基于最大似然准则Hausdorff距离的跟踪算法

针对视频处理中运动物体的检测和跟踪问题,提出一种基于最大似然准则Hausdorff距离的目标跟踪算法,首先利用基于GVF的Snake方法获得物体模型;然后采用基于最大似然准则的Hausdorff距离匹配后续帧中的目标,搜索策略采用类似于Rucklidge提出的多分辨率搜索方法,在不影响搜索成功率和目标定位精度的情况下, 可以显著地缩短搜索时间;最后使用Snake方法完成运动物体的轮廓更新.实验表明该方法可以较好地跟踪刚性和非刚性物体,同时对部分被遮挡的目标也有良好的跟踪效果.     

汽车修理信息管理系统设计

在面向对象分析设计的实际项目案例中,针对在实际应用中仍是以关系型数据库为主要存储管理方式的状况,提出从对象类模型导出关系数据库表模型的4条原则,并应用在修车管理信息系统的研发中,取得较好的效果.     

多Agent系统的研究

自agent术语引起国内学者重视以来,人们一直试图寻找一个贴切的汉语名词,“代理人”“智能体洲结点”等概念应运而生。但这些概念都不能令人满意,因为无论是“智能体”、“代理人”,还是“结点”,都仅部分地反映了agent的特征,而未完全地反映其本质属性,故本文仍使用agent的英文形式。     

Towards robust grasping: An analysis of in-hand object motion with FBG optical fibers as force sensing technology

To enable or allow for advanced manipulation scenarios in the envisaged future in robotic manipulation, the introduction of tactile or force-sensing technology is essential. This work introduces a study on a novel integration of fiber sensing elements inside the fingers of robotics grippers that allow obtaining accurate interaction forces during object manipulation. The study focuses on in-hand object motion and analyzes the objects’ dynamic behaviors during grasping or contact phases. The proposed approach classifies the behavior of the gripper-object interaction in real-time by looking at the measured forces in the orthogonal direction of the gripper’s fingers after a filtering stage. The methodology is validated theoretically and evaluated with real experiments using objects presenting different shapes, sizes, and surface properties.     

Few-shot object segmentation with a new feature aggregation module

The success of convolutional neural network for object segmentation depends on a large amount of training data and high-quality samples. But annotating such high-quality training data for pixel-wise segmentation is labor-intensive. To reduce the massive labor work, few-shot learning has been introduced to segment objects, which uses a few samples for training without compromising the performance. However, the current few-shot models are biased towards the seen classes rather than being class-irrelevant due to lack of global context prior attention. Therefore, this study aims at proposing a few-shot object segmentation model with a new feature aggregation module. Specifically, the proposed work develops a detail-aware module to enhance the discrimination of details with diversified attributes. To enhance the semantics of each pixel, we propose a global attention module to aggregate detailed features containing semantic information. Furthermore, to improve the performance of the proposed model, the model uses support samples that represents class-specific prototype obtained by respective category prototype block. Next, the proposed model predicts label of each pixel of query sample by estimating the distance between the pixel and prototypes. Experiments on standard datasets demonstrate significance of the proposed model over SOTA in terms of segmentation with a few training samples.     

基于改进YOLOv7的小目标检测

目前的目标检测技术已趋于成熟,但小目标检测仍是研究的难点。针对目标检测过程中小目标检测更容易出现漏检等问题,提出一种改进的YOLOv7目标检测模型。结合特征分离合并思想,对YOLOv7网络模型中的MPConv模块进行改进,以减少网络特征处理过程造成的特征损失,并通过实验确定放置改进MPConv模块的最佳位置。由于小目标检测过程中容易出现漏检的现象,利用ACmix注意力模块提高网络对小尺度目标的敏感度,降低噪声所带来的影响。在此基础上,使用SIoU替换原YOLOv7网络模型中的CIoU来优化损失函数,减少损失函数自由度,提高网络鲁棒性。在Okahublot公开的FloW-Img子数据集上进行实验,结果表明,对于数据集中的密集、小目标和超小目标三种情况的图片,改进后的YOLOv7网络模型相比原网络,漏检情况得到明显改善,且mAP达到71.1%,相比基线YOLOv7网络模型提升了4个百分点,检测效果优于原网络模型与传统经典目标检测网络模型。     

孪生网络框架下融合显著性和干扰在线学习的航拍目标跟踪算法

针对一般跟踪算法不能很好地解决航拍视频下目标分辨率低、视场大、视角变化多等特殊难点,该文提出一种融合目标显著性和在线学习干扰因子的无人机(UAV)跟踪算法.通用模型预训练的深层特征无法有效地识别航拍目标,该文跟踪算法能根据反向传播梯度识别每个卷积滤波器的重要性来更好地选择目标显著性特征,以此凸显航拍目标特性.另外充分利用连续视频丰富的上下文信息,通过引导目标外观模型与当前帧尽可能相似地来在线学习动态目标的干扰因子,从而实现可靠的自适应匹配跟踪.实验证明:该算法在跟踪难点更多的UAV123数据集上跟踪成功率和准确率分别比孪生网络基准算法高5.3%和3.6%,同时速度达到平均28.7帧/s,基本满足航拍目标跟踪准确性和实时性需求.     

A CBIR system based on saliency driven local image features and multi orientation texture features

In Content-based Image Retrieval (CBIR), the user provides the query image in which only a selective portion of the image carries the foremost vital information known as the object region of the image. However, the human visual system also focuses on a particular salient region of an image to instinctively understand its semantic meaning. Therefore, the human visual attention technique can be well imposed in the CBIR scheme. Inspired by these facts, we initially utilized the signature saliency map-based approach to decompose the image into its respective main object region (ObR) and non-object region (NObR). ObR possesses most of the vital image information, so block-level normalized singular value decomposition (SVD) has been used to extract salient features of the ObR. In most natural images, NObR plays a significant role in understanding the actual semantic meaning of the image. Accordingly, multi-directional texture features have been extracted from NObR using Gabor filter on different wavelengths. Since the importance of ObR and NObR features are not equal, a new homogeneity-based similarity matching approach has been devised to enhance retrieval accuracy. Finally, we have demonstrated retrieval performances using both the combined and distinct ObR and NObR features on seven standard coral, texture, object, and heterogeneous datasets. The experimental outcomes show that the proposed CBIR system has a promising retrieval efficiency and outperforms various existing systems substantially.     

Orthogonal variant moments features in image analysis

Moments are statistical measures used to obtain relevant information about a certain object under study (e.g., signals, images or waveforms), e.g., to describe the shape of an object to be recognized by a pattern recognition system. Invariant moments (e.g., the Hu invariant set) are a special kind of these statistical measures designed to remain constant after some transformations, such as object rotation, scaling, translation, or image illumination changes, in order to, e.g., improve the reliability of a pattern recognition system. The classical moment invariants methodology is based on the determination of a set of transformations (or perturbations) for which the system must remain unaltered. Although very well established, the classical moment invariants theory has been mainly used for processing single static images (i.e. snapshots) and the use of image moments to analyze images sequences or video, from a dynamic point of view, has not been sufficiently explored and is a subject of much interest nowadays. In this paper, we propose the use of variant moments as an alternative to the classical approach. This approach presents clear differences compared to the classical moment invariants approach, that in specific domains have important advantages. The difference between the classical invariant and the proposed variant approach is mainly (but not solely) conceptual: invariants are sensitive to any image change or perturbation for which they are not invariant, so any unexpected perturbation will affect the measurements (i.e. is subject to uncertainty); on the contrary, a variant moment is designed to be sensitive to a specific perturbation, i.e., to measure a transformation, not to be invariant to it, and thus if the specific perturbation occurs it will be measured; hence any unexpected disturbance will not affect the objective of the measurement confronting thus uncertainty. Furthermore, given the fact that the proposed variant moments are orthogonal (i.e. uncorrelated) it is possible to considerably reduce the total inherent uncertainty. The presented approach has been applied to interesting open problems in computer vision such as shape analysis, image segmentation, tracking object deformations and object motion tracking, obtaining encouraging results and proving the effectiveness of the proposed approach.