Human Visual Attention Mechanism-Inspired Point-and-Line Stereo Visual Odometry for Environments with Uneven Distributed Features

Visual odometry is critical in visual simultaneous localization and mapping for robot navigation.However,the pose estimation performance of most current visual odometry algorithms degrades in scenes with unevenly distributed features because dense features occupy excessive weight.Herein,a new human visual attention mechanism for point-and-line stereo visual odometry,which is called point-line-weight-mechanism visual odometry(PLWM-VO),is proposed to describe scene features in a global and balanced manner.A weight-adaptive model based on region partition and region growth is generated for the human visual attention mechanism,where sufficient attention is assigned to position-distinctive objects(sparse features in the environment).Furthermore,the sum of absolute differences algorithm is used to improve the accuracy of initialization for line features.Compared with the state-of-the-art method(ORB-VO),PLWM-VO show a 36.79%reduction in the absolute trajectory error on the Kitti and Euroc datasets.Although the time consumption of PLWM-VO is higher than that of ORB-VO,online test results indicate that PLWM-VO satisfies the real-time demand.The proposed algorithm not only significantly promotes the environmental adaptability of visual odometry,but also quantitatively demonstrates the superiority of the human visual attention mechanism.

Zonal distribution features of high frequency planetary waves in the oceans derived from satellite altimeter data

Based on TOPEX/Poseidon (T/P) and ERS-1 and 2 satellite altimeter data between October 1992 and December 2000, high frequency oscillations with periods less than 150 d are analyzed and their spatial distributions are described. The ratio, instead of the energy itself, of the energy corresponding to certain frequency band from power spectrum relative to the total energy in the 20～143 d range is analyzed. The results show that the period of the most energetic oscillations in this band increases with latitude from about 1 month near the tropics to about 4 months near 30°, in agreement with the latitudinal dependency of the phase speed of westward propagating long Rossby waves,which dominate the variability in those latitudes.As a result,the global spatial distributions of the period of the dominant oscillations are largely zonal, with relatively small differences between different ocean basins. It suggests that the oscillations with periods around 60 d are mainly associated with planetary Rossby waves except the often regarded as tidal aliasing.

Petroleum Hydrocarbon Distribution Features in Water and Sediment off Fujian Shore

This study on the distribution features of petroleum hydrocarbon in water and sediment off the Fujian shore using data obtained from the baseline research on oceanic contamination in Fujian showed that: during the research period, petroleum hydrocarbon concentrations in water varied from 5.77 μg/L to 37.28 μg/L, averaged 14.48 μg/L; was lower in the wet season than in the dry season; and was highest in the Minjiang Estuary and Jiulong Estuary in both seasons. The petroleum hydrocarbon concentrations in shore sediment varied from 14.48 mg/kg to 784.36 mg/kg, averaged 133.3 mg/kg, and was closely related to sediment types (granularity).

Cytogenetic Mapping of Disease Resistance Genes and Analysis of Their Distribution Features on Chromosomes in Maize

Cytogenetic maps of four clusters of disease resistance genes were generated by ISH of the two RFLP markers tightly linked to and flanking each of maize resistance genes and the cloned resistance genes from other plant species onto maize chromosomes, combining with data published before. These genes include Helminthosporium turcium Pass resistance genes Ht1, Htn1 and Ht2, Helminthosporium maydis Nisik resistance genes Rhm1 and Rhm2, maize dwarf mosaic virus resistance gene Mdm1, wheat streak mosaic virus resistance gene Wsm1, Helminthosporium carbonum ULLstrup resistance gene Hml and the cloned Xanthomonas oryzae pv. Oryzae resistance gene Xa21 of rice, Cladosporium fulvum resistance genes Cf-9 and Cf-2.1 of tomato,and Pseudomonas syringae resistance gene RPS2 of Arabidopsis. Most of the tested disease resistance genes located on the four chromosomes, i.e., chromosomes1, 3, 6 and 8, and they closely distributed at the interstitial regions of these chromosomal long arms with percentage distances ranging 31.44(±3.72)-72.40(±3.25) except for genes Rhm1, Rhm2, Mdm1 and Wsm1 which mapped on the satellites of the short arms of chromosome6. It showed that the tested RFLP markers and genes were duplicated or triplicated in maize genome. Homology and conservation of disease resistance genes among species, and relationship between distribution features and functions of the genes were discussed. The results provide important scientific basis for deeply understanding structure and function of disease resistance genes and breeding in maize.

Statistical study on the spatial - temporal distribution features of the arctic sea ice extent

On the basis of the arctic monthly mean sea ice extent data set during 1953-1984, the arctic region is divided into eight subregions,and the analyses of empirical orthogonal functions, power spectrum and maximum entropy spectrum are made to indentify the major spatial and temporal features of the sea ice fluctuations within 32-year period. And then, a brief appropriate physical explanation is tentatively suggested. The results show that both seasonal and non-seasonal variations of the sea ice extent are remarkable, and iis mean annual peripheral positions as well as their interannu-al shifting amplitudes are quite different among all subregions. These features are primarily affected by solar radiation, o-cean circulation, sea surface temperature and maritime-continental contrast, while the non-seasonal variations are most possibly affected by the cosmic-geophysical factors such as earth pole shife, earth rotation oscillation and solar activity.

Distribution and Length-weight Relationships of Glyptosternoid Fishes in the Drung River Basin, Yunnan

Glyptosternoid fishes are a group of sisorid catfishes living in torrents of rivers mainly originating from the Qinghai-Tibet Plateau. Based on our survey in the Drung River Basin, seven collecting sites were investigated and 271 glyptosternoid fishes caught belong to three species （Pareuchiloglanis kamengensis, Exostoma labiatum and Oreoglanis mocropterus）. Features of the distribution of the three catfishes were assessed. More individuals of E. labiatum were caught in the lower reaches of the Drung River with fast water velocity and it might be more adapted to a torrent habitat. The relationships between standard length （L） and weight （W） for P. kamengensis, E. labiatum and O. macropterus were also studied, and the parameter b of the L-W relationship （W = aL^b） ranged between 2. 8201 and 3. 0131. From the present study, all the three catfish species grow allometrically and the growth type of E. labiatum is the closest to a symmetrical one.

Reduction of distortion and improvement of efficiency for gridding of scattered gravity and magnetic data

This paper presents a reasonable gridding-parameters extraction method for setting the optimal interpolation nodes in the gridding of scattered observed data. The method can extract optimized gridding parameters based on the distribution of features in raw data. Modeling analysis proves that distortion caused by gridding can be greatly reduced when using such parameters. We also present some improved technical measures that use human- machine interaction and multi-thread parallel technology to solve inadequacies in traditional gridding software. On the basis of these methods, we have developed software that can be used to grid scattered data using a graphic interface. Finally, a comparison of different gridding parameters on field magnetic data from Ji Lin Province, North China demonstrates the superiority of the proposed method in eliminating the distortions and enhancing gridding efficiency.

Transport and distribution of nutrients in anchovy spawning ground to the southern waters of Shandong Peninsula

The distribution of nutrients and the effect of side transport of nutrients on anchovy spawning ground to the southern waters of Shandong Peninsula are discussed based on the data collected in June 2000, May and June 2001. The coastal current and upwelling are the main physical processes of nutrient transport to the southern waters of Shandong Peninsula. The concentrations of nutrients, Chl-a, the density of anchovy eggs, larva and juvenile fish increase obviously where they are greatly affected by these processes, while the contents of nutrients and Chl-a, the density of anchovy eggs, larva and juvenile fish decrease significantly where these processes diminish or disappear. The investigation suggest that the side transport of nutrients by Lubei (North Shandong) coastal current in the northern area causes the Chl-a content to be high and dense anchovy eggs, larva and juvenile fish to be dense in the coastal area of the Chengshan Cape. In the southern area, the riverine input from Subei irrigation ditch with high content of nutrients inshore and upwelling in the western edge of the Huanghai Sea Cold Water offshore should be responsible for high Chl-a concentration and dense anchovy eggs, larva and juvenile fish. It is possible that these processes of nutrient transport have controlled the anchovy spawning ground to the southern waters of Shandong Peninsula.

Estimation of coal particle size distribution by image segmentation

Several industrial coal processes are largely determined by the distribution of particle sizes in their feed.Currently these parameters are measured by manual sampling,which is time consuming and cannot provide real time feedback for automatic control purposes.In this paper,an approach using image segmentation on images of overlapped coal particles is described.The estimation of the particle size distribution by number is also described.The particle overlap problem was solved using image enhancement algorithms that converted those image parts representing material in lower layers to black.Exponential high-pass filter(EHPF) algorithms were used to remove the texture from particles on the surface.Finally,the edges of the surface particles were identified by morphological edge detection.These algorithms are described in detail as is the method of extracting the coal particle size.Tests indicate that using more coal images gives a higher accuracy estimate.The positive absolute error of 50 random tests was consistently less than 2.5% and the errors were reduced as the size of the fraction increased.

Discriminative feature encoding for intrinsic image decomposition

Intrinsic image decomposition is an important and long-standing computer vision problem.Given an input image,recovering the physical scene properties is ill-posed.Several physically motivated priors have been used to restrict the solution space of the optimization problem for intrinsic image decomposition.This work takes advantage of deep learning,and shows that it can solve this challenging computer vision problem with high efficiency.The focus lies in the feature encoding phase to extract discriminative features for different intrinsic layers from an input image.To achieve this goal,we explore the distinctive characteristics of different intrinsic components in the high-dimensional feature embedding space.We define feature distribution divergence to efficiently separate the feature vectors of different intrinsic components.The feature distributions are also constrained to fit the real ones through a feature distribution consistency.In addition,a data refinement approach is provided to remove data inconsistency from the Sintel dataset,making it more suitable for intrinsic image decomposition.Our method is also extended to intrinsic video decomposition based on pixel-wise correspondences between adjacent frames.Experimental results indicate that our proposed network structure can outperform the existing state-of-the-art.

Fast uniform content-based satellite image registration using the scale-invariant feature transform descriptor

Content-based satellite image registration is a difficult issue in the fields of remote sensing and image processing. The difficulty is more significant in the case of matching multisource remote sensing images which suffer from illumination, rotation, and source differences. The scale-invariant feature transform （SIFT） algorithm has been used successfully in satellite image registration problems. Also, many researchers have applied a local SIFT descriptor to improve the image retrieval process. Despite its robustness, this algorithm has some difficulties with the quality and quantity of the extracted local feature points in multisource remote sensing. Furthermore, high dimensionality of the local features extracted by SIFT results in time-consuming computational processes alongside high storage requirements for saving the relevant information, which are important factors in content-based image retrieval （CBIR） applications. In this paper, a novel method is introduced to transform the local SIFT features to global features for multisource remote sensing. The quality and quantity of SIFT local features have been enhanced by applying contrast equalization on images in a pre-processing stage. Considering the local features of each image in the reference database as a separate class, linear discriminant analysis （LDA） is used to transform the local features to global features while reducing di- mensionality of the feature space. This will also significantly reduce the computational time and storage required. Applying the trained kernel on verification data and mapping them showed a successful retrieval rate of 91.67% for test feature points.

Pressure distribution feature-oriented sampling for statistical analysis of supercritical airfoil aerodynamics

In the field of supercritical wing design, various principles and rules have been summarized through theoretical and experimental analyses. Compared with black-box relationships between geometry parameters and performances, quantitative physical laws about pressure distributions and performances are clearer and more beneficial to designers. With the advancement of computational fluid dynamics and computational intelligence, discovering new rules through statistical analysis on computers has become increasingly attractive and affordable. This paper proposes a novel sampling method for the statistical study on pressure distribution features and performances, so that new physical laws can be revealed. It utilizes an adaptive sampling algorithm, of which the criteria are developed based on Kullback–Leibler divergence and Euclidean distance.In this paper, the proposed method is employed to generate airfoil samples to study the relationships between the supercritical pressure distribution features and the drag divergence Mach number as well as the drag creep characteristic. Compared with conventional sampling methods, the proposed method can efficiently distribute samples in the pressure distribution feature space rather than directly sampling airfoil geometry parameters. The corresponding geometry parameters are searched and found under constraints, so that supercritical airfoil samples that are well distributed in the pressure distribution space are obtained. These samples allow statistical studies to obtain more reliable and universal aerodynamic rules that can be applied to supercritical airfoil designs.

Underwater target feature recognition based on distribution of highlights

An algorithm for underwater target feature recognition is proposed using its highlights distribution.For an underwater target with large size and slender body,it is assumed that the heading course and the length of the target are both determined by the distribution of its highlights.By supposing that these highlights obey Gaussian mixture distribution,the feature recognition problem can be transformed into a clustering problem.Therefore,using the collinearly constrained expectation maximization algorithm,the clustering centers of these highlights can be calculated and then the estimation of the heading and length of the target can be obtained with high accuracy.The effectiveness of the proposed method is demonstrated using simulations.

Discovering Cohesive Temporal Subgraphs with Temporal Density Aware Exploration

Real-world networks,such as social networks,cryptocurrency networks,and e-commerce networks,always have occurrence time of interactions between nodes.Such networks are typically modeled as temporal graphs.Mining cohesive subgraphs from temporal graphs is practical and essential in numerous data mining applications,since mining cohesive subgraphs gets insights into the time-varying nature of temporal graphs.However,existing studies on mining cohesive subgraphs,such as Densest-Exact and k-truss,are mainly tailored for static graphs(whose edges have no temporal information).Therefore,those cohesive subgraph models cannot indicate both the temporal and the structural characteristics of subgraphs.To this end,we explore the model of cohesive temporal subgraphs by incorporating both the evolving and the structural characteristics of temporal subgraphs.Unfortunately,the volume of time intervals in a temporal network is quadratic.As a result,the time complexity of mining temporal cohesive subgraphs is high.To efficiently address the problem,we first mine the temporal density distribution of temporal graphs.Guided by the distribution,we can safely prune many unqualified time intervals with the linear time cost.Then,the remaining time intervals where cohesive temporal subgraphs fall in are examined using the greedy search.The results of the experiments on nine real-world temporal graphs indicate that our model outperforms state-of-the-art solutions in efficiency and quality.Specifically,our model only takes less than two minutes on a million-vertex DBLP and has the highest overall average ranking in EDB and TC metrics.

Airframe Damage Region Division Method Based on Structure Tensor Dynamic Operator

In order to improve the accuracy of damage region division and eliminate the interference of damage adjacent region,the airframe damage region division method based on the structure tensor dynamic operator is proposed in this paper.The structure tensor feature space is established to represent the local features of damage images.It makes different damage images have the same feature distribution,and transform varied damage region division into consistent process of feature space division.On this basis,the structure tensor dynamic operator generation method is designed.It integrates with bacteria foraging optimization algorithm improved by defining double fitness function and chemotaxis rules,in order to calculate the parameters of dynamic operator generation method and realize the structure tensor feature space division.And then the airframe damage region division is realized.The experimental results on different airframe structure damage images show that compared with traditional threshold division method,the proposed method can improve the division quality.The interference of damage adjacent region is eliminated.The information loss caused by over-segmentation is avoided.And it is efficient in operation,and consistent in process.It also has the applicability to different types of structural damage.