室外崎岖地形下基于视差图的无人自主车障碍物识别

对于地面无人车和室外非结构化环境, 本文介绍了我们开发的基于立体视觉的障碍物快速识别系统. 为了使无人地面车适应于较复杂的地形, 根据V视差图, 我们提出了一种新的地面主视差图的估计方法. 通过地面主视差图和局部的三维重建, 本文给出了一种由粗到精的障碍物识别与定位方法. 在我们的无人地面车平台上, 我们对这一障碍物自动识别系统进行了相应的实际试验. 其试验结果验证了该系统的有效性.     

长短线悬殊和不平衡电流大时的矿井低压漏电保护分析

通过实例分析说明了零序功率方向原理和零序电流最大原理等传统的漏电保护原理无法实现长短线悬殊和不平衡电流大情况下的选择性漏电保护;提出了一种采用零序电流突变量法实现长短线悬殊和不平衡电流大情况下的选择性漏电保护方案。该方案通过比较各支路零序电流和对应支路固有电容电流来判断是否发生漏电,即如果某一支路的零序电流与固有电容电流相比发生突变,则该支路为漏电支路;如果所有支路的零序电流与固有电容电流相比都没有发生突变,则为总线漏电。实践证明了该方案的有效性。     

基于纹理分析的视差估计算法

针对传统方法难以可靠估计图像中纹理单一像素点视差的问题,提出一种新的基于纹理分析的视差估计算法。与已有方法不同,在以极线约束计算像素点视差时,将极线上纹理单一且近似的像素点合并成直线段,根据连续性和唯一性约束对直线段进行整体匹配,采用直线段的视差得到纹理单一区域的稠密视差图。利用直线段进行整体匹配,提高比较基元包含的信息量,减少扫描范围,从而降低误匹配产生的概率和算法时间复杂度。实验结果表明,该方法能提高纹理单一区域稠密视差图的精度,匹配速度快,具有实用价值。     

基于视差重映射的立体图像视觉舒适度提升

目的 针对人眼观看立体图像内容可能存在的视觉不舒适性,基于视差对立体图像视觉舒适度的影响,提出了一种结合全局线性和局部非线性视差重映射的立体图像视觉舒适度提升方法。方法 首先,考虑双目融合限制和视觉注意机制,分别结合空间频率和立体显著性因素提取立体图像的全局和局部视差统计特征,并利用支持向量回归构建客观的视觉舒适度预测模型作为控制视差重映射程度的约束;然后,通过构建的预测模型对输入的立体图像的视觉舒适性进行分析,就欠舒适的立体图像设计了一个两阶段的视差重映射策略,分别是视差范围的全局线性重映射和针对提取的潜在欠舒适区域内视差的局部非线性重映射;最后,根据重映射后的视差图绘制得到舒适度提升后的立体图像。结果 在IVY Lab立体图像舒适度测试库上的实验结果表明,相较于相关有代表性的视觉舒适度提升方法对于欠舒适立体图像的处理结果,所提出方法在保持整体场景立体感的同时,能更有效地提升立体图像的视觉舒适度。结论 所提出方法能够根据由不同的立体图像特征构建的视觉舒适度预测模型来自动实施全局线性和局部非线性视差重映射过程,达到既改善立体图像视觉舒适度、又尽量减少视差改变所导致的立体感削弱的目的,从而提升立体图像的整体3维体验。     

引入边缘信息的纹理传输改进算法

本文针对Efros等人提出的块缝合纹理合成与传输算法,在搜索匹配块的过程中未考虑目标图块边缘信息这一不足之处,提出了一种改进算法．新算法在原有的搜索误差匹配公式中,通过计算梯度的方式增加了边缘信息处理项,同时整个传输过程还引入了亮度重映射的匹配预处理策略．实验结果表明,改进后算法的传递效果优于传统算法,尤其是目标图的边缘轮廓部分传递效果有比较明显的改善．     

一种基于改进Rank变换的图像匹配算法

为了解决传统Rank非参数变换匹配算法存在的问题,提出了一种基于改进Rank变换的图像匹配算法.引入Rank变换并研究其局限性,将变换窗口内所有像素的灰度平均值作为匹配像素的灰度值.对于和匹配像素相对位置相差为1个单位的邻域像素,其灰度值保持不变;对于其他位置像素灰度值用二维双线性插值法获得.将图像实现改进Rank变换...     

Fast Lighting Independent Background Subtraction

This paper describes a simple method of fast background subtraction based upon disparity verification that is invariant to arbitrarily rapid run-time changes in illumination. Using two or more cameras, the method requires the off-line construction of disparity fields mapping the primary background images. At runtime, segmentation is performed by checking background image to each of the additional auxiliary color intensity values at corresponding pixels. If more than two cameras are available, more robust segmentation can be achieved and, in particular, the occlusion shadows can be generally eliminated as well. Because the method only assumes fixed background geometry, the technique allows for illumination variation at runtime. Since no disparity search is performed, the algorithm is easily implemented in real-time on conventional hardware.     

Parallel Implementation of a Class of Adaptive Signal Processing Applications

Recently, High Performance Computing (HPC) platforms have been employed to realize many computationally demanding applications in signal and image processing. These applications require real-time performance constraints to be met. These constraints include latency as well as throughput. In order to meet these performance requirements, efficient parallel algorithms are needed. These algorithms must be engineered to exploit the computational characteristics of such applications. In this paper we present a methodology for mapping a class of adaptive signal processing applications onto HPC platforms such that the throughput performance is optimized. We first define a new task model using the salient computational characteristics of a class of adaptive signal processing applications. Based on this task model, we propose a new execution model. In the earlier linear pipelined execution model, the task mapping choices were restricted. The new model permits flexible task mapping choices, leading to improved throughput performance compared with the previous model. Using the new model, a three-step task mapping methodology is developed. It consists of (1) a data remapping step, (2) a coarse resource allocation step, and (3) a fine performance tuning step. The methodology is demonstrated by designing parallel algorithms for modern radar and sonar signal processing applications. These are implemented on IBM SP2 and Cray T3E, state-of-the-art HPC platforms, to show the effectiveness of our approach. Experimental results show significant performance improvement over those obtained by previous approaches. Our code is written using C and the Message Passing Interface (MPI). Thus, it is portable across various HPC platforms. Received April 8, 1998; revised February 2, 1999.     

立体内容舒适视差范围研究

为清楚造成视觉不舒适的原因以及最小化甚至消除其影响,需要对立体显示进行舒适度评价。立体内容的视觉舒适度和视差信息密切相关,通过主观评价实验测量了不同视差水平下的立体内容视觉舒适度。实验结果表明,视觉舒适度随着视差的增大而下降,动态立体内容舒适视差的范围在-119至+115弧分之间。     

小视差交又视差认知过程研究

采用静态随机点图做为刺激,对15名正常人在交叉视差条件下,针对小视差（3．27’,6．54＇,8．18’,11．45’,14．72’,17．99’,21．26’,24．53’）状态进行认知过程研究。结果为：随着视差的增大,识别靶刺激的平均反应时和正确率基本呈现出逐渐增加的趋势。在小视差交叉视差条件下,视觉系统对6t左右的视差反应时最为敏感,为立体电影的拍摄提供了理论依据,并为进一步探索精细立体视的脑神经机制提供了有力的支持。