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学者姓名：苏凯雄
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Abstract ：
During the outdoor cruising flight of the UAV, it will often cause problems such as inaccurate positioning information and course to drift due to interference of sensor signal errors, ground effects, airflow, and communication delay. In this paper, an outdoor cruising control system of the quadrotor drone is designed, where the Kalman filter and the Mahony filter are adopted to fuse the sensor data to obtain the attitude to be controlled, and the PID control method is introduced to reduce the external noise to the control system. As a result, the GPS/INS combined navigation method was used to design the quadrotor drone controller. The system improves the anti-jamming capability of the aircraft, has the advantages of real-time, fast response, and high precision, and can realize the positioning cruise function of the quadrotor aircraft in a complex outdoor environment.
Keyword ：
filter fusion filter fusion flight controller flight controller integrated navigation integrated navigation PID control PID control Quadrotor drone Quadrotor drone
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| GB/T 7714 | Zhang, Xiaomei , Chen, Chengbin , Su, Kaixiong et al. Design of the Outdoor Cruising Control System of the Quadrotor Drone [C] . 2021 . |
| MLA | Zhang, Xiaomei et al. "Design of the Outdoor Cruising Control System of the Quadrotor Drone" . (2021) . |
| APA | Zhang, Xiaomei , Chen, Chengbin , Su, Kaixiong , Lin, Liang , Tian, Yaoyuan . Design of the Outdoor Cruising Control System of the Quadrotor Drone . (2021) . |
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在机械摆动的运动分割及视觉测量中,针对传统以块状轨迹群为单位的谱聚类运动分割因摆杆光流轨迹中断及线速度分布差异所导致的碎片化与过分割的局限性,提出一种以曲率为相似度度量的弧状轨迹群为单位的谱聚类分割算法,并结合点云配准完成转速图像测量。算法先用活动子集的稀疏高斯回归学习出弧状轨迹群的平均轨迹,将此平均轨迹作为稀疏子空间聚类的种子样本一次性完成运动分割,最后将非种子样本重新归入其被代理的种子样本聚类中以获得每帧最大稠密度的分割点云。在各帧点云基础上,通过条件期望点云配准算法求取帧间点云变换矩阵,并提取转动分量完成摆杆摆角测量。为证明有效性,结合客运车辆日次安全检测视觉自动化系统项目,以6种不同照...
Keyword ：
Grashof双摇杆 Grashof双摇杆 RKHS空间 RKHS空间 变分光流 变分光流 子空间聚类 子空间聚类 最大条件期望 最大条件期望 李群流形 李群流形 稀疏高斯回归 稀疏高斯回归 视觉里程计 视觉里程计
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| GB/T 7714 | 郑思凡 , 陈平平 , 苏凯雄 et al. 泛函回归代理及条件期望配准的机械摆动测量 [J]. | 光学精密工程 , 2021 , 29 (05) : 1154-1168 . |
| MLA | 郑思凡 et al. "泛函回归代理及条件期望配准的机械摆动测量" . | 光学精密工程 29 . 05 (2021) : 1154-1168 . |
| APA | 郑思凡 , 陈平平 , 苏凯雄 , 吴永春 . 泛函回归代理及条件期望配准的机械摆动测量 . | 光学精密工程 , 2021 , 29 (05) , 1154-1168 . |
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The distortion introduced by different projection (e.g. ERP, CUBE, etc) pose a great challenge to the depth estimation task of 360° images. We propose a novel approach, named OlaNet, to solve the self-supervised 360° depth estimation problem. Our method is motivated by two aspects: 1) the content of 360° imagery can be better learned by effective fields-of-views technology, i.e., atrous spatial pyramid pooling combined with projection coordinate prior; 2) L1-norm can learn more robust and sparse representation than L2-norm in smooth regularization of depth estimation. By considering these two evidence, we develop an end-to-end network that adopts the distortion-aware view synthesis, atrous spatial pyramid pooling and L1-norm regularized smooth term, to achieve the 360° depth estimation effectively and robustly. Extensive experiments on the 3D60 dataset demonstrate the superior performance of our OlaNet approach in comparison with the SOTA methods. © 2021 IEEE
Keyword ：
Computer vision Computer vision Deep learning Deep learning
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| GB/T 7714 | Lai, Ziye , Chen, Dan , Su, Kaixiong . OLANET: SELF-SUPERVISED 360° DEPTH ESTIMATION WITH EFFECTIVE DISTORTION-AWARE VIEW SYNTHESIS AND L1 SMOOTH REGULARIZATION [C] . 2021 . |
| MLA | Lai, Ziye et al. "OLANET: SELF-SUPERVISED 360° DEPTH ESTIMATION WITH EFFECTIVE DISTORTION-AWARE VIEW SYNTHESIS AND L1 SMOOTH REGULARIZATION" . (2021) . |
| APA | Lai, Ziye , Chen, Dan , Su, Kaixiong . OLANET: SELF-SUPERVISED 360° DEPTH ESTIMATION WITH EFFECTIVE DISTORTION-AWARE VIEW SYNTHESIS AND L1 SMOOTH REGULARIZATION . (2021) . |
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In the autonomous UAV cruise mission, safety and reliability are critical and challenging issues. From the historical UAV accidents, it is clear that ensuring UAV operation safety is important. In order to ensure that UAV can cruise according to the preset safe path, a prediction model based on deep neural network is proposed in this paper. The stacked Bidirectional and Unidirectional LSTM (SBULSTM) network uses the four positions before the current time of UAV to predict the position of the next time during cruise operation. UAV is safely controlled according to the linear distance between the real position and the predicted position. When the linear distance is not greater than the set threshold, UAV can independently and safely complete the cruise task. © 2021 IEEE.Allrights reserved
Keyword ：
Deep neural networks Deep neural networks Forecasting Forecasting Long short-term memory Long short-term memory Unmanned aerial vehicles (UAV) Unmanned aerial vehicles (UAV)
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| GB/T 7714 | Shu, Peng , Chen, Chengbin , Chen, Baihe et al. Trajectory prediction of UAV Based on LSTM [C] . 2021 : 448-451 . |
| MLA | Shu, Peng et al. "Trajectory prediction of UAV Based on LSTM" . (2021) : 448-451 . |
| APA | Shu, Peng , Chen, Chengbin , Chen, Baihe , Su, Kaixiong , Chen, Sifan , Liu, Hairong et al. Trajectory prediction of UAV Based on LSTM . (2021) : 448-451 . |
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Abstract ：
在机械摆动的运动分割及视觉测量中,针对传统以块状轨迹群为单位的谱聚类运动分割因摆杆光流轨迹中断及线速度分布差异所导致的碎片化与过分割的局限性,提出一种以曲率为相似度度量的弧状轨迹群为单位的谱聚类分割算法,并结合点云配准完成转速图像测量.算法先用活动子集的稀疏高斯回归学习出弧状轨迹群的平均轨迹,将此平均轨迹作为稀疏子空间聚类的种子样本一次性完成运动分割,最后将非种子样本重新归人其被代理的种子样本聚类中以获得每帧最大稠密度的分割点云.在各帧点云基础上,通过条件期望点云配准算法求取帧间点云变换矩阵,并提取转动分量完成摆杆摆角测量.为证明有效性,结合客运车辆日次安全检测视觉自动化系统项目,以6种不同照度下5种车型的双摇杆刮水器总成为对象,比较了三种算法对摆角的测量精度.结果表明:本算法能完整学习出等长轨迹,且与人为标定角位移回归值误差均方值小于10％,同时运算量小于传统的交替方向乘子法(ADMM)单次迭代,可作为工业智能制造与自动控制系统中的机械视觉运动测量及机械视觉故障诊断方面应用.
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| GB/T 7714 | 郑思凡 , 陈平平 , 苏凯雄 et al. 泛函回归代理及条件期望配准的机械摆动测量 [J]. | 光学精密工程 , 2021 , 29 (5) : 1154-1168 . |
| MLA | 郑思凡 et al. "泛函回归代理及条件期望配准的机械摆动测量" . | 光学精密工程 29 . 5 (2021) : 1154-1168 . |
| APA | 郑思凡 , 陈平平 , 苏凯雄 , 吴永春 . 泛函回归代理及条件期望配准的机械摆动测量 . | 光学精密工程 , 2021 , 29 (5) , 1154-1168 . |
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This paper proposes an unmanned aerial vehicle (UAV) rapid autonomous landing strategy in GNSS-denied environments using pan-tilt based visual servoing (PTBVS) system. First, we propose a PTBVS system for navigating the UAV landing on a square platform. Through the status of the airborne camera and image information, the relative position information between the UAV and landing point can be obtained for navigation. Second, we made the UAV move horizontally and vertically at the same time when returning, which greatly shortens the flight distance and reduces the landing time. Moreover, in different landing stages, we adopt different positioning information acquisition methods. When the UAV is approaching the landing point, it uses the PTBVS system for navigation. Instead, it uses the pixel coordinate offset of the landing point to further improve the landing accuracy when landing vertically. Finally, we put forward the PTZ and UAV control algorithm. The PTZ control which keeps the landing point in the center range of the image consists of the time delay and PID control. And the UAV control guides the UAV to return and land. We test the proposed landing algorithm in the simulation platform and the actual environment. It is proved that the proposed method can bring the UAV earlier visual foresight, less landing time, and higher landing accuracy. (C) 2021 Elsevier Masson SAS. All rights reserved.
Keyword ：
Autonomous landing Autonomous landing Motion estimation Motion estimation Navigation Navigation UAV UAV Vision tracking Vision tracking
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| GB/T 7714 | Chen, Chengbin , Chen, Sifan , Hu, Guangsheng et al. An auto-landing strategy based on pan-tilt based visual servoing for unmanned aerial vehicle in GNSS-denied environments [J]. | AEROSPACE SCIENCE AND TECHNOLOGY , 2021 , 116 . |
| MLA | Chen, Chengbin et al. "An auto-landing strategy based on pan-tilt based visual servoing for unmanned aerial vehicle in GNSS-denied environments" . | AEROSPACE SCIENCE AND TECHNOLOGY 116 (2021) . |
| APA | Chen, Chengbin , Chen, Sifan , Hu, Guangsheng , Chen, Baihe , Chen, Pingping , Su, Kaixiong . An auto-landing strategy based on pan-tilt based visual servoing for unmanned aerial vehicle in GNSS-denied environments . | AEROSPACE SCIENCE AND TECHNOLOGY , 2021 , 116 . |
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Typical high efficiency video coding (HEVC) encoders use rate-distortion optimization (RDO) to select the best coding parameters among numerous candidates to achieve high compression efficiency. However, calculating the rate-distortion cost for each coding parameter entails high computational complexity, which limits the real-time application of these encoders. In this study, time-consuming processes, such as reconstruction and entropy coding, are removed during the calculation of the full RD cost to reduce the complexity of the encoder. Instead, RD costs are estimated for transformed coefficients by using the RD cost model, which is made up of a distortion model based on the distribution features of the transformed coefficients, a residual rate model based on the characteristics of the entropy coding module, and a simple and convenient header rate model. In addition to the full RD cost, typical encoders also adopt fast RD cost, which is composed of the sum of absolute transform differences (SATD) and header bit. To further reduce encoding complexity, three simplified SATD (SSATD) methods based on DCT and DST features are proposed to serve as substitutes for SATD in fast RD cost, thus reducing the computational complexity of SATD calculation. Experimental results show that 35.53%, 14.57%, and 14.37% of coding time can be reduced respectively under AI, RA and LDP configurations with negligible RD performance loss when applying the proposed RD cost model and the SSATD methods to HM16.7. Besides, the proposed methods also can reduce 4%-9% of encoding time and exhibits the same RD performance as state-of-the-art methods.
Keyword ：
Bit rate Bit rate Computational modeling Computational modeling Distortion Distortion Entropy coding Entropy coding Estimation Estimation HEVC HEVC low-complexity low-complexity Optimization Optimization Rate-distortion Rate-distortion Rate-distortion cost Rate-distortion cost SATD SATD
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| GB/T 7714 | Huang, Bo , Chen, Zhifeng , Su, Kaixiong et al. Low-Complexity Rate-Distortion Optimization for HEVC Encoders [J]. | IEEE TRANSACTIONS ON BROADCASTING , 2021 , 67 (3) : 721-735 . |
| MLA | Huang, Bo et al. "Low-Complexity Rate-Distortion Optimization for HEVC Encoders" . | IEEE TRANSACTIONS ON BROADCASTING 67 . 3 (2021) : 721-735 . |
| APA | Huang, Bo , Chen, Zhifeng , Su, Kaixiong , Chen, Jian , Ling, Nam . Low-Complexity Rate-Distortion Optimization for HEVC Encoders . | IEEE TRANSACTIONS ON BROADCASTING , 2021 , 67 (3) , 721-735 . |
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随着北斗产业的快速发展,北斗导航技术在各行各业得到了越来越广泛的应用.本文针对北斗位置服务平台业务数量和应用规模的不断扩大,带来的高并发和海量数据读写性能的问题,提出了基于Sharding-JDBC分表的海量北斗数据存储方案设计.分表后,系统不再对所有数据进行操作,而只需要针对其中某个或某几个分表进行操作,以减小了单表的访问压力和磁盘IO占用.最后使用Jmeter测试工具对数据接口进行测试,结果表明,采用有效的分表方案,能在一定程度上缓解并发压力,并显著提高海量数据的读写性能和可维护性.
Keyword ：
Sharding-JDBC Sharding-JDBC 分表 分表 北斗导航系统 北斗导航系统 数据库性能 数据库性能 海量数据 海量数据
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| GB/T 7714 | 林志鹏 , 李文金 , 苏凯雄 . 基于Sharding-JDBC的海量北斗数据存储方案 [J]. | 电气开关 , 2020 , 58 (1) : 39-43,48 . |
| MLA | 林志鹏 et al. "基于Sharding-JDBC的海量北斗数据存储方案" . | 电气开关 58 . 1 (2020) : 39-43,48 . |
| APA | 林志鹏 , 李文金 , 苏凯雄 . 基于Sharding-JDBC的海量北斗数据存储方案 . | 电气开关 , 2020 , 58 (1) , 39-43,48 . |
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The existing video compressed sensing (CS) algorithms for inconsistent sampling ignore the joint correlations of video signals in space and time, and their reconstruction quality and speed need further improvement. To balance reconstruction quality with computational complexity, we introduce a structural group sparsity model for use in the initial reconstruction phase and propose a weight-based group sparse optimization algorithm acting in joint domains. Then, a coarse-to-fine optical flow estimation model with successive approximation is introduced for use in the interframe prediction stage to recover non-key frames through alternating optical flow estimation and residual sparse reconstruction. Experimental results show that, compared with the existing algorithms, the proposed algorithm achieves a peak signal-to-noise ratio gain of 1-3 dB and a multi-scale structural similarity gain of 0.01-0.03 at a low time complexity, and the reconstructed frames not only have good edge contours but also retain textural details. (C) 2019 Elsevier Inc. All rights reserved.
Keyword ：
Compressed sensing Compressed sensing Group sparsity Group sparsity Interframe estimation Interframe estimation Reconstruction algorithms Reconstruction algorithms
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| GB/T 7714 | Chen, Jian , Chen, Zhifeng , Su, Kaixiong et al. Video compressed sensing reconstruction based on structural group sparsity and successive approximation estimation model [J]. | JOURNAL OF VISUAL COMMUNICATION AND IMAGE REPRESENTATION , 2020 , 66 . |
| MLA | Chen, Jian et al. "Video compressed sensing reconstruction based on structural group sparsity and successive approximation estimation model" . | JOURNAL OF VISUAL COMMUNICATION AND IMAGE REPRESENTATION 66 (2020) . |
| APA | Chen, Jian , Chen, Zhifeng , Su, Kaixiong , Peng, Zheng , Ling, Nam . Video compressed sensing reconstruction based on structural group sparsity and successive approximation estimation model . | JOURNAL OF VISUAL COMMUNICATION AND IMAGE REPRESENTATION , 2020 , 66 . |
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利用当下流行的渐进式JavaScript框架Vue和Leaflet地图组件,构建一套稳定、易用、用户体验好的多功能北斗定位可视化监控平台.从前端软件架构以及前后端交互机制出发,通过将北斗设备获取的原始WGS84坐标转换为国测局GCJ02坐标,实现了北斗终端的实时监控、历史轨迹回放等功能;针对历史轨迹回放中存在的位置点偏移与路径折线的问题,引入路径匹配和轨迹插值算法,提高了历史轨迹回放的准确性与运动轨迹的平滑性.
Keyword ：
leaflet地图 leaflet地图 Vue Vue 北斗定位 北斗定位 路径匹配 路径匹配 轨迹插值 轨迹插值
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| GB/T 7714 | 彭小男 , 李文金 , 苏凯雄 . 基于Vue的北斗定位可视化监控平台的设计与实现 [J]. | 电脑知识与技术 , 2020 , 16 (13) : 28-30 . |
| MLA | 彭小男 et al. "基于Vue的北斗定位可视化监控平台的设计与实现" . | 电脑知识与技术 16 . 13 (2020) : 28-30 . |
| APA | 彭小男 , 李文金 , 苏凯雄 . 基于Vue的北斗定位可视化监控平台的设计与实现 . | 电脑知识与技术 , 2020 , 16 (13) , 28-30 . |
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