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Abstract ：
在连杆摆动视觉测量中，针对高速曝光产生的背景噪点对前景光流轨迹混叠及阻断导致配准误差，本文提出了一种新的视频滤波与补偿算法。该算法以背景噪声与前景摆杆光流轨迹不同的运动统计特性作为先验模型，通过核双样假设检验检测光流轨迹速度突变，剪除背景噪点轨迹片段实现去噪。为实现轨迹补偿，首先引入机械连杆铰接点为参照物的相对光流采集方式，将各帧摆杆铰接点配准翘曲至第1帧铰接点位置，将连杆摆动轨迹从复合高阶摆线中分离形成低阶理想圆弧。其次采用Pratt拟合翘曲后的摆杆轨迹的圆心与半径，将轨迹聚类为不同半径的弧状轨迹群。最后，将弧状轨迹群的x-y坐标ν-SVR回归作为几何约束，结合x-t动力学回归半监督学习出完整长度的轨迹。在刮刷总成摆角及共轭凸轮的针床推程位移比较的测量实验表明，该算法比传统VBM3D,MeshFlow等算法准确度可提高3.26%,运算复杂度降低2阶，在机械旋转运动视觉故障诊断及机械仪表数字化采集等方面具有广阔应用前景。
Keyword ：
BEBLID描述子 BEBLID描述子 RKHS再生核 RKHS再生核 密度功率散度 密度功率散度 最大均值差异 最大均值差异 核双样检验 核双样检验 连杆曲线图谱 连杆曲线图谱
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| GB/T 7714 | 郑思凡 , 陈平平 , 苏凯雄 et al. 核双样检验的连杆摆动光流轨迹混叠去除及补偿 [J]. | 仪器仪表学报 , 2023 , 44 (07) : 182-193 . |
| MLA | 郑思凡 et al. "核双样检验的连杆摆动光流轨迹混叠去除及补偿" . | 仪器仪表学报 44 . 07 (2023) : 182-193 . |
| APA | 郑思凡 , 陈平平 , 苏凯雄 , 吴永春 , 林志坚 . 核双样检验的连杆摆动光流轨迹混叠去除及补偿 . | 仪器仪表学报 , 2023 , 44 (07) , 182-193 . |
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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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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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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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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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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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针对传统智能家居系统安装复杂、功能单一、携带性差等问题,提出了一种基于安卓和云服务技术的智能家居系统设计方案。该系统以Arduino Mega2560控器作为硬件平台,实现对室内各电器设备的控制和数据采集。手机App采用低功耗蓝牙与硬件平台进行数据和指令交互,通过使用手机App可实现对室内电器设备的智能控制。PC端云服务器将手机App上传的室内环境信息保存在数据库中,以供查询和管理。实验结果表明,该系统操作方便、携带性好,能较好地实现对室内家居设备的智能控制。
Keyword ：
云服务 云服务 人脸识别 人脸识别 低功耗蓝牙 低功耗蓝牙 安卓 安卓 语音识别 语音识别
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| GB/T 7714 | 黄兴 , 李文金 , 苏凯雄 . 一种基于安卓与云平台的智能家居系统设计 [J]. | 电脑知识与技术 , 2021 , 17 (07) : 5-8,21 . |
| MLA | 黄兴 et al. "一种基于安卓与云平台的智能家居系统设计" . | 电脑知识与技术 17 . 07 (2021) : 5-8,21 . |
| APA | 黄兴 , 李文金 , 苏凯雄 . 一种基于安卓与云平台的智能家居系统设计 . | 电脑知识与技术 , 2021 , 17 (07) , 5-8,21 . |
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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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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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GNSS information is vulnerable to external interference and causes failure when unmanned aerial vehicles (UAVs) are in a fully autonomous flight in complex environments such as high-rise parks and dense forests. This paper presents a pan-tilt-based visual servoing (PBVS) method for obtaining world coordinate information. The system is equipped with an inertial measurement unit (IMU), an air pressure sensor, a magnetometer, and a pan-tilt-zoom (PTZ) camera. In this paper, we explain the physical model and the application method of the PBVS system, which can be briefly summarized as follows. We track the operation target with a UAV carrying a camera and output the information about the UAV's position and the angle between the PTZ and the anchor point. In this way, we can obtain the current absolute position information of the UAV with its absolute altitude collected by the height sensing unit and absolute geographic coordinate information and altitude information of the tracked target. We set up an actual UAV experimental environment. To meet the calculation requirements, some sensor data will be sent to the cloud through the network. Through the field tests, it can be concluded that the systematic deviation of the overall solution is less than the error of GNSS sensor equipment, and it can provide navigation coordinate information for the UAV in complex environments. Compared with traditional visual navigation systems, our scheme has the advantage of obtaining absolute, continuous, accurate, and efficient navigation information at a short distance (within 15 m from the target). This system can be used in scenarios that require autonomous cruise, such as self-powered inspections of UAVs, patrols in parks, etc.
Keyword ：
cloud computing cloud computing navigation coordinate information navigation coordinate information pan-tilt-based visual servoing (PBVS) pan-tilt-based visual servoing (PBVS) track track unmanned aerial vehicle (UAV) unmanned aerial vehicle (UAV)
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| GB/T 7714 | Chen, Chengbin , Tian, YaoYuan , Lin, Liang et al. Obtaining World Coordinate Information of UAV in GNSS Denied Environments [J]. | SENSORS , 2020 , 20 (8) . |
| MLA | Chen, Chengbin et al. "Obtaining World Coordinate Information of UAV in GNSS Denied Environments" . | SENSORS 20 . 8 (2020) . |
| APA | Chen, Chengbin , Tian, YaoYuan , Lin, Liang , Chen, SiFan , Li, HanWen , Wang, YuXin et al. Obtaining World Coordinate Information of UAV in GNSS Denied Environments . | SENSORS , 2020 , 20 (8) . |
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