基于信息论的KL-Reg点云配准算法

针对含有高噪声、体外点及不完整点云数据的配准失效问题,该文提出以信息论为理论基础,相对熵度量点云相似度的KL-Reg算法。该算法不需要显式地建立对应关系,首先将点云数据建模为高斯混合模型,然后用相对熵度量高斯混合模型间的分布距离,最后通过最小化分布距离计算模型变换。实验结果表明所提的KL-Reg算法配准精度高、稳定性强。     

全天空红外云探测在航空气象中的应用

利用合肥新桥机场温湿度、云高、能见度以及全天空云图仪数据资料, 分析了 2019 年 7 月至 2020 年 4 月机 场上空各类云的红外特征以及云、雾演变规律。结果表明: (1) 在云判别上, 云底高度越高, 红外云图上表现亮度越暗, 反之亦然。且不同类型的云具有各自独有的红外特征。 (2) 不同高度的波状云最大云块平均最短直径表现为层积云云 块是高积云的 2∼4 倍, 高积云是卷积云的 2∼4 倍。碎层云主要呈现出团状, 具有蓬松棉花状结构; 而碎雨云相对破碎, 一般为烟带状或散片状。 (3) 云与雾有明确的转化过程。辐射雾一般发生在云层刚散开期间, 天空至少一半为晴空的 时段, 且雾逐步抬升为云, 并持续消散。当天空形成不均匀缺口, 表明雾开始消散, 其可作为能见度迅速回升的一个重 要指标。非对流降水云层演变呈现出云高由高到低, 云层由分散纹理状变为均匀层状, 降水前期均会出现“均匀层状”, 地面相对湿度呈现出陡增现象。     

Spatial and Temporal Varying Thresholds for Cloud Detection in GOES Imagery

A new cloud detection technique has been developed and applied to GOES-12 Imager data. The bispectral composite threshold (BCT) technique uses only the 11- and 3.9- channels, and composite imagery generated from these channels, in a four-step cloud detection procedure to produce a binary cloud mask at single-pixel resolution. An innovative aspect of this algorithm is the use of 20-day composites of the 11- and the 11-3.9- channel difference imagery to represent spatially and temporally varying clear-sky thresholds for the bispectral cloud tests. The BCT cloud detection technique has been validated against a ldquotruthrdquo data set generated by the manual determination of the sky conditions from available satellite imagery for four seasons during 2003-2004. The day-and-night algorithm has been shown to determine the correct sky conditions 87.6% of the time (on average) over the eastern two-thirds of the U.S. and surroundings oceans. The incorrectly determined conditions arose from missing clouds 8.9% of the time or from overdetermining clouds 3.5% of the time. Nearly 82% of the misses came in the presence of low clouds. Only small variations in algorithm performance occurred between day-night, land-ocean, and between seasons. The algorithm performed best in the warmer seasons (90.9% correct during the summer versus 81.8% correct in the winter season) and during the day, when the solar illumination provides enhanced surface atmospheric cloud contrast in the infrared channels, and least well during the winter season. The algorithm was found to slightly underdetermine clouds at night and during times of low sun angle and tends to be cloud conservative during the day, particularly in the summertime.     

利用星载激光雷达研究云层垂直结构及其分布

云的垂直结构（CVS）是云的重要特征量,在大气模式的研究中有着有着十分重要的影响。利用CALIPSO（Cloud Aerosol Lidar and Infrared Pathfinder Satellite Observations）星载激光雷达2007年到2010年间的Level 2 Version 3的云数据对中国海及其周边海域的云的垂直结构及其分布随年度和区域的变化进行了统计分析。结果表明：层数不同的云在研究区域内发生的概率（COF）差别较大,云顶海拔高度（LTA）不同的云沿纬度方向的分布差异明显,LTA在10 km到20 km的云出现的概率较高而且大多出现于靠近赤道区域。由于有些云CALIPSO信号不能穿透,可能使云层数以及云顶高度的统计结果偏小。     

利用FY-1C资料反演水云的光学厚度和粒子有效半径

利用FY-IC极轨气象卫星扫描辐射计的通道1(0．58—0．68μm)、通道3(3．55—3．95μm)和通道6(1．58—1．64μm)所提供的探测数据进行了水云光学厚度和粒子有效半径的反演试验．在非水汽吸收波段(如通道1)，云的反射函数主要是云光学厚度的函数，而在水汽吸收波段(如通道6)，云的反射函数主要是云粒子大小的函数．因此当云光学厚度较厚时，可利用通道1和通道6反射率，或通道1反射率和通道3亮度温度同时计算出云的光学厚度和有效粒子半径。     

基于CloudSat的台风深对流云微物理参数相关性分析

以2009年14号台风“彩云”为例，基于CloudSat相关云产品统计了台风深对流云中水云和冰云的有效粒子半径、云水含量谱分布的特征。在此基础上探讨了两个云微物理参量的相关性，并对不同发展时期的多个台风进行了该关系的应用检验。研究结果表明，不论是水云还是冰云，若以云水含量为横坐标，以云有效粒子半径为纵坐标，台风深对流云像元散点图的分布存在明显的下边界线，且边界值随着有效粒子半径和云水含量参数值的增大而逐渐提高；零度层以下低层水云的有效粒子半径与液态水含量呈正相关关系，可采用对数关系式进行拟合。经检验，该拟合关系式对其他发展阶段的台风同样适用，证实了该关系的普适性。     

A traffic balance scheme of group emotion recognition by using the service function chain

Most researches of emotion recognition focus on single person information. However, everyone's emotions will affect each other. For example, when the teacher is angry, the student's nervousness will increase. But the facial expression information of the light single is already quite large. It means that group emotion recognition will encounter a huge traffic bottleneck. Therefore, there is a vast amount of data collected by end‐devices that will be uploaded to the emotion cloud for big data analysis. Because different emotions may require different analytical methods, in the face of diverse big data, connecting different emotion clouds is a viable alternative method to extend the emotion cloud hardware. In this paper, we built a software defined networking (SDN) multi‐emotion cloud platform to connect different emotion clouds. Through the advantages of the splicing control plane and the data plane, the routing path can be changed using software. This means that the individual conditions of different students can be handled by a dedicated system via service function (SF). The load balancing effect between different emotion clouds is achieved by optimizing the SFC. In addition, we propose a SFC‐based dynamic load balancing mechanism which eliminates a large number of SFC creation processes. The simulation results show that the proposed mechanism can effectively allocate resources to different emotion clouds to achieve real‐time emotion recognition. This is the first strategy to use SFC to balance the emotion data that the teachers can change teaching policy in a timely manner in response to students' emotions.     

点云编码综述

点云编码是支撑点云广泛应用的关键技术之一,是近期技术研究和标准化领域的热点。对点云几何信息和属性信息编码技术演进进行了回顾,并针对稠密点云和稀疏点云的几种典型编码方法的编码效率进行了比较。未来点云编码研究将集中于利用帧间预测去除动态点云的不同帧之间的相关性,以及端到端点云编码、任务驱动的点云编码等方面。     

结合偏移自注意力机制和残差连接的点云分类北大核心CSCD

现有基于深度学习的点云分类网络通常无法有效利用点云特征间的相关信息,并且存在鲁棒较低的问题。为了提高点云分类网络对有效特征的提取能力,增强模型鲁棒性,本文提出了一种结合偏移自注意力机制和残差连接的点云分类网络。首先在PointCNN基础上引入偏移自注意力模块,更好地关注于有效特征;然后引入残差网络的思想,在注意力层增加残差连接,将残差连接和注意力层的输出特征进行融合形成点云特征;最后使用多层感知机对点云特征进行分类。将本文模型与PointNet、PointCNN、DGCNN等其他点云分类模型在ModelNet40数据集上进行对比实验,结果表明本文网络的分类效果更好,获得了最高的分类准确率92.9%,相比于PointCNN提升了0.7%。在鲁棒性实验中,本文网络相比于PointCNN,在稀疏点云上的总体分类准确率提升了2.4%,在噪声点云上提升了11.6%,表明本文网络具有更好的鲁棒性。     

Detection and removal of cloud contamination from AVHRR images

Describes the characteristics and performance of an algorithm designed to remove the effects of cloud contamination from AVHRR composite images over land. Using information in the temporal NDVI profile, the algorithm detects cloud-contaminated pixels, and optionally replaces these with interpolated values of individual AVHRR channels or channel transformations. As tested, the algorithm detects only those effects of residual clouds that result in a temporary decrease of the NDVI. It was found that the algorithm is capable of identifying clouds of varying opacity as well as cloud shadows present in the composites, and that its use appears preferable to compositing over longer periods. The algorithm can be applied without the need for ancillary information, e.g., on expected surface radiance conditions. Although developed for use in biospheric studies in Canada, it could also be applied at other latitudes where the seasonal trajectories of satellite-derived variables exhibit a single maximum or, by extension, a single minimum     

基于点云迁移的人体点云位置及颜色补全

由于三维扫描设备获取的点云存在目标遮挡、设备视角等问题,致使点云有所缺失。点云补全是为下游任务进行点云预处理的重要工作。然而现有的点云补全工作集中在对简单物体的补全上,缺乏对较复杂人体点云补全的研究。为将点云补全任务引入下游人体重建相关任务中,本文提出了一种由粗到精的人体点云预测方法,对人体位置及颜色缺失信息补全。通过创建具有精细服饰纹理的人体点云数据集,采用点云迁移的网络结构,充分利用点云全局粗糙信息,结合多层网络预测完整点云,优化了上采样方案;然后,在上采样后的点云上进行了颜色补全,通过部分点云颜色信息进行特征值扩散和提取;最后,通过一个多层感知机进行颜色预测。在人体数据集上的实验结果表明,该方法相比现有主流方法不仅在客观指标上具有更好的表现,主观质量上也能保证获得更加完整、边缘清晰的点云。      

Exploiting color for graph-based 3D point cloud denoising

A point cloud is a representation of a 3D scene as a discrete collection of geometry plus other attributes such as color, normal, transparency associated with each point. The traditional acquisition process of a 3D point cloud, e.g. using depth information acquired directly by active sensors or indirectly from multi-viewpoint images, suffers from a significant amount of noise. Hence, the problem of point cloud denoising has recently received a lot of attention. However, most existing techniques attempt to denoise only the geometry of each point, based on the geometry information of the neighboring points; there are very few works at all considering the problem of denoising the color attributes of a point cloud. In this paper, we move beyond the state of the art and we propose a novel technique employing graph-based optimization, taking advantage of the correlation between geometry and color, and using it as a powerful tool for several different tasks, i.e. color denoising, geometry denoising, and combined geometry and color denoising. The proposed method is based on the notion that the correct location of a point also depends on the color attribute and not only the geometry of the neighboring points, and the correct color also depends on the geometry of the neighbors. The proposed method constructs a suitable k-NN graph from geometry and color and applies graph-based convex optimization to obtain the denoised point cloud. Extensive simulation results on both real-world and synthetic point clouds show that the proposed denoising technique outperforms state-of-the-art methods using both subjective and objective quality metrics.     

Application of deep convective cloud albedo observation to satellite-based study of the terrestrial atmosphere: monitoring the stability of spaceborne measurements and assessing absorption anomaly

An objective method is developed to monitor the stability of spaceborne instruments, aimed at distinguishing climate trend from instrument drift in satellite-based climate observation records. This method is based on four-years of Clouds and the Earth's Radiant Energy System (CERES) broadband observations of deep convective cloud systems with cloud-top temperature lower than 205 K and with large optical depths. The implementation of this method to the CERES instrument stability analysis reveals that the monthly albedo distributions are practically the same for deep convective clouds with CERES measurements acquired from both the Tropical Rainfall Measuring Mission and Terra satellite platforms, indicating that CERES instruments are well calibrated and stable during both missions. Furthermore, with a nonlinear regression neural network narrowband-broadband conversion, this instrument-stability monitoring method can also be applied to narrowband instruments such as the Moderate Resolution Imaging Spectroradiometer (MODIS) and the Visible Infrared Scanner (VIRS). The results show that the drifts associated with both VIRS and MODIS instruments are less than 1% during a four-year period. Since the CERES albedo measurements are highly accurate, the absorptance of these opaque clouds can be reliably estimated. The absorptions of these clouds from observations are around 25%, whereas the absorptions from theory can be as low as 18%, depending on ice cloud microphysics.     

结合分类与迁移学习的薄云覆盖遥感图像地物信息恢复

利用多源多时相遥感图像,给出一种结合分类与迁移学习的薄云覆盖遥感图像地物信息恢复算法.首先利用多方向非抽样对偶树复小波变换对多源多时相遥感图像进行多分辨率分解,对分解后的薄云图像的高频系数利用贝叶斯方法进行地物初分类;再对每类地物的低频系数通过迁移最小方差支持向量回归模型进行域自适应学习,获取模型参数;最后利用所获的迁移回归模型,用无云参考图像的低频系数预测薄云覆盖图像的低频系数,去除薄云,恢复薄云覆盖图像的地物信息.实验结果表明,本文算法恢复的地物细节清楚,光谱失真较小.特别对地物季节性变化的薄云覆盖遥感图像,本文算法能有效恢复薄云覆盖区域的地物信息.     

A critical examination of the residual cloud contamination and diurnal sampling effects on MODIS estimates of aerosol over ocean

Observations of the aerosol optical thickness (AOT) by the Moderate Resolution Imaging Spectroradiometer (MODIS) instruments aboard Terra and Aqua satellites are being used extensively for applications to climate and air quality studies. Data quality is essential for these studies. Here we investigate the effects of unresolved clouds on the MODIS measurements of the AOT. The main cloud effect is from residual cirrus that increases the AOT by 0.015/spl plusmn/0.003 at 0.55 /spl mu/m. In addition, lower level clouds can add contamination. We examine the effect of lower clouds using the difference between simultaneously measured MODIS and AERONET AOT. The difference is positively correlated with the cloud fraction. However, interpretation of this difference is sensitive to the definition of cloud contamination versus aerosol growth. If we consider this consistent difference between MODIS and AERONET to be entirely due to cloud contamination we get a total cloud contamination of 0.025/spl plusmn/0.005, though a more likely estimate is closer to 0.020 after accounting for aerosol growth. This reduces the difference between MODIS-observed global aerosol optical thickness over the oceans and model simulations by half, from 0.04 to 0.02. However it is insignificant for studies of aerosol cloud interaction. We also examined how representative are the MODIS data of the diurnal average aerosol. Comparison to monthly averaged sunphotometer data confirms that either the Terra or Aqua estimate of global AOT is a valid representation of the daily average. Though in the vicinity of aerosol sources such as fires, we do not expect this to be true.     

Atmospheric multiple scattering effects on GLAS altimetry. II. Analysis of expected errors in Antarctic altitude measurements

For pt.I see ibid., vol.39, no.1, p.92-101 (2001). The altimetry bias in the Geoscience Laser Altimeter System (GLAS) or other laser altimeters resulting from atmospheric multiple scattering is studied in relationship to current knowledge of cloud properties over the Antarctic Plateau. Estimates of seasonal and interannual changes in the bias are presented. Results show the bias in altitude from multiple scattering in clouds would be a significant error source without correction. The selective use of low-optical-depth clouds or cloud-free observations, as well as improved analysis of the return pulse such as by the Gaussian method used here, is necessary to minimize the surface altitude errors. The magnitude of the bias is affected by variations in cloud height, cloud effective particle size, and optical depth. Interannual variations in these properties as well as in cloud cover fraction could lead to significant year-to-year variations in the altitude bias. Although cloud-free observations reduce biases in surface elevation measurements from space, over Antarctica these may often include near-surface blowing snow, also a source of scattering-induced delay. With careful selection and analysis of data, laser altimetry specifications can be met.     

基于置信度的飞行时间点云去噪方法

飞行时间（Time-of-Flight,ToF）三维成像方法由于多路径干扰和混合像素等问题降低了目标物体深度测量的精度。传统的方法通过优化重构异常点云数据或滤除噪声点云数据来提高目标的准确性,但是这些方法复杂度高且容易导致过度平滑。三维点云图像中的有效点云与噪声点云之间的关系很难用数学模型来表示。针对上述问题,本文提出了一种基于置信度的飞行时间点云去噪方法。首先,分析多帧点云数据的概率相关性,以点云数据的置信度作为判别有效点云与噪声点云的依据;其次,利用多帧点云之间的矢量对偶性,提出了一种快速提取不同置信度点云的算法,其时间复杂度为O(L);最后使用该算法提取多帧三维图像中置信度高的点云数据获得目标物体的真实测量数据,并重点对4组不同场景的点云数据进行对比实验。实验结果表明,该算法能够在有效滤除噪声的同时,显著提高目标物体的距离测量精度,增强目标物体的特征,因此具有广泛的应用价值。     

利用MODIS数据对北极夏季卷云特性的研究

利用2011~2014年MODIS云产品数据对北极地区夏季卷云的出现概率、云顶温度、云顶高度、光学厚度、有效粒径大小进行统计分析,并讨论了北极地区夏季卷云有效粒径大小和卷云高度的关系。结果表明,北极地区上空夏季卷云出现概率最高,水云较少。卷云云顶温度主要分布在230~272 K(即-43~-5℃),其云顶高度主要在2~8 km,4.5~6 km出现概率最大。卷云的光学厚度主要在小于10范围内。卷云的有效粒径在5~40 m之间,10~20 m出现概率最大。卷云的有效粒径和高度的关系与中纬度地区相反,北极地区卷云高度越高,卷云有效粒径越大。北极地区卷云随着纬度增大,卷云出现概率增加,卷云云顶温度降低,卷云高度增加,卷云有效粒径增大,卷云光学厚度增大。     

The Effects of Scattering Angle and Cumulus Cloud Geometry on Satellite Retrievals of Cloud Droplet Effective Radius

The effect of scattering angle on Moderate Resolution Imaging Spectroradiometer (MODIS) retrievals of cloud drop effective radius is studied using ensembles of cumulus clouds with varying sun-satellite scattering geometries. The results are interpreted as shadowing and illumination effects. When 3-D clouds are viewed near the backscatter geometry, well-illuminated cloud surfaces are seen, and the retrievals based on plane-parallel geometry underestimate the effective radius. The reverse is true when the satellite is far from the backscatter position, and the shadowed portions of clouds are observed. The shadowing geometry produces a larger bias than the illuminated geometry. These differences between the shadowed and the illuminated ensembles decrease toward zero as the clouds become shallower. Removing the edge pixels based on 1-km-scale geometry partially reduces biases due to the 3-D effects and surface contamination. Recommendations are provided for reducing the 3-D cloud effects using current satellite retrieval algorithms     

云参数对AIRS亮温模拟计算的影响试验

由于云污染对大气红外遥感的严重干扰,大量红外资料遭到了舍弃。为 了充分同化红外资料,提高初始场精度和改善数值预报效果,利用通用辐射传输模式(Community Radiative Transfer Model, CRTM) 模拟了大气红外探测仪(Atmospheric Infrared Sounder, AIRS)的通道亮温,并分析了云类型、云层含水量、云厚度和云顶高度等云参数对AIRS亮温的 影响。结果表明：(1)由于云层对红外辐射的截断作用,只有高于云顶的大气才会对辐射亮温产 生影响;(2)随着云层积分含水量的增加,亮温逐渐减小,但其减速放缓,直至不变;有效半径较 大的粒子对辐射的散射作用较强,相应亮温较小;(3)若云顶高度固定不变,云厚度的变化 则不会对亮温产生影响;若云底高度固定不变,云层越厚,相应的亮温越小;(4)地面通道亮温 对云顶高度的变化比较敏感,云顶以上通道的亮温不受云顶高度变化的影响。