基于点云配准的多固态激光雷达标定算法

针对多个固态激光雷达协同工作时,需要准确地进行外参标定的实际需求,提出一种基于点云配准的多固态激光雷达自动标定算法。该标定算法由标定物分割、初始配准和精确配准三个阶段构成。在标定物分割阶段,首先通过叠加多帧非重复扫描数据制作标定点云,再使用半径滤波和体素下采样滤波分割出纹理特征明显的目标点云。在初始配准阶段,使用3D-HARRIS算法提取关键点,并使用方向直方图(SHOT)特征描述子进行特征描述,然后匹配对应点并使用采样一致算法完成初始配准;在精配准阶段使用迭代最近邻(ICP)算法进行精确配准,从而获得精确的外参标定效果。在Bunny兔数据集和现场获得的数据上进行实验,结果表明,当保证配准平均误差小于1 mm的前提下,所提出算法的性能优于多种现有算法。     

5G 功放DPD 的FPGA 宽带实现及自动优化

5G 宽带功放数字预失真器(DPD)的FPGA 实现过程中,常遇到数字处理带宽不够和资源有限问题,对 此,文中提出一种基于双路并行数据流的数字预失真带宽扩展方法和基于Zynq Ultrascale+ MPSoC 的自动化模型优化 验证方法,可快速实现对5G 宽带功放线性化方案的优化。使用该并行处理结构的数字预失真器,克服了数字电路最 大时钟频率造成的对FPGA 线性化带宽的限制,使得数字预失真电路在每个时钟周期内可以处理更多的数据,不仅有 效地增加了数字处理带宽,而且降低了DPD 的功耗。然而,这种带宽增加以消耗更多硬件资源为代价,对此,文中同时 提出了对预失真非线性模型的在线自动优化方法,以简化非线性模型、降低DPD 的硬件资源开销。最后,在Zynq Ultrascale+ FPGA 实验平台上实现了具有两路并行数据处理的I-MSA 自优化数字预失真电路,采用100 MHz 的5G 新无 线电(NR)信号在2. 6 GHz 功率放大器上进行线性化实验验证,获得了满意的预失真性能,验证了所提方法的有效性。     

(CoFe)Se2@NC超级电容器电极材料的制备及其电化学性能

金属-有机框架(MOF)衍生的过渡金属硒化物和多孔碳纳米复合材料具有巨大的储能优势,是应用于电化学储能的优良电极材料。采用共沉淀法制备CoFe类普鲁士蓝(CoFe-PBA)纳米立方,并通过静电组装在CoFe-PBA上包覆聚吡咯(PPy)得到CoFe-PBA@PPy;通过在400℃氮气中退火并硒化成功制备了氮掺杂的碳(NC)包覆(CoFe)Se₂的(CoFe)Se₂@NC纳米复合材料,并对其结构和形貌进行了表征。以(CoFe)Se₂@NC为电极制备了超级电容器,测试了其电化学性能,结果表明,在电流密度1 A/g时超级电容器的比电容达到1047.9 F/g,在电流密度5 A/g下1000次循环后具有良好的循环稳定性和96.55%的比电容保持率。由于其性能优越、无毒、成本低和易于制备,未来(CoFe)Se₂@NC纳米复合材料在超级电容器中具有非常大的应用潜力。     

Response map evaluation for RGBT tracking

Neural Computing and Applications - In recent years, RGB and thermal sensors are widely used. There is complementary information from these two types of sensors. A fundamental task which arises in...     

Mixed graph convolution and residual transformation network for skeleton-based action recognition

Action recognition based on a human skeleton is an extremely challenging research problem. The temporal information contained in the human skeleton is more difficult to extract than the spatial information. Many researchers focus on graph convolution networks and apply them to action recognition. In this study, an action recognition method based on a two-stream network called RNXt-GCN is proposed on the basis of the Spatial-Temporal Graph Convolutional Network (ST-GCN). The human skeleton is converted first into a spatial-temporal graph and a SkeleMotion image which are input into ST-GCN and ResNeXt, respectively, for performing the spatial-temporal convolution. The convolved features are then fused. The proposed method models the temporal information in action from the amplitude and direction of the action and addresses the shortcomings of isolated temporal information in the ST-GCN. The experiments are comprehensively performed on the four datasets: 1) UTD-MHAD, 2) Northwestern-UCLA, 3) NTU RGB-D 60, and 4) NTU RGB-D 120. The proposed model shows very competitive results compared with other models in our experiments. On the experiments of NTU RGB?+?D 120 dataset, our proposed model outperforms those of the state-of-the-art two-stream models.

     

结合双语义数据增强与目标定位的细粒度图像分类

细粒度图像分类旨在对属于同一基础类别的图像进行更细致的子类划分,其较大的类内差异和较小的类间差异使得提取局部关键特征成为关键所在。提出一种结合双语义数据增强与目标定位的细粒度图像分类算法。为充分提取具有区分度的局部关键特征,在训练阶段基于双线性注意力池化和卷积块注意模块构建注意力学习模块和信息增益模块,分别获取目标局部细节信息和目标重要轮廓这2类不同语义层次的数据,以双语义数据增强的方式提高模型准确率。同时,在测试阶段构建目标定位模块,使模型聚焦于分类目标整体,从而进一步提高分类准确率。实验结果表明,该算法在CUB-200-2011、FGVC Aircraft和Stanford Cars数据集中分别达到89.5%、93.6%和94.7%的分类准确率,较基准网络Inception-V3、双线性注意力池化特征聚合方式以及B-CNN、RA-CNN、MA-CNN等算法具有更好的分类性能。     

Effect of Sintering Temperature on Magnetic and Electrical Properties of GdBaCo<Subscript>2</Subscript><Emphasis Type="Italic">O</Emphasis><Subscript>5 + <Emphasis Type="Italic">δ</Emphasis></Subscript>

In this study, we report the results of an investigation into the sintering temperature dependence of magnetic and transport properties for GdBaCo₂ O _{5 + δ} synthesized through a sol-gel method. The lowering of sintering temperature leads to the increase of oxygen content and the reduction of grain size. The increase of oxygen content results in the enhancement of magnetic interactions and the weakening of Coulomb repulsion effect, while the reduction of grain size improves the magnetoresistance effect. Metal-insulator transition accompanied with spin-state transition is observed in all samples.     

Reducing Hysteresis and Enhancing Performance of Perovskite Solar Cells Using Low‐Temperature Processed Y‐Doped SnO2 Nanosheets as Electron Selective Layers

Despite the rapid increase of efficiency, perovskite solar cells (PSCs) still face some challenges, one of which is the current–voltage hysteresis. Herein, it is reported that yttrium‐doped tin dioxide (Y‐SnO₂) electron selective layer (ESL) synthesized by an in situ hydrothermal growth process at 95 °C can significantly reduce the hysteresis and improve the performance of PSCs. Comparison studies reveal two main effects of Y doping of SnO₂ ESLs: (1) it promotes the formation of well‐aligned and more homogeneous distribution of SnO₂ nanosheet arrays (NSAs), which allows better perovskite infiltration, better contacts of perovskite with SnO₂ nanosheets, and improves electron transfer from perovskite to ESL; (2) it enlarges the band gap and upshifts the band energy levels, resulting in better energy level alignment with perovskite and reduced charge recombination at NSA/perovskite interfaces. As a result, PSCs using Y‐SnO₂ NSA ESLs exhibit much less hysteresis and better performance compared with the cells using pristine SnO₂ NSA ESLs. The champion cell using Y‐SnO₂ NSA ESL achieves a photovoltaic conversion efficiency of 17.29% (16.97%) when measured under reverse (forward) voltage scanning and a steady‐state efficiency of 16.25%. The results suggest that low‐temperature hydrothermal‐synthesized Y‐SnO₂ NSA is a promising ESL for fabricating efficient and hysteresis‐less PSC.