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3D multipath planning for UAV based on network graph

Journal of Systems Engineering and Electronics 2011年第4期22卷 640-646页

作者： Xin Liu Chengping Zhou Mingyue Ding Institute for Pattern Recognition and Artificial Intelligence Key Laboratory of National Defense Science and Technology forMulti-spectral Information Processing Technologies Huazhong University of Science and Technology Wuhan 430074 R R. China School of Life Science and Technology Image Processing and Intelligence Control Key Laboratory of Education Ministry of China Huazhong University of Science and Technology Wuhan 430072 P. R. China

According to the characteristic and the requirement of multipath planning, a new multipath planning method is proposed based on network. This method includes two steps： the construction of network and multipath searching. The construction of network proceeds in three phases： the skeleton extraction of the configuration space, the judgment of the cross points in the skeleton and how to link the cross points to form a network. Multipath searching makes use of the network and iterative penalty method （IPM） to plan multi-paths, and adjusts the planar paths to satisfy the requirement of maneuverability of unmanned aerial vehicle （UAV）. In addition, a new height planning method is proposed to deal with the height planning of 3D route. The proposed algorithm can find multiple paths automatically according to distribution of terrain and threat areas with high efficiency. The height planning can make 3D route following the terrain. The simulation experiment illustrates the feasibility of the proposed method.

关键词： path planning skeleton graph iterative penaltymethod （IPM） network graph.

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Generalized quantum genetic algorithm of multidimensional space

Generalized quantum genetic algorithm of multidimensional sp...

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2014 International Conference on Logistics Engineering, Management and Computer Science, LEMCS 2014

作者： Zhang, Xiaofeng Miao, Wei Sui, Guifang Yang, Guowei Key Laboratory of JiangXi Procince for Image Processing and Pattern Recognition Information Engineering of NanChang HangKong University NanChang JiangXi330063 China

ISBN: (纸本)9789462520103

Quantum coding plays an important role in quantum genetic algorithm and affects the optimizing efficiency of algorithm, However, there are some defects in existing quantum genetic algorithm: the quantum coding scheme reduces the stability of the algorithm, making the algorithm easily occurs premature convergence and falls into local extremums. Therefore, coding scheme of multi gene chain is extended in a four dimensional space and multidimensional space based on an improved algorithm. Through simulation experiments of function extremum, combine double and triplestranded coding scheme, in accordance with the characteristics of qubits and the normalization condition. Through the experiment, study the effect of multiple genes encoding scheme chain on the performance of the algorithm. The results show that the optimal results of the algorithm can be better and the precision of solution can be higher by increasing the genetic chain. It is an effective strategy to improve the performance of algorithm. © 2014. The authors - Published by Atlantis Press.

关键词： Chains

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Fast KNN search for big data with set compression tree and best bin first 2

Fast KNN search for big data with set compression tree and b...

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2nd International Conference on Cloud Computing and Internet of Things, CCIOT 2016

作者： Chen, Zhenjie Yan, Jingqi Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Key Laboratory of Ministry of Education for System Control and Information Processing China Shanghai China

ISBN: (纸本)9781467398213

This paper proposes k nearest neighbors (kNN) search based on set compression tree (SCT) and best bin first (BBF) to deal with the problem for big data. The large compression rate by set compression tree is achieved by compressing the set of descriptors jointly instead of compressing on a per-descript or basis. So set compression tree has a good performance in kNN search at a low bit rate. At the same time, the best bin first (BBF) is a very efficient algorithm to find the approximately kNN from a large number of high dimensional feature descriptors. SCT-BBF is a novel exploration and it improves search performance in three aspects: First, SCT-BBF requires less memory footprint, which is important in big data age. Second, it increases accuracy compared traditional method like KD-Tree and original SCT. SCT-BBF can be used with other data processing methods like PCA and SIFT to perform better. Third, this paper adopts finer search to increase accuracy at a slight loss of speed. And it can extend to big data easily. © 2016 IEEE.

关键词： Big data

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A new circle targets extraction method from high resolution remote sensing imagery

A new circle targets extraction method from high resolution ...

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4th International Workshop on Advanced Computational Intelligence, IWACI 2011

作者： Chen, Z. Liu, J.G. Wang, G.Y. Institute for Pattern Recognition and Artificial Intelligence Huazhong University of Science and Technology Multi-Spectral Information Processing State Key Laboratory China

ISBN: (纸本)9781612843735

According to the drawback of the traditional circle target extraction algorithm from high resolution remote sensing imagery used by Hough Transform, such as computation complexity, low efficiency and etc, a new circle target extraction method is proposed in this paper which can extract multiple circle targets with different radius at one time. First, the Average Absolute Difference is implemented to enhance the edge of the circle targets and suppress the noise of the background. Secondly, the locally self-adaptive segmentation algorithm is implemented to obtain the binary image. Thirdly, the thinning algorithm based on model computation is implanted to obtain the single pixel edge of the circle targets and in order to reduce the computation times in the following process. Furthermore, a pruning algorithm is necessary;finally, a modified Hough transform algorithm is proposed to obtain the circle targets. The experimental results demonstrate that the new circle targets algorithm can extract the multiple circle targets quickly and accurately, which has three advantages: low time consuming, high detection rate, robust to noise and fragmentary boundaries. © 2011 IEEE.

关键词： Binary images

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Generative Adversarial Networks Based on MLP 14

Generative Adversarial Networks Based on MLP

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14th International Conference on Digital Image processing, ICDIP 2022

作者： Ding, Hui Chen, Weifeng Li, Bo He, Zhifen School of Mathematics and Information Science Key Laboratory of Jiangxi Province for Image Processing and Pattern Recognition Nanchang Hangkong University Nanchang China

ISBN: (纸本)9781510657564

Inspired by the state-of-the-art performance of MLP-Mixer on image classification task, multilayer perceptron (MLP) model attracts a number of researcher's attention again. Although various MLP architectures have been proposed, most of them focus on image classification domain. In this paper, we extend MLP to the task of image generation based on generative adversarial network (GAN). The pure MLP model is not friendly to small dataset because it is a data-hungry architecture. Thus, we leverage a hybrid model to solve the problem which uses MLP blocks as generator and CNN blocks as discriminator. Experimental results demonstrate that our model outperforms the pure CNN network on CIFAR-10 dataset in view of two different evaluation metrics. Besides, we apply eight widely popular MLP structures to our generator to validate which one achieves the most excellent performance in image generation task. © 2022 SPIE.

关键词： Generative adversarial networks

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A Novel Wideband CPW-Fed 5.8GHz RFID Tag Antenna

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电子学报(英文版) 2012年第2期21卷 202-208页

作者： LI Huihui MOU Xuanqin JI Zhen YU Hang LI Yan Institute of Image Processing and Pattern Recognition Xi'an Jiaotong University Xi'an 710049 China College of Computer Science and Software Engineering Shenzhen University Shenzhen 518060 China Shenzhen Key Laboratory of Embedded System Design Shenzhen 518060 China

A novel wideband 5.8GHz CPW-fed an- tenna is presented for Radio frequency identification (RFID) tag. Four U-shaped and four L-shaped branches are used as additional resonators to achieve wideband operation. The proposed antenna was analyzed numeri- cally using the Method of moment (MOM) and the Fi- nite element method (FEM). With the antenna size lim- ited to 30 × 30mm2, the ?10dB bandwidth obtained by MOM is 3.235GHz (5.765～9GHz) and the ?9.5dB band- width obtained by FEM is 2.74GHz (5.32～8.06GHz), cor- responding to 55.7% and 47.2% of the center frequency 5.8GHz respectively. Moreover, the simulated results show that the proposed antenna has gain of more than 4.8dBi and the radiation pattern is nearly omnidirectional in the H-plane. The measured ?10dB bandwidth is 2.68GHz (5.63GHz～8.31GHz), 46.2% of the 5.8GHz frequency. Fur- thermore, there are three measured resonant frequencies at 1.34GHz, 3.23GHz and 5.8GHz with lower than ?10dB return loss respectively. The measurement result achieves a wideband RFID tag antenna performance and is in good agreement with the calculated results.

关键词： RFID标签天线尺寸共面波导宽带无线电频率识别有限元分析网络连接数值分析

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FASTC: A Fast Attentional Framework for Semantic Traversability Classification Using Point Cloud 26

FASTC: A Fast Attentional Framework for Semantic Traversabil...

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26th European Conference on Artificial Intelligence, ECAI 2023

作者： Chen, Yirui Wei, Pengjin Liu, Zhenhuan Wang, Bingchao Yang, Jie Liu, Wei Institute of Image Processing and Pattern Recognition Department of Automation Shanghai Jiao Tong University China Key Laboratory of System Control and Information Processing Ministry of Education China

ISBN: (纸本)9781643684369

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature extraction module that utilizes PointNet to capture features from point clouds organized in vertical volume and a 2D encoder-decoder structure to conduct traversability classification instead of the widely used 3D convolutions. This results in less computational cost while even better performance is achieved at the same time. We then propose a new spatio-temporal attention module to fuse multi-frame information, which can properly handle the varying density problem of LIDAR point clouds, and this makes our module able to assess distant areas more accurately. Comprehensive experimental results on augmented Semantic KITTI and RELLIS-3D datasets show that our method is able to achieve superior performance over existing approaches both quantitatively and quantitatively. Our code is publicly available at https://***/chenyirui/FASTC. © 2023 The Authors.

关键词： Semantics

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Adaptive synthetic aperture radar image enhancement

Adaptive synthetic aperture radar image enhancement

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MIPPR 2009 - Multispectral Image Acquisition and processing: 6th International Symposium on Multispectral Image processing and pattern recognition

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

ISBN: (纸本)9780819478054

An adaptive SAR image enhancement method is presented for reducing the speckle noise and increasing the contrast of synthetic aperture radar (SAR) images. First, a fuzzy logic based filter, employing fuzzy edge to weight the contributions of pixel values in filter window, is used to filter the speckles. Second, the original SAR image is decomposed into lowfrequency component and high-frequency component. The fuzzy filtered image is viewed as the low-frequency component, and the contrast limited adaptive histogram equalization algorithm is used to increase its contrast. The highfrequency component is obtained by subtracting the low-frequency component from the original image, and its gain is controlled by fuzzy structural which employed to express the degree of a pixel belonging to structures. After processed one after the other, the two components are added together to form the final enhanced SAR image. Experimental results show the excellent effect of the proposed method by visual observation and numerical measurement. Many fine structures and little speckle noise can be seen from the enhanced SAR images. © 2009 Copyright SPIE - The International Society for Optical Engineering.

关键词： Image enhancement

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Imaging lidar based 3D terrain matching using feature vector

Imaging lidar based 3D terrain matching using feature vector

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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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Face recognition with Convolutional Neural Networks and subspace learning 2

Face Recognition with Convolutional Neural Networks and subs...

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2nd International Conference on Image, Vision and Computing, ICIVC 2017

作者： Wan, Lihong Liu, Na Huo, Hong Tao, Fang Institute of Image Processing and Pattern Recognition Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China

ISBN: (纸本)9781509062379

Deep learning is widely used in computer vision. In this study, we present a new method based on Convolutional Neural Networks (CNN) and subspace learning for face recognition under two circumstances. A very deep CNN architecture called VGG-Face, which learned on a large scale database, is used as feature extractor to extract the activation vector of the fully connected layer in the CNN architecture. Then, two types of subspace learning methods, namely, linear discriminate analysis (LDA) and whitening principal component analysis (WPCA), are respectively introduced to learn the subspace of the activation vectors for face recognition under multiple samples per subject and single sample per subject circumstances. The goals of applying subspace learning to the activation vectors are obtaining compact representation (dimensionality reduction) and performance improvement. Experiments on two face databases (CMU PIE and FERET) demonstrate the effectiveness of VGG-Face + LDA and VGG-Face + WPCA, compared with state-of-the-art methods. © 2017 IEEE.

关键词： Principal component analysis

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