） dimension reduction separately.A training model is developed by SVM algorithm with the fusion *** the detection phase,threshold segmentation and morphological operation are adopted to preprocess the *** sliding window method is then used to search the candidate region and the non-maximum suppression（NMS） method is adopted to fuse the candidate ***,the position of the insulator strings can be calculated by linear *** the efficiency and the effectiveness of the proposed method are verified through experiments on locating the multi-angle insulator strings under complex backgrounds.

关键词： Insulator location feature-fusion power line inspection HOG LBP

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A Review of Quadruped Robots and Environment Perception 35

A Review of Quadruped Robots and Environment Perception

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第35届中国控制会议

作者： MENG Xiangrui WANG Shuo CAO Zhiqiang ZHANG Leijie State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences

ISBN: (纸本)9781509009107

As legged robots are suitable to be used in unstructured environments,it becomes a popular field of research *** this paper,the development of quadruped robots is *** several typical and recent robot systems are addressed in details,such as HyQ series,StarlETH,ANYmal,MIT Cheetah and BigDog,***,some key techniques of environment perception for quadruped robots,including sensors,feature extraction and identification,mapping and SLAM,are also ***,future researches of quadruped robots in environment perception are given.

关键词： Quadruped robot environment perception sensors feature extraction mapping and SLAM

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Data-Driven Adaptive Dynamic Programming for Two-Player Nonzero-Sum Game 29

Data-Driven Adaptive Dynamic Programming for Two-Player Nonz...

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第29届中国控制与决策会议

作者： Qichao Zhang Dongbin Zhao Yafei Zhou The state Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences

ISBN: (纸本)9781509046584

In this paper, we propose a data-driven adaptive dynamic programming approach to solve the Hamilton-Jacobi(HJ) equations for the two-player nonzero-sum(NZS) game with completely unknown dynamics. First, the model-based policy iteration(PI) algorithm is given, where the knowledge of system dynamics is required. To relax this requirement,a data-driven adaptive dynamic programming(ADP) is proposed in this paper to solve the unknown nonlinear NZS game with only online data. Neural network approximators are constructed to approach the solution of the HJ equations. The online data is collected under the two initial admissible control policies. Then, the NN weights are updated based on the least-squares method using the collected online data repeatedly, which is a kind of the off-policy learning ***, a simulation example is provided to demonstrate the effectiveness of the proposed control scheme.

关键词： Adaptive dynamic programming data-driven neural network unknown dynamics off-policy

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Move Like Humans:End-to-end Gaussian Process Regression Based Target Tracking control for Mobile Robots 36

Move Like Humans:End-to-end Gaussian Process Regression Base...

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第36届中国控制会议

ISBN: (纸本)9781538629185

In this paper,we address the problem of target tracking control for mobile robots with limited sensing *** end-to-end Gaussian process regression learning control method is proposed to transfer the human control experiences to the *** end-to-end learning architecture directly learns the control mapping from the original sensing input space to the final control output space in an human-like *** non-parametric Gaussian process regression accurately transfers the complex human control experiences to the control *** addition,realistic training data set are collected from human operators for the end-to-end control *** performance of the proposed target tracking control method is extensively evaluated on various real-world scenarios,experimental results have demonstrated the robustness,accuracy,and effectiveness of the proposed method.

关键词： Target Tracking control End-to-end Learning Human-like control Non-parametric Bayesian Model Gaussian Process Regression

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Research on Astronomical Trajectory Planning Algorithm for FAST 29

Research on Astronomical Trajectory Planning Algorithm for F...

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第29届中国控制与决策会议

作者： Sai Deng Fengshui Jing Guodong Yang Zize Liang State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences

ISBN: (纸本)9781509046584

This paper addresses astronomical trajectory planning algorithms for tracking and basket-weaving for Five-hundred-meter Aperture Spherical Radio Telescope(FAST).In order to achieve stable operation at feed receiver of FAST and to ease difficulties of trajectory planning in 3-D space,the observed trajectories were planned in celestial coordinate ***,the characteristics of tracking and basket-weaving were analyzed,and the involved parameters for tracking and basket-weaving were ***,the constraint conditions for planning parameters corresponding to the practical motion were obtained;besides trajectory planning algorithms based on double S velocity profile for tracking and basket-weaving were ***,the numerical results indicated that the planned trajectories are guaranteed to be continuous in position,velocity and acceleration,as well as respect the given motion constraint *** the proposed algorithm cost less planning time than the algorithm plans in 3-D space.

关键词： trajectory planning FAST telescope double S

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Cascade Motion Planning for Vibration Suppression of the Focus Cabin in FAST 36

Cascade Motion Planning for Vibration Suppression of the Foc...

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第36届中国控制会议

作者： Zheng Rongzhang Jing Fengshui Yang Guodong University of Chinese Academy of Sciences The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781538629185

The Five-hundred-meter Aperture Spherical Radio Telescope（FAST） requires high accuracy of positioning and attitude *** to its flexible structure,the cable-cabin system can be excited to vibrate,which affects the *** alleviate the vibration during the slewing task,taking advantage of s-curve planning and input shaping,a cascade motion planning method is *** the main vibration mode,a simplified cable-cabin model is built for simulation according to the parameters of *** experiments are conducted to prove that the cascade method is effective in vibration suppression and robust to the change of natural frequency.

关键词： FAST telescope vibration suppression motion planning s-curve input shaping

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