A Practical Study of Intelligent Image-Based Mobile Robot for Tracking Colored Objects

Object tracking is one of the major tasks for mobile robots in many real-world applications.Also,artificial intelligence and automatic control techniques play an important role in enhancing the performance of mobile robot navigation.In contrast to previous simulation studies,this paper presents a new intelligent mobile robot for accomplishing multi-tasks by tracking red-green-blue(RGB)colored objects in a real experimental field.Moreover,a practical smart controller is developed based on adaptive fuzzy logic and custom proportional-integral-derivative(PID)schemes to achieve accurate tracking results,considering robot command delay and tolerance errors.The design of developed controllers implies some motion rules to mimic the knowledge of experienced operators.Twelve scenarios of three colored object combinations have been successfully tested and evaluated by using the developed controlled image-based robot tracker.Classical PID control failed to handle some tracking scenarios in this study.The proposed adaptive fuzzy PID control achieved the best accurate results with the minimum average final error of 13.8 cm to reach the colored targets,while our designed custom PID control is efficient in saving both average time and traveling distance of 6.6 s and 14.3 cm,respectively.These promising results demonstrate the feasibility of applying our developed image-based robotic system in a colored object-tracking environment to reduce human workloads.

Image Retrieval with Text Manipulation by Local Feature Modification

The demand for image retrieval with text manipulation exists in many fields, such as e-commerce and Internet search. Deep metric learning methods are used by most researchers to calculate the similarity between the query and the candidate image by fusing the global feature of the query image and the text feature. However, the text usually corresponds to the local feature of the query image rather than the global feature. Therefore, in this paper, we propose a framework of image retrieval with text manipulation by local feature modification(LFM-IR) which can focus on the related image regions and attributes and perform modification. A spatial attention module and a channel attention module are designed to realize the semantic mapping between image and text. We achieve excellent performance on three benchmark datasets, namely Color-Shape-Size(CSS), Massachusetts Institute of Technology(MIT) States and Fashion200K(+8.3%, +0.7% and +4.6% in R@1).

Real-time and high-transmission middle-infrared optical imaging system based on a pixel-wise metasurface micro-polarization array

Real-time polarization medium-wave infrared(MIR)optical imaging systems enable the acquisition of infrared and polarization information for a target.At present,real-time polarization MIR devices face the following problems:poor real-time performance,low transmission and high requirements for fabrication and integration.Herein,we aim to improve the performance of real-time polarization imaging systems in the MIR waveband and solve the above-mentioned defects.Therefore,we propose a MIR polarization imaging system to achieve real-time polarization-modulated imaging with high transmission as well as improved performance based on a pixel-wise metasurface micro-polarization array(PMMPA).The PMMPA element comprises several linear polarization(LP)filters with different polarization angles.The optimization results demonstrate that the transmittance of the center field of view for the LP filters is up to 77%at a wavelength of4.0μm and an extinction ratio of 88 d B.In addition,a near-diffraction-limited real-time MIR imaging optical system is designed with a field of view of 5°and an F-number of 2.The simulation results show that an MIR polarization imaging system with excellent real-time performance and high transmission is achieved by using the optimized PMMPA element.Therefore,the method is compatible with the available optical system design technologies and provides a way to realize real-time polarization imaging in MIR wavebands.

A Flexible DSP-Based Network forReal-Time Image-Processing

This paper proposed a general purpose real-time image processing system based on a flexible DSP-based Network, which is implemented by a high bandwidth communication channel, links. The links is realized using FPGA and provides a bandwidth of 12. 8 Gbit/s. Using the links, The topologic of multi-DSP system can be changed online to meet the variabilities of the parallel algorithm of image processing. The system can be assembled with utmost tens of boards and maintain the high communication speed. Analysis of the system adaptivity to image processing is testified followed by actual results. Key words real-time image processing - multi-DSP - flexible - scalable - FPGA - links CLC number TP 303 Foundation item: Supported by the National Natural Science Foundation of China (60135020)Biography: MAO Hai-cen(1973-), male, Ph.D. candidate, research direction: artificial intelligence, expert system, pattern recognition and image processing

New multi-DSP parallel computing architecture for real-time image processing

The flexibility of traditional image processing system is limited because those system are designed for specific applications. In this paper, a new TMS320C64x-based multi-DSP parallel computing architecture is presented. It has many promising characteristics such as powerful computing capability, broad I/O bandwidth, topology flexibility, and expansibility. The parallel system performance is evaluated by practical experiment.

Several Algorithms for Manipulating Compressed Images in JPEG

Currently,in multimedia and image processing technologies, implementing special kinds of image manipulation operations by dealing directly with the compressed image is a work worthy to be concerned with. Theoretical analysis and experiment haVe indicated that some kinds of image processing works can be done very well by dealing with compressed image. In Ans paper, we give some efficient image manipulation operation algorithms operating on the compressed image data. These algorithms have advantages in computing complexity, storage space retirement and image quality.

High performance reconfigurable hardware system for real-time image processing

A novel reconfigurable hardware system which uses both muhi-DSP and FPGA to attain high performance and real-time image processing are presented. The system structure and working principle of mainly processing multi-BSP board, extended multi-DSP board are analysed. The outstanding advantage is that the communication among different board components of this system is supported by high speed link ports ＆ serial ports for increasing the system performance and computational power. Then the implementation of embedded real-time operating systems （RTOS） by us is discussed in detail. In this system, we adopt two kinds of parallel structures controlled by RTOS for parallel processing of algorithms. The experimental results show that exploitive period of the system is short, and maintenance convenient. Thus it is suitable for real-time image processing and can get satisfactory effect of image recognition.

An FPGA-based real-time image processing system

This paper analyzes the current difficulties encountered in on-line inspection systems of strip surface quality, specifically relating to problems with real-time processing of huge amounts of data. To address this need, this paper describes an FPGA-based high-speed image processing module with both hardware and software aspects. Improving these two aspects together will help the system achieve real-time processing of massive image data, and simplifies the architecture of the strip surface quality on-line inspection system.

Image Fusion Real-time System Based on FPGA and Multi-DSP

In order to solve complex algorithm that is difficult to achieve real-time processing of Multiband image fusion within large amount of data, a real-time image fusion system based on FPGA and multi-DSP is designed. Five-band image acquisition, image registration, image fusion and display output can be done within the system which uses FPGA as the main processor and the other three DSP as an algorithm processor. Making full use of Flexible and high-speed characteristics of FPGA, while an image fusion algorithm based on multi-wavelet transform is optimized and applied to the system. The final experimental results show that the frame rate of 15 Hz, with a resolution of 1392 × 1040 of the five-band image can be used by the system to complete processing within 41ms.

A fast and adaptive method for automatic weld defect detection in various real-time X-ray imaging systems

A first and effective method is proposed to detect weld deject adaptively in various Dypes of real-time X-ray images obtained in different conditions. After weld extraction and noise reduction, a proper template of median filter is used to estimate the weld background. After the weld background is subtracted from the original image, an adaptite threshold segmentation algorithm is proposed to obtain the binary image, and then the morphological close and open operation, labeling algorithm and fids＇e alarm eliminating algorithm are applied to pracess the binary image to obtain the defect, ct detection result. At last, a fast realization procedure jbr proposed method is developed. The proposed method is tested in real-time X-ray image,s obtairted in different X-ray imaging sutems. Experiment results show that the proposed method is effective to detect low contrast weld dejects with few .false alarms and is adaptive to various types of real-time X-ray imaging systems.

APPLICATION OF IMAGE MANIPULATION FOR CAVITATION ANALYZING

A new method ,which is called image manipulation, is introduced to analyze the cavitation of flow field for the first time. As the complexity of the cavitation development must be considering, only the method of image manipulation can calculate the strength of the cavitation more accurately. This method based on wavelet transform is used to eliminate the noise. The area of the cavitations is deduced to serve as the strength of cavitation. The method is applied in an example of inducer's rotating cavitation. The results show that using image manipulation can get the accurate date of cavitation with ease,and the reason of the inducer shaft's vibration is uncovered clearly.

A new imaging mode based on X-ray CT as prior image and sparsely sampled projections for rapid clinical proton CT

Proton computed tomography(CT)has a distinct practical significance in clinical applications.It eliminates 3–5%errors caused by the transformation of Hounsfield unit(HU)to relative stopping power(RSP)values when using X-ray CT for positioning and treatment planning systems(TPSs).Following the development of FLASH proton therapy,there are increased requirements for accurate and rapid positioning in TPSs.Thus,a new rapid proton CT imaging mode is proposed based on sparsely sampled projections.The proton beam was boosted to 350 MeV by a compact proton linear accelerator(LINAC).In this study,the comparisons of the proton scattering with the energy of 350 MeV and 230 MeV are conducted based on GEANT4 simulations.As the sparsely sampled information associated with beam acquisitions at 12 angles is not enough for reconstruction,X-ray CT is used as a prior image.The RSP map generated by converting the X-ray CT was constructed based on Monte Carlo simulations.Considering the estimation of the most likely path(MLP),the prior image-constrained compressed sensing(PICCS)algorithm is used to reconstruct images from two different phantoms using sparse proton projections of 350 MeV parallel proton beam.The results show that it is feasible to realize the proton image reconstruction with the rapid proton CT imaging proposed in this paper.It can produce RSP maps with much higher accuracy for TPSs and fast positioning to achieve ultra-fast imaging for real-time image-guided radiotherapy(IGRT)in clinical proton therapy applications.

Heterogeneity induced strain localization in block-in-matrix-soils subjected to uniaxial loading using real-time CT scanning

Block-in-matrix-soils(bimsoils)are geological mixtures that have distinct structures consisting of relatively strong rock blocks and weak matrix soils.It is still a challenge to evaluate the mechanical behaviors of bimsoils because of the heterogeneity,chaotic structure,and lithological variability.As a result,only very limited laboratory studies have been reported on the evolution of their internal deformation.In this study,the deformation evolution of bimsoils under uniaxial loading is investigated using real-time X-ray computed tomography(CT)and image correlation algorithm(with a rock block percentage(RBP)of 40%).Three parameters,i.e.heterogeneity coefficient(K),correlation coefficient(CC),and standard deviation(STD)of displacement fields,are proposed to quantify the heterogeneity of the motion of the rock blocks and the progressive deformation of the bimsoils.Experimental results show that the rock blocks in bimsoils are prone to forming clusters with increasing loading,and the sliding surface goes around only one side of a cluster.Based on the movement of the rock blocks recorded by STD and CC,the progressive deformation of the bimsoils is quantitatively divided into three stages:initialization of the rotation of rock blocks,formation of rock block clusters,and formation of a shear band by rock blocks with significant rotation.Moreover,the experimental results demonstrate that the meso-motion of rock blocks controls the macroscopic mechanical properties of the samples.

Real-time Three-Dimensional Color Doppler Flow Imaging： An Improved Technique for Quantitative Analysis of Aortic Regurgitation

The recently introduced real-time three-dimensional color Doppler flow imaging （RT-3D CDFI） technique provides a quick and accurate calculation of regurgitant jet volume （RJV） and fraction. In order to evaluate RT-3D CDFI in the noninvasive assessment of aortic RJV and regurgitant jet fraction （RJF） in patients with isolated aortic regurgitation, real-time three-dimensional echocardiographic studies were performed on 23 patients with isolated aortic regurgitation to obtain LV end-diastolic volumes （LVEDV）, end-systolic volumes （LVESV） and RJV, and then RJF could be calculated. The regurgitant volume （RV） and regurgitant fraction （RF） calculated by two-dimensional pulsed Doppler （2D-PD） method served as reference values. The results showed that aortic RJV measured by the RT-3D CDFI method showed a good correlation with the 2D-PD measurements （r= 0.93, Y=0.89X＋ 3.9, SEE= 8.6 mL, P〈0.001 ）; the mean （SD） difference between the two methods was - 1.5 （9.8） mL. % RJF estimated by the RT-3D CDFI method was also correlated well with the values obtained by the 2D-PD method （r=0.88, Y=0.71X＋ 14.8, SEE= 6.4 %, P〈0. 001）; the mean （SD） difference between the two methods was -1.2 （7.9） %. It was suggested that the newly developed RT-3D CDFI technique was feasible in the majority of patients. In patients with eccentric aortic regurgitation, this new modality provides additional information to that obtained from the two-dimensional examination, which overcomes the inherent limitations of two-dimensional echocardiography by depicting the full extent of the jet trajectory. In addition, the RT-3D CDFI method is quick and accurate in calculating RJV and RJF.

An Intelligent Detection Method for Optical Remote Sensing Images Based on Improved YOLOv7

To address the issue of imbalanced detection performance and detection speed in current mainstream object detection algorithms for optical remote sensing images,this paper proposes a multi-scale object detection model for remote sensing images on complex backgrounds,called DI-YOLO,based on You Only Look Once v7-tiny(YOLOv7-tiny).Firstly,to enhance the model’s ability to capture irregular-shaped objects and deformation features,as well as to extract high-level semantic information,deformable convolutions are used to replace standard convolutions in the original model.Secondly,a Content Coordination Attention Feature Pyramid Network(CCA-FPN)structure is designed to replace the Neck part of the original model,which can further perceive relationships between different pixels,reduce feature loss in remote sensing images,and improve the overall model’s ability to detect multi-scale objects.Thirdly,an Implicitly Efficient Decoupled Head(IEDH)is proposed to increase the model’s flexibility,making it more adaptable to complex detection tasks in various scenarios.Finally,the Smoothed Intersection over Union(SIoU)loss function replaces the Complete Intersection over Union(CIoU)loss function in the original model,resulting in more accurate prediction of bounding boxes and continuous model optimization.Experimental results on the High-Resolution Remote Sensing Detection(HRRSD)dataset demonstrate that the proposed DI-YOLO model outperforms mainstream target detection algorithms in terms of mean Average Precision(mAP)for optical remote sensing image detection.Furthermore,it achieves Frames Per Second(FPS)of 138.9,meeting fast and accurate detection requirements.

Research on Automatic Elimination of Laptop Computer in Security CT Images Based on Projection Algorithm and YOLOv7-Seg

In civil aviation security screening, laptops, with their intricate structural composition, provide the potential for criminals to conceal dangerous items. Presently, the security process necessitates passengers to individually present their laptops for inspection. The paper introduced a method for laptop removal. By combining projection algorithms with the YOLOv7-Seg model, a laptop’s three views were generated through projection, and instance segmentation of these views was achieved using YOLOv7-Seg. The resulting 2D masks from instance segmentation at different angles were employed to reconstruct a 3D mask through angle restoration. Ultimately, the intersection of this 3D mask with the original 3D data enabled the successful extraction of the laptop’s 3D information. Experimental results demonstrated that the fusion of projection and instance segmentation facilitated the automatic removal of laptops from CT data. Moreover, higher instance segmentation model accuracy leads to more precise removal outcomes. By implementing the laptop removal functionality, the civil aviation security screening process becomes more efficient and convenient. Passengers will no longer be required to individually handle their laptops, effectively enhancing the efficiency and accuracy of security screening.

Application of Dual-Energy X-Ray Image Detection of Dangerous Goods Based on YOLOv7

X-ray security equipment is currently a more commonly used dangerous goods detection tool, due to the increasing security work tasks, the use of target detection technology to assist security personnel to carry out work has become an inevitable trend. With the development of deep learning, object detection technology is becoming more and more mature, and object detection framework based on convolutional neural networks has been widely used in industrial, medical and military fields. In order to improve the efficiency of security staff, reduce the risk of dangerous goods missed detection. Based on the data collected in X-ray security equipment, this paper uses a method of inserting dangerous goods into an empty package to balance all kinds of dangerous goods data and expand the data set. The high-low energy images are combined using the high-low energy feature fusion method. Finally, the dangerous goods target detection technology based on the YOLOv7 model is used for model training. After the introduction of the above method, the detection accuracy is improved by 6% compared with the direct use of the original data set for detection, and the speed is 93FPS, which can meet the requirements of the online security system, greatly improve the work efficiency of security personnel, and eliminate the security risks caused by missed detection.

Feasibility of real-time magnetic resonance imaging-guided endomyocardial biopsies:An in-vitro study

AIM: To investigate if magnetic resonance(MR)-guided biopsy can improve the performance and safety of such procedures. METHODS: A novel MR-compatible bioptome was evaluated in a series of in-vitro experiments in a 1.5T magnetic resonance imaging(MRI) system. The bioptome was inserted into explanted porcine and bovine hearts under real-time MR-guidance employing a steady state free precession sequence. The artifact produced by the metal element at the tip and the signal voids caused by the bioptome were visually tracked for navigation and allowed its constant and precise localization. RESULTS: Cardiac structural elements and the target regions for the biopsy were clearly visible. Our method allowed a significantly better spatial visualization of the bioptoms tip compared to conventional X-ray guidance. The specific device design of the bioptome avoided inducible currents and therefore subsequent heating. The novel MR-compatible bioptome provided a superior cardiovascular magnetic resonance(imaging) soft-tissue visualization for MR-guided myocardial biopsies. Not at least the use of MRI guidance for endomyocardial biopsies completely avoided radiation exposure for both patients and interventionalists.CONCLUSION: MRI-guided endomyocardial biopsies provide a better than conventional X-ray guided navigation and could therefore improve the specificity and reproducibility of cardiac biopsies in future studies.

DEVELOPMENT OF AN AIRBORNE SAR REAL-TIME DIGITAL IMAGING PROCESSOR

An airborne SAR real-time digital imaging processor is presented, and its realtime digital imaging principle and main technical parameters are analyzed briefly. The system configuration and logical structure are described in detail. Finally the main features of this system and examples of imagery obtained with the system are also presented.

A Mixed Real-time Algorithm for the Forward Kinematics of Stewart Parallel Manipulator

Aimed at the real-time forward kinematics solving problem of Stewart parallel manipulator in the control course, a mixed algorithm combining immune evolutionary algorithm and numerical iterative scheme is proposed. Firstly taking advantage of simpleness of inverse kinematics, the forward kinematics is transformed to an optimal problem. Immune evolutionary algorithm is employed to find approximate solution of this optimal problem in manipulator＇s workspace. Then using above solution as iterative initialization, a speedy numerical iterative scheme is proposed to get more precise solution. In the manipulator running course, the iteration initialization can be selected as the last period position and orientation. Because the initialization is closed to correct solution, solving precision is high and speed is rapid enough to satisfy real-time requirement. This mixed forward kinematics algorithm is applied to real Stewart parallel manipulator in the real-time control course. The examination result shows that the algorithm is very efficient and practical.