Fast and Error-Bounded Space-Variant Bilateral Filtering

The traditional space-invariant isotropic kernel utilized by a bilateral filter (BF) frequently leads to blurry edges and gradient reversal artifacts due to the existence of a large amount of outliers in the local averaging window. However, the efficient and accurate estimation of space-variant kernels which adapt to image structures, and the fast realization of the corresponding space-variant bilateral filtering are challenging problems. To address these problems, we present a space-variant BF (SVBF), and its linear time and error-bounded acceleration method. First, we accurately estimate spacevariant anisotropic kernels that vary with image structures in linear time through structure tensor and minimum spanning tree. Second, we perform SVBF in linear time using two error-bounded approximation methods, namely, low-rank tensor approximation via higher-order singular value decomposition and exponential sum approximation. Therefore, the proposed SVBF can efficiently achieve good edge-preserving results. We validate the advantages of the proposed filter in applications including: image denoising, image enhancement, and image focus editing. Experimental results demonstrate that our fast and error-bounded SVBF is superior to state-of-the-art methods.

     

分布式数据库下基于剪枝的并行合并连接策略

排序合并连接是数据库系统一种重要的连接实现方式,比哈希连接有更广泛的应用.分布式环境下,数据分片、分布存储,面对昂贵的网络代价,进行高效排序合并连接的挑战巨大.传统策略首先针对连接数据进行排序,然后基于排好序的数据执行合并连接.这两部分操作均基于原始数据进行操作,通常情况下,原始连接数据存在无用数据块,这些数据块无需连接,但会增加额外开销,包括网络开销.随着数据量的增多,出现无用数据块的概率增大,额外开销随之增多.传统策略没有预先处理这些无用数据块.针对这个问题,提出一种分布式环境下基于剪枝的并行排序合并连接策略（parallel sort-merge join based on prune,简称Pr_PSMJ）.其特点是,连接发生之前高效完成对连接对象无用数据块的剪枝处理,提高整体连接效率.基本思想是,根据连接对象对应的连接分区数据统计信息,构造一种双边邻接表（bilateral adjacency list,简称BAL）,用来对连接数据中无用数据块进行剪枝,并保证最终连接结果的正确性;剪枝完成后,利用BAL计算出各个最佳本地连接执行点,并指导分区数据的迁移,使数据移动量最小;在连接阶段,由于BAL保证本地连接执行节点的独立性,因此能够轻松并行执行整个连接过程,并在每个连接点本地利用多核环境完成局部并行排序合并连接;最后,将局部结果合并成最终结果.由于Pr_PSMJ中的高效剪枝策略是在连接执行之前完成的,因此几乎适合任何合并连接操作,并且对于其他连接策略也有借鉴作用.给出了基于Pr_PSMJ的算法的正确性、效率性以及适应性分析,并且给出实验验证,证明了在分布式大数据量排序合并连接情况下,Pr_PSMJ相对于其他策略能够有效减少网络开销,并提高连接效率.     

基于FPDEs与CBF的红外与可见光图像融合

针对传统红外与可见光图像融合结果中的对比度不足、块状效应、伪影以及边缘区域信息失真等问题,文中提出一种基于四阶偏微分方程(FPDEs)和交叉双边滤波器(CBF) 的红外与可见光图像融合方法。首先,分别使用FPDEs和CBF方法从源图像中获取近似层和细节层;其次,针对多尺度分解获得的近似层含有残余低频信息导致融合图像的整体视觉反差较大的问题,采用基于视觉显著性映射(VSM)的方法对近似层进行融合;然后,对细节层使用改进的Karhunen-Loeve变换获得权重,而后进行细节层融合;最后,通过线性组合方式将近似层与细节层融合,从而产生融合图像。实验结果表明,经基于FPDEs与CBF的方法融合后,相较于基于主成分分析和基于交叉双边滤波器的方法,基于FPDEs与CBF的方法所得融合图像的标准差 平均 提高了43.73%左右;相较于基于引导滤波器和基于视觉显著性最小二乘优化的方法,融合图像的平均梯度提高了约9.46%,空间频率平均提高了19.79%左右。     

ToF点云强度与位置相关联的目标提取算法

目前光子飞行时间技术在三维成像中应用广泛,但三维点云目标提取相关研究匮乏,因此提出了一种利用点云位置信息和强度信息相关联的三维点云复杂目标提取方法。该方法首先使用边缘提取及形态学处理对点云强度信息中的目标位置定位,使目标在强度图中被标识。然后将强度信息与点云位置信息相关联,在三维点云中提取出目标所在区域。最后建立K邻近邻域,通过改进邻域大小选取方式,使用高斯均值代替固定的人工选择的邻域。实验结果表明,该方法能有效的滤除离群点并完整的保留真是目标物体点云数据的位置信息和强度信息,同时具有较高的运算速度。     

基于UWB的自主跟随机器人系统设计

针对传统自主跟随机器人采用摄像头图像识别的方法存在跟随对象容易丢失的问题,该文研究并设计了一种基于UWB的自主跟随机器人系统。自主跟随机器人采用双边双向测距(SDS-TWR)的算法计算出标签到基站之间的距离,再通过反余弦定理求出标签和基站之间形成的角度,并将角度和距离信息形成的融合信息通过串口发送给主控制器,通过主控制器对获取的融合信息进行处理,完成跟随目标对象的任务。实践证明,在利用角度大小跟随中,通过减少跟随边长误差,进而减小跟随角度误差,以提高自主跟随机器人的跟随精度,实现自主跟随机器人系统在人员移动密集的环境下对目标对象实时地、准确地跟随。     

细节感知的纹理滤波算法

目的 基于现有的研究提出一种细节感知的纹理去除算法,在去除图像纹理时,能够很好地保持图像的结构信息,尤其是诸如细长结构和边角信息等在其他方法中容易被模糊化的特殊细节。方法 首先,本文提出一种能够识别细长结构的结构检测方法,对细长结构进行检测并增强其结构特征。其次,为了估计每个像素点的最优滤波核尺度,改进原有的相对总变差模型,多方向寻找最小相对总变差,使它能够更好地区分纹理和边界,并且将边角信息从纹理中区分出来。然后,将检测出来的细长结构归一到改进的相对总变差的度量尺度上,估计滤波核尺度,生成引导滤波图像。这样就能够在平坦或有纹理的区域运用大尺度的滤波核,并在结构边缘和边角附近减小滤波核。最后,通过联合双边滤波器得到纹理去除后的图像。结果 实验测试了马赛克图像和艺术画作,对比了相对总变差和尺度敏感的结构保护滤波等方法,本文方法在去除纹理的同时保留了细长结构和边角细节,并且具有良好的普适性和鲁棒性。利用本文算法处理一幅含10万像素的图像,仅通过一次迭代计算就能够去除大量纹理且效果优于已有的方法,本算法的计算时间为3.37 s,其他算法为0.07~3.29 s。结论 本文设计的纹理滤波器不仅在保持诸如细长结构方面的性能更好,而且使纹理去除后的图像在边角细节处更尖锐,为图像的后续处理提供了一种强有力的图像预处理方式。     

Nonlinear bilateral teleoperators under event‐driven communication with constant time delays

Bilateral teleoperation systems provide a platform for human operators to remotely manipulate slave robots in engaging various tasks in remote environments. Most of the previous studies in bilateral teleoperation were developed under continuous transmission or periodic communication with fixed data exchanging rates. This paper presents control schemes for bilateral teleoperation systems using nonperiodic event‐driven communication. By using P‐like and PD‐like controllers, this study proposes triggering conditions for teleoperators to reduce network access frequency so that robots only transmit output signals when necessary. Stability and position tracking of the control system are studied, and nonzero minimum interevent time is guaranteed. The proposed event‐driven teleoperation is studied with a velocity estimator to avoid the requirement of velocity information in the controller and triggering condition. Without velocity measurements, the boundedness of tracking errors and stability are ensured for teleoperation systems under event‐driven communication. Simulations and experiments are illustrated to validate the performance of the proposed event‐driven teleoperation systems.     

Multitask bilateral learning for real‐time image enhancement

Nowadays, deep neural networks (DNNs) for image processing are becoming more complex; thus, reducing computational cost is increasingly important. This study highlights the construction of a DNN for real‐time image processing, training various image processing operators efficiently through multitask learning. For real‐time image processing, the proposed algorithm takes a joint upsampling approach through bilateral guided upsampling. For multitask learning, the overall network is based on an encoder‐decoder architecture, which consists of encoding, processing, and decoding components, in which the encoding and decoding components are shared by all the image processing operators. In the processing component, a semantic guidance map, which contains processing information for each image processing operator, is estimated using simple linear shifts of the shared deep features. Through these components, the proposed algorithm requires an increase of only 5% in the number of parameters to add another image processing operator and achieves faster and higher performance than that of deep‐learning‐based joint upsampling methods in local image processing as well as global image processing.     

双侧公差限产品的合格概率计算方法

为了定量分析产品的合格性,在正态分布假设前提下,考虑参数测量结果测量不确定度的影响,建立了双侧公差限产品的合格概率计算模型,为批量产品和单件产品合格概率的定量计算提供了理论依据,同时给出了测量分析计算实例。结果表明:产品合格概率的定量计算结果,对于分析产品质量问题成因和提高产品质量具有重要的指导意义,给出的方法对单侧公差限设计要求的产品合格概率的计算同样具有参考价值。     

Curvelet Transform Based on Edge Preserving Filter for Retinal Blood Vessel Segmentation

Segmentation of vessel in retinal fundus images is a primary step for the clinical identification for specific eye diseases. Effective diagnosis of vascular pathologies from angiographic images is thus a vital aspect and generally depends on segmentation of vascular structure. Although various approaches for retinal vessel segmentation are extensively utilized, however, the responses are lower at vessel's edges. The curvelet transform signifies edges better than wavelets, and hence convenient for multiscale edge enhancement. The bilateral filter is a nonlinear filter that is capable of providing effective smoothing while preserving strong edges. Fast bilateral filter is an advanced version of bilateral filter that regulates the contrast while preserving the edges. Therefore, in this paper a fusion algorithm is recommended by fusing fast bilateral filter that can effectively preserve the edge details and curvelet transform that has better capability to detect the edge direction feature and better investigation and tracking of significant characteristics of the image. Afterwards C mean thresholding is used for the extraction of vessel. The recommended fusion approach is assessed on DRIVE dataset. Experimental results illustrate that the fusion algorithm preserved the advantages of the both and provides better result. The results demonstrate that the recommended method outperforms the traditional approaches.