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Dual Branch PnP Based Network for Monocular 6D Pose Estimation

Intelligent Automation & Soft Computing 2023年第6期36卷 3243-3256页

作者： Jia-Yu Liang Hong-Bo Zhang Qing Lei Ji-Xiang Du Tian-Liang Lin Department of Computer Science and Technology Huaqiao UniversityXiamen361000China Xiamen Key Laboratory of Computer Vision and Pattern Recognition Huaqiao UniversityXiamen361000China Fujian Key Laboratory of Big Data Intelligence and Security Huaqiao UniversityXiamen361000China College of Mechanical Engineering and Automation Xiamen361000China

Monocular 6D pose estimation is a functional task in the field of com-puter vision and *** recent years,2D-3D correspondence-based methods have achieved improved performance in multiview and depth data-based ***,for monocular 6D pose estimation,these methods are affected by the prediction results of the 2D-3D correspondences and the robustness of the per-spective-n-point(PnP)*** is still a difference in the distance from the expected estimation *** obtain a more effective feature representation result,edge enhancement is proposed to increase the shape information of the object by analyzing the influence of inaccurate 2D-3D matching on 6D pose regression and comparing the effectiveness of the intermediate ***,although the transformation matrix is composed of rotation and translation matrices from 3D model points to 2D pixel points,the two variables are essentially different and the same network cannot be used for both variables in the regression ***,to improve the effectiveness of the PnP algo-rithm,this paper designs a dual-branch PnP network to predict rotation and trans-lation ***,the proposed method is verified on the public LM,LM-O and YCB-Video *** ADD(S)values of the proposed method are 94.2 and 62.84 on the LM and LM-O datasets,*** AUC of ADD(-S)value on YCB-Video is *** experimental results show that the performance of the proposed method is superior to that of similar methods.

关键词： 6D pose monocular RGB edge enhancement dual-branch PnP 2D-3D correspondence

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Analog parallel processor for broadband multifunctional integrated system based on silicon photonic platform

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Light(Science & Applications) 2025年第3期14卷 746-756页

作者： Na Qian Defu Zhou Haowen Shu Ming Zhang Xingjun Wang Daoxin Dai Xiao Deng Weiwen Zou State Key Laboratory of Advanced Optical Communication Systems and Networks Intelligent Microwave Lightwave Integration Innovation Center(imLic)Department of Electronic EngineeringShanghai Jiao Tong UniversityShanghaiChina State Key Laboratory of Advanced Optical Communications System and Networks Department of ElectronicsSchool of Electronics Engineering and Computer SciencePeking UniversityBejingChina State Key Laboratory of Extreme Photonics and Instrumentation College of Optical Science and EngineeringInternational Research Center for Advanced PhotonicsZhejiang UniversityHangzhouChina

Sharing the hardware platform between diverse information systems to establish full cooperation among different functionalities has attracted substantial ***,broadband multifunctional integrated systems with large operating frequency ranges are challenging due to the bandwidth and computing speed restrictions of electronic ***,we report an analog parallel processor(APP)based on the silicon photonic platform that directly discretizes and parallelizes the broadband signal in the analog *** APP first discretizes the signal with the optical frequency comb and then adopts optical dynamic phase interference to reassign the analog signal into 2N parallel *** photonic analog parallelism,data rate and data volume in each sequence are simultaneously compressed,which mitigates the requirement on each parallel computing ***,the fusion of the outputs from each computing core is equivalent to directly processing broadband *** the proof-of-concept experiment,two-channel analog parallel processing of broadband radar signals and high-speed communication signals is implemented on the single photonic integrated *** bandwidth of broadband radar signal is 6 GHz and the range resolution of 2.69 cm is *** wireless communication rate of 8 Gbit/s is also *** the bandwidth and speed limitations of the single-computing core along with further exploring the multichannel potential of this architecture,we anticipate that the proposed APP will accelerate the development of powerful optoelectronic processors as critical support for applications such as satellite networks and intelligent driving.

关键词： analog parallel processor sharing hardware platform multifunctional integrated systems establish full cooperation different functionalities analog parallel processor app based silicon photonic platform electronic circuitryherewe broadband signal

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GHVC-Net: Hypervolume Contribution Approximation Based on Graph Neural Network

GHVC-Net: Hypervolume Contribution Approximation Based on Gr...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Wu, Guotong Nan, Yang Shang, Ke Ishibuchi, Hisao Shenzhen University National Engineering Laboratory for Big Data System Computing Technology Shenzhen518060 China Southern University of Science and Technology Department of Computer Science and Engineering Shenzhen518055 China

ISBN: (纸本)9781665410205

This paper proposes a framework called GHVC-Net that uses the graph neural network (GNN) model to approximate each solution's hypervolume contribution (HVC). GHVC-Net is permutation invariant and can handle solution sets of arbitrary size, similar to the properties of GNN. Compared to HVC-Net (i.e., a machine learning model for HVC approximation), GHVC-Net achieves better accuracy with less training time. GHVC-Net is also compared with traditional approximation methods, such as line-based and point-based methods, to demonstrate its ability to identify the solution with the smallest (largest) HVC. © 2024 IEEE.

关键词： Neural network models

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Dependency-aware Task Offloading and Resource Pricing in Vehicular Edge Computing: A Stackelberg Game Approach 22

Dependency-aware Task Offloading and Resource Pricing in Veh...

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22nd IEEE International Symposium on Parallel and Distributed Processing with Applications, ISPA 2024

作者： Zhao, Liang Huang, Shuai Cao, Yuxiang Zhou, Huan Leung, Victor C. M. China Three Gorges University Hubei Key Laboratory of Intelligent Vision Based Monitoring for Hydroelectric Engineering College of Computer and Information Technology Yichang China Northwestern Polytechnical University School of Computer Science Xi'an China The University of British Columbia Department of Electrical and Computer Engineering Vancouver Canada

ISBN: (纸本)9798331509712

Vehicular Edge Computing (VEC) allows vehicles to offload their delay-sensitive tasks to nearby Road Side Units (RSUs) for processing, which improves network quality of service (QoS). However, the self-interested SDN controller is unwilling to ask RSUs to provide free computing resources for vehicles. At the same time, complicated dependencies between vehicular subtasks may cause non-ideal task delay and energy consumption. In order to solve these problems, this paper proposes a Stackelberg game-based Dependency-aware task Offloading and resource Pricing framework (SDOP). Specifically, we first model a vehicular edge network that partially offloads dependency-aware tasks. Then, we depict the interaction between the SDN controller and vehicles as a Stackelberg game, with the goal of maximizing the utility of both parties. Next, we present a Gradient Ascent Plus Genetic algorithm (GAPG) to solve the problem. Finally, numerous simulations are performed, and the results show that compared with other baseline schemes, the proposed GAPG can significantly improve the utility of both the SDN controller and vehicles under various scenarios. © 2024 IEEE.

关键词： Quality of service

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Improved Demonstration-Knowledge Utilization in Reinforcement Learning

IEEE Transactions on Artificial Intelligence

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IEEE Transactions on Artificial Intelligence 2024年第5期5卷 2139-2150页

作者： Liu, Yanyu Zeng, Yifeng Ma, Biyang Pan, Yinghui Gao, Huifan Zhang, Yuting Xiamen University Xiamen Key Laboratory of Big Data Intelligent Analysis and Decision Department of Automation Xiamen361102 China Northumbria University Department of Computer and Information Sciences NewcastleNE1 8ST United Kingdom Minnan Normal University Department of Computer Science Zhangzhou363000 China Shenzhen University National Engineering Laboratory for Big Data System Computing Technology Shenzhen518060 China

Reinforcement learning (RL) has made great success in recent years. Generally, the learning process requires a huge amount of interaction with the environment before an agent can achieve acceptable performance. This motivates many techniques, such as incorporating prior knowledge which is usually presented as experts' demonstration, and using a probability distribution to represent state-and-action values, to accelerate the learning process. The methods perform well when the prior knowledge is genuinely correct and no much change occurs to the learning environment. However, the requirement is not perfectly realistic in many complex applications. The demonstration knowledge may not reflect the true environment and even be full of noise. In this article, we introduce a dynamic distribution merging method to improve knowledge utilization in a general RL algorithm, namely Q-learning. The new method adapts a normal distribution to represent state-action values and merges the prior and learned knowledge in a discriminative way. We theoretically analyze the new learning method and demonstrate its empirical performance over multiple problem domains. © 2020 IEEE.

关键词： Merging

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Prior Knowledge-Driven Hybrid Prompter Learning for RGB-Event Tracking

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IEEE Transactions on Circuits and systems for Video Technology 2025年

作者： Wang, Mianzhao Shi, Fan Cheng, Xu Chen, Shengyong Tianjin University of Technology Engineering Research Center of Learning-Based Intelligent System Ministry of Education Key Laboratory of Computer Vision and System School of Computer Science and Engineering Tianjin300384 China Technical University of Denmark Department of Technology Management and Economics Kongens Lyngby Denmark

Event data can asynchronously capture variations in light intensity, thereby implicitly providing valuable complementary cues for RGB-Event tracking. Existing methods typically employ a direct interaction mechanism to fuse RGB and event data. However, due to differences in imaging mechanisms, the representational disparity between these two data types is not fixed, which can lead to tracking failures in certain challenging scenarios. To address this issue, we propose a novel prior knowledge-driven hybrid prompter learning framework for RGB-Event tracking. Specifically, we develop a frame-event hybrid prompter that leverages prior tracking knowledge from the foundation model as intermediate modal support to mitigate the heterogeneity between RGB and event data. By leveraging its rich prior tracking knowledge, the intermediate modal reduces the gap between the dense RGB and sparse event data interactions, effectively guiding complementary learning between modalities. Meanwhile, to mitigate the internal learning disparities between the lightweight hybrid prompter and the deep transformer model, we introduce a pseudo-prompt learning strategy that lies between full fine-tuning and partial fine-tuning. This strategy adopts a divide-and-conquer approach to assign different learning rates to modules with distinct functions, effectively reducing the dominant influence of RGB information in complex scenarios. Extensive experiments conducted on two public RGB-Event tracking datasets show that the proposed HPL outperforms state-of-the-art tracking methods, achieving exceptional performance. © 1991-2012 IEEE.

关键词： Object detection

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Dynamic State Estimation for DFIG with Unknown Inputs Based on Cubature Kalman Filter and Adaptive Interpolation

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Journal of Modern Power systems and Clean Energy 2023年第4期11卷 1086-1099页

作者： Maolin Zhu Hao Liu Junbo Zhao Bendong Tan Tianshu Bi Samson Shenglong Yu State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power UniversityBeijingChina Department of Electrical and Computer Engineering University of ConnecticutStorrs06269USA School of Engineering Deakin University75 Pigdons RoadWaurn PondsVIC3216Australia

Dynamic state estimation(DSE)accurately tracks the dynamics of power systems and demonstrates the evolution of the system state in real *** paper proposes a DSE approach for a doubly-fed induction generator(DFIG)with unknown inputs based on adaptive interpolation and cubature Kalman filter(AICKF-UI).DFIGs adopt different control strategies in normal and fault conditions;thus,the existing DSE approaches based on the conventional control model of DFIG are not applicable in all ***,the DSE model of DFIGs is reformulated to consider the converter controller outputs as unknown inputs,which are estimated together with the DFIG dynamic states by an exponential smoothing model and augmented-state cubature Kalman ***,as the reporting rate of existing synchro-phasor data is not sufficiently high to capture the fast dynamics of DFIGs,a large estimation error may occur or the DSE approach may *** this end,in this paper,a local-truncation-error-guided adaptive interpolation approach is *** simulations conducted on a wind farm and the modified IEEE 39-bus test system show that the proposed AICKF-UI can(1)effectively address the divergence issues of existing cubature Kalman filters while being computationally more efficient;(2)accurately track the dynamic states and unknown inputs of the DFIG;and(3)deal with various types of system operating conditions such as time-varying wind and different system faults.

关键词： Adaptive interpolation cubature Kalman filter doubly-fed induction generator(DFIG) dynamic state estimation unknown input

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Discrete Geometric Coded Data Layout for Large-scale Object Storage systems 21

Discrete Geometric Coded Data Layout for Large-scale Object ...

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21st IEEE International Symposium on Parallel and Distributed Processing with Applications, 13th IEEE International Conference on Big Data and Cloud Computing, 16th IEEE International Conference on Social Computing and Networking and 13th International Conference on Sustainable Computing and Communications, ISPA/BDCloud/SocialCom/SustainCom 2023

作者： Tian, Yi Xu, Guangping Yang, Hongzhang Ni, Yue Cao, JiaXin Yang, Lei Tianjin University of Technology School of Computer Science and Engineering Tianjin China Novel Software Technology Tianjin Key Laboratory of Intelligence Computing Tianjin China Key Laboratory of Computer Vision and System Ministry of Education China Information Technology Co. Ltd. China

ISBN: (纸本)9798350329223

Regenerating codes are new network codes proposed to reduce the data required for fault repair, which can improve the recovery efficiency of faulty nodes in data storage systems. However, unlike Reed-Solomon code, which repairs at the granularity of bytes, regenerating codes require data stored in large chunks but leads to severe read amplification, which reads out excess data when degraded read objects and increases degraded read time. That reflects a mutual constraint between improving recovery efficiency and degraded read performance, as manifested in the amplification of data reads, a vital issue considered in this *** solve this problem, we propose a new type of data layout - discrete geometric, which splits the object into a series of geometric sequences of data blocks. They are placed discretely into corresponding containers on the disks at different nodes, with containers of the same size made into a strip for encoding. The discrete characteristic ensures lower repair costs for degraded reads. The geometric characteristic ensures the repair performance of regenerating codes by large blocks, and read amplification can be mitigated through small blocks. To reduce IOPS for discrete geometric, we propose Discrete Geometric-Locally Regenerating Codes (DG-LRCs), guaranteeing lower degraded read latency while improving recovery *** results show that the degraded read time of DG-LRCs compared to regenerating codes combined with geometric partitioning is 22.56% lower at 2Gbpsand 60.56% lower at 4Gbps, and the recovery performance is 7.04 times better than that of RS code. © 2023 IEEE.

关键词： Efficiency

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Harnessing Light Field Angular Cues and Spatial Geometries for Semantic Segmentation

Harnessing Light Field Angular Cues and Spatial Geometries f...

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International Conference on Acoustics, Speech, and Signal Processing (ICASSP)

作者： Chen Jia Fan Shi Xu Cheng School of Computer Science and Engineering The Engineering Research Center of Learning-Based Intelligent System (Ministry of Education) The Key Laboratory of Computer Vision and System (Ministry of Education) Tianjin University of Technology Tianjin China

ISBN: (数字)9798350368741

ISBN: (纸本)9798350368758

4D light field imaging captures rich spatial-angular information, providing essential geometric cues for semantic segmentation tasks. In this paper, we introduce a novel backbone network called the Light Field Extraction Interaction Network (LFEI-Net). LFEI-Net excels in extracting global structures and multi-scale spatial-angular features, capturing feature dependencies through channel modeling and diverse feature interactions. Unlike traditional methods that depend on pyramid and dilated feature extraction, LFEI-Net pioneers an efficient method by integrating large-scale horizontal depth-wise convolution (HDWC) and vertical depth-wise convolution (VDWC) with interactive operations for comprehensive spatial multi-scale feature extraction. Furthermore, we present the Multi-Angular Modeling (MAM) module, which effectively captures scene angle variations from multiple perspectives and precisely delineates object boundaries, thereby improving model adaptability. Our experimental evaluations on two datasets demonstrate that LFEI-Net significantly outperforms state-ofthe-art (SOTA) 2D and 4D light field semantic segmentation methods, achieving mean Intersection over Union (mIoU) of 83.72% and 86.88%, respectively.

关键词： Geometry Adaptation models Convolution Semantic segmentation Imaging Feature extraction Light fields Acoustics Speech processing

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Research on Image Captioning Based on vision-language Pre-trained Models 9

Research on Image Captioning Based on Vision-language Pre-tr...

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9th International Conference on Big Data and Information Analytics, BigDIA 2023

作者： Zou, Shiwei Xie, Yuxiang Yan, Jie Wei, Yingmei Luan, Xidao National University of Defense Technology Department of System Engineering Hunan China National University of Defense Technology Key Laboratory of Big Data Department of System Engineering Changsha Hunan China Changsha University Department of Computer Science Hunan China

ISBN: (纸本)9798350330076

Image captioning is a vision-language task that targets at describing an image by generating a coherent sentence automatically. This technology allows computers to understand and describe images like humans, enabling further processing of images. It combines computer vision and natural language processing, which has broad applications. This paper investigates the use of vision-language pre-trained models for image captioning. In this article, an encoder-decoder hybrid model based on PVT and BERT is pre-trained on a large number of image-text pairs, possessing both understanding and generation capabilities. It consists of three components: 1) an image encoder and a text encoder to extract image and text features respectively;2) a multi-modal encoder to align the two modalities;and 3) a text decoder to generate text descriptions. This paper focuses on enhancing the image encoder of the model, which is crucial for image captioning models as it extracts high-resolution image features. Reducing training time and computational costs can also improve the applicability of pre-trained models. Improvements are made to the original model by modifying the ViT model architecture of the image encoding module. A feature pyramid structure and a spatial reduction attention mechanism is introduced to extract high-resolution image features while reducing computational complexity and memory usage, thereby enhancing the universality of the model. The model adopts a pure Transformer architecture, discarding the convolutional structure, and achieves excellent performance. © 2023 IEEE.

关键词： Image enhancement

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