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arXiv 2025年

作者： Li, Siyu Cao, Yihong Shi, Hao Zang, Yongsheng He, Xuan Yang, Kailun Li, Zhiyong School of Robotics the National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University Hangzhou310027 China College of Computer Science and Electronic Engineering Hunan University Changsha410082 China Hunan Vanguard Group Corporation Limited Changsha410100 China

The exploration of Bird’s-Eye View (BEV) mapping technology has driven significant innovation in visual perception technology for autonomous driving. BEV mapping models need to be applied to the unlabeled real world, making the study of unsupervised domain adaptation models an essential path. However, research on unsupervised domain adaptation for BEV mapping remains limited and cannot perfectly accommodate all BEV mapping tasks. To address this gap, this paper proposes HierDAMap, a universal and holistic BEV domain adaptation framework with hierarchical perspective priors. Unlike existing research that solely focuses on image-level learning using prior knowledge, this paper explores the guiding role of perspective prior knowledge across three distinct levels: global, sparse, and instance levels. With these priors, HierDA consists of three essential components, including Semantic-Guided Pseudo Supervision (SGPS), Dynamic-Aware Coherence Learning (DACL), and Cross-Domain Frustum Mixing (CDFM). SGPS constrains the cross-domain consistency of perspective feature distribution through pseudo labels generated by vision foundation models in 2D space. To mitigate feature distribution discrepancies caused by spatial variations, DACL employs uncertainty-aware predicted depth as an intermediary to derive dynamic BEV labels from perspective pseudo-labels, thereby constraining the coarse BEV features derived from corresponding perspective features. CDFM, on the other hand, leverages perspective masks of view frustum to mix multi-view perspective images from both domains, which guides cross-domain view transformation and encoding learning through mixed BEV labels. Furthermore, this paper introduces intra-domain feature exchange data augmentation to enhance the efficiency of domain adaptation learning. The proposed method is verified on multiple BEV mapping tasks, such as BEV semantic segmentation, high-definition semantic, and vectorized mapping. It demonstrates competitive perfo

关键词： Birds

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StyleGene: Crossover and Mutation of Region-level Facial Genes for Kinship Face Synthesis

StyleGene: Crossover and Mutation of Region-level Facial Gen...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Hao Li Xianxu Hou Zepeng Huang Linlin Shen Computer Vision Institute College of Computer Science and Software Engineering Shenzhen University National Engineering Laboratory for Big Data System Computing Technology Shenzhen University School of AI and Advanced Computing Xi'an Jiaotong-Liverpool University Shenzhen Institute of Artificial Intelligence and Robotics for Society Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University

High-fidelity kinship face synthesis has many potential applications, such as kinship verification, missing child identification, and social media analysis. However, it is challenging to synthesize high-quality descendant faces with genetic relations due to the lack of large-scale, high-quality annotated kinship data. This paper proposes RFG (Region-level Facial Gene) extraction framework to address this issue. We propose to use IGE (Image-based Gene Encoder), LGE (Latent-based Gene Encoder) and Gene Decoder to learn the RFGs of a given face image, and the relationships between RFGs and the latent space of Style-GAN2. As cycle-like losses are designed to measure the $\mathcal{L}_{2}$ distances between the output of Gene Decoder and image encoder, and that between the output of LGE and IGE, only face images are required to train our framework, i.e. no paired kinship face data is required. Based upon the proposed RFGs, a crossover and mutation module is further designed to inherit the facial parts of parents. A Gene Pool has also been used to introduce the variations into the mutation of RFGs. The diversity of the faces of descendants can thus be significantly increased. Qualitative, quantitative, and subjective experiments on FIW, TSKinFace, and FF-Databases clearly show that the quality and diversity of kinship faces generated by our approach are much better than the existing state-of-the-art methods.

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Development of an Efficient Charging Control System for Pico-Hydro Power Generation Utilizing Multiple Impact Water Wheel (MIWW) with MPPT Control

Development of an Efficient Charging Control System for Pico...

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International Conference on Renewable Energy Research and Applications (ICRERA)

作者： Yusuke Asami Hiroshi Takami Fuminori Ishibashi Shota Kawate Hidemi Kurita Masaki Shimizu Graduate School of Electrical Eng. and Computer Science Shibaura Institute of Technology Tokyo Japan Dept. of Electrical Eng. and Robotics Course College of Engineering Shibaura Institute of Technology Tokyo Japan Dept. of Electrical Eng. Faculty of Engineering Shibaura Institute of Technology Tokyo Japan Koa Electronics Co. Ltd. Nagano Japan Harmony with Nature Technology Laboratory Nagano Japan Souken Group Nagano Japan

ISBN: (数字)9798350375589

ISBN: (纸本)9798350375596

This paper introduces an advanced charging control system for a Multiple Impact Water Wheel (MIWW) used in pico-hydropower generation. The control system maximizes energy conversion efficiency by employing a Maximum Power Point Tracking (MPPT) algorithm, which dynamically adjusts the system's operation based on real-time voltage and current measurements. Unlike traditional methods that rely on monitoring rotational speed, this approach simplifies the system by eliminating the need for speed sensors, thereby reducing costs and enhancing reliability. The control system is structured into four main operational phases: the water turbine acceleration phase, optimal control (MPPT) phase, drooping characteristic suppression phase, and overvoltage protection phase. Each phase is designed to optimize distinct aspects of system performance, ensuring stable and efficient power generation under varying water flow conditions. Experimental validation was conducted by subjecting the system to three different water pressure levels (0.036 MPa, 0.048 MPa, and 0.042 MPa). The results demonstrate that the system successfully maintained stable voltage and current, even during rapid fluctuations in water pressure, confirming the effectiveness of the proposed MPPT algorithm. By addressing the challenges of droop characteristics and overvoltage conditions, the control system ensures the reliability and efficiency of pico-hydropower systems. This research contributes to the development of cost-effective, efficient, and sustainable energy solutions, especially in regions lacking conventional power infrastructure.

关键词： Maximum power point trackers Water Fluctuations Heuristic algorithms Velocity control Wheels Sensor systems Voltage control Power generation Turbines

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Low-Light Enhancement Effect on Classification and Detection: An Empirical Study

arXiv

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arXiv 2024年

作者： Wu, Xu Lai, Zhihui Jie, Zhou Gao, Can Hou, Xianxu Zhang, Ya-Nan Shen, Linlin The Computer Vision Institute College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518060 China Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen518060 China School of AI and Advanced Computing Xi’an Jiaotong-Liverpool University China The National Engineering Laboratory for Big Data System Computing Technology Shenzhen University SZU Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Guangdong Shenzhen518060 China

Low-light images are commonly encountered in real-world scenarios, and numerous low-light image enhancement (LLIE) methods have been proposed to improve the visibility of these images. The primary goal of LLIE is to generate clearer images that are more visually pleasing to humans. However, the impact of LLIE methods in high-level vision tasks, such as image classification and object detection, which rely on high-quality image datasets, is not well explored. To explore the impact, we comprehensively evaluate LLIE methods on these high-level vision tasks by utilizing an empirical investigation comprising image classification and object detection experiments. The evaluation reveals a dichotomy: While Low-Light Image Enhancement (LLIE) methods enhance human visual interpretation, their effect on computer vision tasks is inconsistent and can sometimes be harmful. Our findings suggest a disconnect between image enhancement for human visual perception and for machine analysis, indicating a need for LLIE methods tailored to support high-level vision tasks effectively. This insight is crucial for the development of LLIE techniques that align with the needs of both human and machine vision. Copyright © 2024, The Authors. All rights reserved.

关键词： Machine vision

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Siamcorners: Siamese corner networks for visual tracking

arXiv

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arXiv 2021年

作者： Yang, Kai He, Zhenyu Pei, Wenjie Zhou, Zikun Li, Xin Yuan, Di Zhang, Haijun School of Computer Science and Technology Harbin Institute of Technology Shenzhen518055 China Peng Cheng Laboratory Shenzhen China School of Computer Science and Technology Harbin Institute of Technology Shenzhen518055 China Shenzhen Institute of Artificial Intelligence and Robotics for Society China

The current Siamese network based on region proposal network (RPN) has attracted great attention in visual tracking due to its excellent accuracy and high efficiency. However, the design of the RPN involves the selection of the number, scale, and aspect ratios of anchor boxes, which will affect the applicability and convenience of the model. Furthermore, these anchor boxes require complicated calculations, such as calculating their intersection-over-union (IoU) with ground truth bounding boxes. Due to the problems related to anchor boxes, we propose a simple yet effective anchor-free tracker (named Siamese corner networks, SiamCorners), which is end-to-end trained offline on large-scale image pairs. Specifically, we introduce a modified corner pooling layer to convert the bounding box estimate of the target into a pair of corner predictions (the bottom-right and the top-left corners). By tracking a target as a pair of corners, we avoid the need to design the anchor boxes. This will make the entire tracking algorithm more flexible and simple than anchor-based trackers. In our network design, we further introduce a layer-wise feature aggregation strategy that enables the corner pooling module to predict multiple corners for a tracking target in deep networks. We then introduce a new penalty term that is used to select an optimal tracking box in these candidate corners. Finally, SiamCorners achieves experimental results that are comparable to the state-of-art tracker while maintaining a high running speed. In particular, SiamCorners achieves a 53.7% AUC on NFS30 and a 61.4% AUC on UAV123, while still running at 42 frames per second (FPS). © 2021, CC BY.

关键词： Aspect ratio

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Optimization Model of Housing Construction Project Scheduling Based on Optimized Ant Colony Algorithm 2

Optimization Model of Housing Construction Project Schedulin...

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2nd International Conference on Smart Technologies for Smart Nation, SmartTechCon 2023

作者： Srinivasa, Gowda G.K. Krishna, G.R. Sanjay Rex, J. Kumar, K. Sambath Kumar, Madhan Mohan Manikandan, N. Department of Computer Science and Engineering ACS College of Engineering Tamilnadu Bangalore India Department: Mechanical Engineering Koneru Lakshmaiah Education foundation Green fields Andhra Pradesh Vaddeswaram India Department of Civil Engineering Malla Reddy Engineering College Tamilnadu Hyderabad India Department of Electronics and Communication Engineering Vel Tech Rangarajan Dr.Sagunthala R&D Institute of Science and Technology Chennai India Department of Robotics and Automation Easwari Engineering College Bharathi salai Ramapuram Tamilnadu Chennai India Dept of Mechanical Engineering School of Engineering Mohan Babu University Andhra Pradesh Tirupati India

ISBN: (纸本)9798350305418

Construction management is a standardized means of project management. The construction project takes a long time and has many links, and the construction workers involved are complicated. Poor quality buildings will not only affect the construction enterprises’ brand, but also threaten the safety of people's lives and property. In this paper, an optimization model of housing construction project scheduling based on ant colony algorithm (ACA) is put forward. By studying the relationship among various sub-projects in the construction system of building projects, the management of building projects can be better realized. The results show that compared with the other two algorithms, the optimized ACA has certain advantages in recall and accuracy. There are many contents involved in the building construction process, and there are many uncontrollable factors in the building process, which greatly impact the project's construction quality. The construction industry can use this technology to strengthen the building construction management, solve the problems existing in the construction management, and improve the construction quality. © 2023 IEEE.

关键词： ant colony algorithm Building engineering Construction supervision Optimization Model Project scheduling

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CodeEnhance: A Codebook-Driven Approach for Low-Light Image Enhancement

arXiv

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arXiv 2024年

作者： Wu, Xu Hou, XianXu Lai, Zhihui Zhou, Jie Zhang, Ya-Nan Pedrycz, Witold Shen, Linlin The Computer Vision Institute College of Computer Science and Software Engineering Shenzhen University Shenzhen518060 China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518060 China Guangdong Key Laboratory of Intelligent Information Processing Shenzhen University Shenzhen518060 China School of AI and Advanced Computing Xi’an Jiaotong-Liverpool University China National Engineering Laboratory for Big Data System Computing Technology Shenzhen University SZU Branch Shenzhen Institute of Artificial Intelligence and Robotics for Society Guangdong Shenzhen518060 China The Department of Electrical & Computer Engineering University of Alberta University of Alberta Canada

Low-light image enhancement (LLIE) aims to improve low-illumination images. However, existing methods face two challenges: (1) uncertainty in restoration from diverse brightness degradations;(2) loss of texture and color information caused by noise suppression and light enhancement. In this paper, we propose a novel enhancement approach, CodeEnhance, by leveraging quantized priors and image refinement to address these challenges. In particular, we reframe LLIE as learning an image-to-code mapping from low-light images to discrete codebook, which has been learned from high-quality images. To enhance this process, a Semantic Embedding Module (SEM) is introduced to integrate semantic information with low-level features, and a Codebook Shift (CS) mechanism, designed to adapt the pre-learned codebook to better suit the distinct characteristics of our low-light dataset. Additionally, we present an Interactive Feature Transformation (IFT) module to refine texture and color information during image reconstruction, allowing for interactive enhancement based on user preferences. Extensive experiments on both real-world and synthetic benchmarks demonstrate that the incorporation of prior knowledge and controllable information transfer significantly enhances LLIE performance in terms of quality and fidelity. The proposed CodeEnhance exhibits superior robustness to various degradations, including uneven illumination, noise, and color distortion. Copyright © 2024, The Authors. All rights reserved.

关键词： Image enhancement

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Offboard Occupancy Refinement with Hybrid Propagation for Autonomous Driving

arXiv

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arXiv 2024年

作者： Shi, Hao Wang, Song Zhang, Jiaming Yin, Xiaoting Wang, Zhongdao Wang, Guangming Zhu, Jianke Yang, Kailun Wang, Kaiwei The State Key Laboratory of Extreme Photonics and Instrumentation The National Engineering Research Center of Optical Instrumentation Zhejiang University Hangzhou310027 China The School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China The College of Computer Science and Technology Zhejiang University Hangzhou310027 China The Institute for Anthropomatics and Robotics Karlsruhe Institute of Technology Karlsruhe76131 Germany Huawei Noah’s Ark Lab. Canada The Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom

Vision-based occupancy prediction, also known as 3D Semantic Scene Completion (SSC), presents a significant challenge in computer vision. Previous methods, confined to onboard processing, struggle with simultaneous geometric and semantic estimation, continuity across varying viewpoints, and single-view occlusion. Our paper introduces OccFiner, a novel offboard framework designed to enhance the accuracy of vision-based occupancy predictions. OccFiner operates in two hybrid phases: 1) a multi-to-multi local propagation network that implicitly aligns and processes multiple local frames for correcting onboard model errors and consistently enhancing occupancy accuracy across all distances. 2) the region-centric global propagation, focuses on refining labels using explicit multi-view geometry and integrating sensor bias, especially to increase the accuracy of distant occupied voxels. Extensive experiments demonstrate that OccFiner improves both geometric and semantic accuracy across various types of coarse occupancy, setting a new state-of-the-art performance on the SemanticKITTI dataset. Notably, OccFiner elevates vision-based SSC models to a level even surpassing that of LiDAR-based onboard SSC models. Furthermore, OccFiner is the first to achieve automatic annotation of SSC in a purely vision-based approach. Quantitative experiments prove that OccFiner successfully facilitates occupancy data loop-closure in autonomous driving. Additionally, we quantitatively and qualitatively validate the superiority of the offboard approach on city-level SSC static maps. The source code will be made publicly available at https://***/MasterHow/OccFiner. Copyright © 2024, The Authors. All rights reserved.

关键词： Semantic Segmentation

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A Dynamic Adaptive Search Algorithm for CoSpace Rescue Robot 6

A Dynamic Adaptive Search Algorithm for CoSpace Rescue Robot

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6th International Conference on robotics and Automation Engineering, ICRAE 2021

作者： Chengbo, Li Xiaoming, Wang Zixi, Huang Guangyao, Pang Xinyu, Han Yaguang, Lin Dalian Free Trade Zone No. 1 High School Dalian China Key Laboratory of Modern Teaching Technology Ministry of Education Xi'an China School of Computer Science Shaanxi Normal University Xi'an710119 China Shenzhen Middle School Shenzhen China Wuzhou University School of Data Science and Software Engineering Wuzhou China Singapore Polytechnic Advanced Robotics and Intelligent Control Centre Singapore

ISBN: (纸本)9781665406970

The application of robots to assist humans in earthquake rescue has always been an important topic that researchers are constantly studying. CoSpace Rescue is an abstract modeling and simulation of earthquake rescue and a simulation platform for studying robot rescue search algorithms. Its mathematical model is a multi-objective optimization problem. In this paper, we propose a search algorithm design framework for the CoSpace Rescue robot. Based On this framework and the idea of the heuristic search algorithm, we design and implement the 'Multi-objective Optimal Dynamic Adaptive On-Demand Search Algorithm'. The results of the experiment show that the algorithm can dynamically adapt to the changes in the environment and significantly improve the search efficiency of the rescue robot. © 2021 IEEE.

关键词： Earthquakes

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Pareto Continual Learning: Preference-Conditioned Learning and Adaption for Dynamic Stability-Plasticity Trade-off 39

Pareto Continual Learning: Preference-Conditioned Learning a...

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39th Annual AAAI Conference on Artificial Intelligence, AAAI 2025

作者： Lai, Song Zhao, Zhe Zhu, Fei Lin, Xi Zhang, Qingfu Meng, Gaofeng Department of Computer Science City University of Hong Kong Hong Kong Centre for Artificial Intelligence and Robotics HK Institute of Science & Innovation Chinese Academy of Sciences China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences China School of Artificial Intelligence University of Chinese Academy of Sciences China City University of Hong Kong Shenzhen Research Institute Hong Kong University of Science and Technology of China China

ISBN: (纸本)157735897X

Continual learning aims to learn multiple tasks sequentially. A key challenge in continual learning is balancing between two objectives: retaining knowledge from old tasks (stability) and adapting to new tasks (plasticity). Experience replay methods, which store and replay past data alongside new data, have become a widely adopted approach to mitigate catastrophic forgetting. However, these methods neglect the dynamic nature of the stability-plasticity trade-off and aim to find a fixed and unchanging balance, resulting in suboptimal adaptation during training and inference. In this paper, we propose Pareto Continual Learning (ParetoCL), a novel framework that reformulates the stability-plasticity trade-off in continual learning as a multi-objective optimization (MOO) problem. ParetoCL introduces a preference-conditioned model to efficiently learn a set of Pareto optimal solutions representing different trade-offs and enables dynamic adaptation during inference. From a generalization perspective, ParetoCL can be seen as an objective augmentation approach that learns from different objective combinations of stability and plasticity. Extensive experiments across multiple datasets and settings demonstrate that ParetoCL outperforms state-of-the-art methods and adapts to diverse continual learning scenarios. Copyright © 2025, Association for the Advancement of Artificial Intelligence.

关键词： Multi-task learning

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