基于深度学习的人体姿态估计方法综述

基于深度学习的人体姿态估计方法旨在通过构建合适的神经网络，直接从二维的图像特征中回归出人体姿态信息。主要按照2D人体姿态估计到3D人体姿态估计的顺序，并从单人检测与多人检测、稀疏的关节点检测与密集的模型构建等方面，对近年来基于深度学习的人体姿态估计方法进行系统介绍，从而初步了解如何通过深度学习的方法得到人体姿态的各个要素，包括肢体部件的相对朝向和比例尺度、骨骼关节点的位置坐标和连接关系，甚至更为复杂的人体蒙皮模型信息。最后,对当前研究面临的挑战以及未来的热点动向进行概述，清晰地呈现出该领域的发展脉络。     

刀具工作前角时变系统切削稳定性的研究

理论分析和试验结果表明，刀具工作前角时变系统的振动响应幅值比刀具工作前角固定不变的系统的振动响应幅值明显减小．试验在普通车床上进行，刀具工作前角由微机通过步进电机按规定的时变参数控制。     

土的最大干密度和最优含水率快速测定法

对快速击实试验研究成果进行了总结,并介绍了应用快速击实试验研究成果的经验.不论是重型击实还是轻型击实,也不论击实试验所给定的击实功能多大,应用"一点法"或"快速法"击实试验原理,对土料都有一定要求."一点法"击实试验与快速击实试验所用土体的比重在2.67～2.73之间,当被测土样的比重超越此范围时,在绘制击实曲线时可适当偏离ρdmax计算值的点,但这个误差是很小的,通常ρdmax的影响在±0.01 g/cm3以内,而对ωop的影响在±0.5%以内.结合工程实例,对击实试验成果的简化校正作了详细介绍.     

非透视3点问题的解析解

由于在机器人导航等领域新的图像装置不符合透视规则,无法运用传统的透视位置估计方法,采用吴氏零点分解方法,给出非透视3点问题的解析解.利用新图像装置的几何条件,建立了非透视3点方程系统.     

A Multi-View Face Recognition System

In many automatic face recognition systems,posture constraining is a key factor preventing them from application.In this paper a series of strategies will be described to achieve a system which enables face recognition under varying pose.These approaches include the multi-view face modeling,the threschold image based face feature detection,the affine transformation based face posture normalization and the template matching based face identification.Combining all of these strategies,a face recognition system with the pose invariance is designed successfully,Using a 75MHZ Pentium PC and with a database of 75 individuals,15 images for each person,and 225 test images with various postures,a very good recognition rate of 96.89% is obtained.     

Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans

A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is difficult to accurately detect and localize landmarks in the environment (such as corners and occlusions) from the range scans.In this paper, we develop two new iterative algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment, that avoid the above problems. The first algorithm is based on matching data points with tangent directions in two scans and minimizing a distance function in order to solve the displacement between the scans. The second algorithm establishes correspondences between points in the two scans and then solves the point-to-point least-squares problem to compute the relative pose of the two scans. Our methods work in curved environments and can handle partial occlusions by rejecting outliers.     

基于变轴力和定轴力试验对比的钢筋混凝土柱恢复力滞回特性研究

在讨论了框架柱在地震作用下轴力变化规律的基础上,通过由变轴力柱和定轴力柱的低周交变加载试验获得的恢复力滞回曲线对比,给出了用各个“轴力变化半周”的“等效滞回轴力”修正恢复力骨架曲线,和用“等效累积滞回轴力”随时间步长调整累积强度退化系数从而修正恢复力滞回曲线的再加载刚度的建议。该建议能更有效、更方便地反映轴力变化的整个历程对变轴力柱恢复特征的影响,有利于提高钢筋混凝土杆系结构非弹性地震反应分析的有效性。     

局部特征表征的6D位姿估计算法

为解决有纹理模型在遮挡条件下6D位姿估计精确度不高的问题,提出了一种局部特征表征的端到端6D位姿估计算法。首先为了得到准确的定位信息,提出了一个空间—坐标注意力机制（spatial and coordinate attention）,通过在YOLOv5网络中加入空间—坐标注意力机制和加权双向特征金字塔网络（bidirectional feature pyramid network）,YOLOv5-CBE算法的精确度（precision）、召回率（recall）、平均精度均值（mAP@0.5）分别提升了3.6%、2.8%、2.5%,局部特征中心点坐标误差最高提升了25%;然后用 YOLOv5-CBE算法检测局部特征关键点,结合3D Harris关键点通过奇异值分解法（singular value decomposition）计算模型的6D位姿,最高遮挡70%的情况下仍然可以保证二维重投影精度（2D reprojection accuracy）和ADD度量精度（ADD accuracy）在95%以上,具有较强的鲁棒性。     

3D human pose estimation in motion based on multi-stage regression

3D human pose estimation in motion is a hot research direction in the field of computer vision. However, the performance of the algorithm is affected by the complexity of 3D spatial information, self-occlusion of human body, mapping uncertainty and other problems. In this paper, we propose a 3D human joint localization method based on multi-stage regression depth network and 2D to 3D point mapping algorithm. First of all, we use a single RGB image as the input, through the introduction of heatmap and multi-stage regression to constantly optimize the coordinates of human joint points. Then we input the 2D joint points into the mapping network for calculation, and get the coordinates of 3D human body joint points, and then to complete the 3D human body pose estimation task. The MPJPE of the algorithm in Human3.6 M dataset is 40.7. The evaluation of dataset shows that our method has obvious advantages.     

Gain‐scheduled dynamic output feedback control for discrete‐time LPV systems

This paper presents synthesis conditions for the design of gain‐scheduled dynamic output feedback controllers for discrete‐time linear parameter‐varying systems. The state‐space matrix representation of the plant and of the controller can have a homogeneous polynomial dependency of arbitrary degree on the scheduling parameter. As an immediate extension, conditions for the synthesis of a multiobjective ??_∞ and ??₂ gain‐scheduled dynamic feedback controller are also provided. The scheduling parameters vary inside a polytope and are assumed to be a priori unknown, but measured in real‐time. If bounds on the rate of parameter variation are known, they can be taken into account, providing less conservative results. The geometric properties of the uncertainty domain are exploited to derive finite sets of linear matrix inequalities based on the existence of a homogeneous polynomially parameter‐dependent Lyapunov function. An application of the control design to a realistic engineering problem illustrates the benefits of the proposed approach. Copyright © 2011 John Wiley & Sons, Ltd.