Simulators play an important role in training surgery residents to perform laparoscopy surgery. Some of these simulators have the capability to track tool motion to assess performance. However, most have not utilized ...Simulators play an important role in training surgery residents to perform laparoscopy surgery. Some of these simulators have the capability to track tool motion to assess performance. However, most have not utilized the data to analyze trainee performance in a meaningful way. The alpha shape method can be used to construct a geometric surface based on motion data to enable visualization of the performance, while the surface derivative (surface/time to completion)—efficiency—can be used as a metric to evaluate complex surgical performance. The utility of the alpha shape method was demonstrated in a pick-and-place task, where the motion path of laparoscopic graspers was recorded by a position sensor, miniBIRD 500?. An alpha shape method was used to measure the surface area of the 3D points in space occupied by the tool tips during task performance. Results show that the surface derivative measure alone may be able to model the speed-accuracy tradeoff function, thereby simplifying the analysis and evaluation of complex motion in surgical performance.展开更多
采用运动恢复结构(structure from motion,SFM)算法进行三维人脸建模一直以来受到研究者的关注,但其对错误的匹配点比较敏感,因此,文章提出了一种融合Gabor特征的SFM算法三维人脸建模方法。该方法利用Gabor滤波器提取纹理特征,判别轮廓...采用运动恢复结构(structure from motion,SFM)算法进行三维人脸建模一直以来受到研究者的关注,但其对错误的匹配点比较敏感,因此,文章提出了一种融合Gabor特征的SFM算法三维人脸建模方法。该方法利用Gabor滤波器提取纹理特征,判别轮廓特征点匹配的准确性;针对图像数增多,传统因子分解法不易修正旋转矩阵的问题,利用旋转矩阵的性质求得修正矩阵,避开方程组的求解;提出引入迭代最近点算法将稀疏三维特征点与三维模型进行配准,缩小空间距离,并结合薄板样条函数插值生成特定的三维人脸模型,为增强真实感,进行纹理映射。实验结果表明,该方法有效提高了匹配点的准确性,能够重建出具有较强真实感的三维人脸。展开更多
高精度、高分辨率的地形地貌数据是活动构造定量研究的基础。摄影测量方法的出现和快速发展为获取高精度地形地貌数据提供了一种经济有效的技术手段。相比于传统的测量方法,摄影测量方法可在大范围内同时进行,不受地面通视条件的限制,...高精度、高分辨率的地形地貌数据是活动构造定量研究的基础。摄影测量方法的出现和快速发展为获取高精度地形地貌数据提供了一种经济有效的技术手段。相比于传统的测量方法,摄影测量方法可在大范围内同时进行,不受地面通视条件的限制,且测量成本相对较低。尤其近年来,随着计算机视觉理论及高效的自动特征匹配算法的发展,一种名为"Structure from Motion"(SfM)的三维重建技术被引入摄影测量方法中,极大地提高了摄影测量的自动化程度。文中介绍了摄影测量方法的基本原理及发展历程,并综述了摄影测量方法在活动构造研究中的应用,最后通过SfM摄影测量方法在活动构造研究中的1个具体应用实例,展示了摄影测量方法在活动构造定量研究中的巨大应用潜力。展开更多
为研究视觉SLAM(Simutaneous Localization and Mapping)以及视觉SFM(Structure From Motion)领域中机器人能低成本重建出可进行语义识别三维场景的问题,借鉴Colmap算法,对重建过程中的部分步骤加以改进,对初始化图像的选择进行了精选,...为研究视觉SLAM(Simutaneous Localization and Mapping)以及视觉SFM(Structure From Motion)领域中机器人能低成本重建出可进行语义识别三维场景的问题,借鉴Colmap算法,对重建过程中的部分步骤加以改进,对初始化图像的选择进行了精选,在重建出有误差的三维点云中进行多次基于光束平差法的优化,对无人机拍摄的图像进行重建分析,结果表明,图像在重建的完整度、鲁棒性、精确度以及效率等方面,均取得了较好的效果。展开更多
This paper presents a deep reinforcement learning(DRL)-based motion control method to provide unmanned aerial vehicles(UAVs)with additional flexibility while flying across dynamic unknown environments autonomously.Thi...This paper presents a deep reinforcement learning(DRL)-based motion control method to provide unmanned aerial vehicles(UAVs)with additional flexibility while flying across dynamic unknown environments autonomously.This method is applicable in both military and civilian fields such as penetration and rescue.The autonomous motion control problem is addressed through motion planning,action interpretation,trajectory tracking,and vehicle movement within the DRL framework.Novel DRL algorithms are presented by combining two difference-amplifying approaches with traditional DRL methods and are used for solving the motion planning problem.An improved Lyapunov guidance vector field(LGVF)method is used to handle the trajectory-tracking problem and provide guidance control commands for the UAV.In contrast to conventional motion-control approaches,the proposed methods directly map the sensorbased detections and measurements into control signals for the inner loop of the UAV,i.e.,an end-to-end control.The training experiment results show that the novel DRL algorithms provide more than a 20%performance improvement over the state-ofthe-art DRL algorithms.The testing experiment results demonstrate that the controller based on the novel DRL and LGVF,which is only trained once in a static environment,enables the UAV to fly autonomously in various dynamic unknown environments.Thus,the proposed technique provides strong flexibility for the controller.展开更多
Block-matching motion estimation plays an important role in video coding. The simple and efficient fast block-matching algorithm using Variable Shape Search (VSS) proposed in this paper is based on diamond search and ...Block-matching motion estimation plays an important role in video coding. The simple and efficient fast block-matching algorithm using Variable Shape Search (VSS) proposed in this paper is based on diamond search and hexagon search. The initial big diamond search is designed to fit the directional centre-biased characteristics of the real-world video se- quence, and the directional hexagon search is designed to identify a small region where the best motion vector is expected to locate. Finally, the small diamond search is used to select the best motion vector in the located small region. Experimental results showed that the proposed VSS algorithm can significantly reduce the computational complexity, and provide competitive computational speedup with similar distortion performance as compared with the popular Diamond-based Search (DS) algorithm in the MPEG-4 Simple Profile.展开更多
This paper reports a series solution of wave functions for two-dimensional scattering and diffraction of plane SH waves induced by a symmetrical V-shaped canyon with different shape ratios. A half-space with a symmetr...This paper reports a series solution of wave functions for two-dimensional scattering and diffraction of plane SH waves induced by a symmetrical V-shaped canyon with different shape ratios. A half-space with a symmetrical V-shaped canyon is divided into two sub-regions by using a circular-arc auxiliary boundary. The two sub-regions are represented by global and local cylindrical coordinate systems, respectively. In each coordinate system, the wave field satisfying the Helmholtz equation is represented by the separation of variables method, in terms of the series of both Bessel functions and Hankel functions with unknown complex coefficients. Then, the two wave fields are described in the local coordinate system using the Graf addition theorem. Finally, the unknown coefficients are sought by satisfying the continuity conditions of the auxiliary boundary. To consider the phase characteristics of the wave scattering, a parametric analysis is carried out in the time domain by assuming an incident signal of the Ricker type. Surface and subsurface transient responses demonstrate the characteristics and mechanisms of wave propagating and scattering.展开更多
文摘Simulators play an important role in training surgery residents to perform laparoscopy surgery. Some of these simulators have the capability to track tool motion to assess performance. However, most have not utilized the data to analyze trainee performance in a meaningful way. The alpha shape method can be used to construct a geometric surface based on motion data to enable visualization of the performance, while the surface derivative (surface/time to completion)—efficiency—can be used as a metric to evaluate complex surgical performance. The utility of the alpha shape method was demonstrated in a pick-and-place task, where the motion path of laparoscopic graspers was recorded by a position sensor, miniBIRD 500?. An alpha shape method was used to measure the surface area of the 3D points in space occupied by the tool tips during task performance. Results show that the surface derivative measure alone may be able to model the speed-accuracy tradeoff function, thereby simplifying the analysis and evaluation of complex motion in surgical performance.
文摘采用运动恢复结构(structure from motion,SFM)算法进行三维人脸建模一直以来受到研究者的关注,但其对错误的匹配点比较敏感,因此,文章提出了一种融合Gabor特征的SFM算法三维人脸建模方法。该方法利用Gabor滤波器提取纹理特征,判别轮廓特征点匹配的准确性;针对图像数增多,传统因子分解法不易修正旋转矩阵的问题,利用旋转矩阵的性质求得修正矩阵,避开方程组的求解;提出引入迭代最近点算法将稀疏三维特征点与三维模型进行配准,缩小空间距离,并结合薄板样条函数插值生成特定的三维人脸模型,为增强真实感,进行纹理映射。实验结果表明,该方法有效提高了匹配点的准确性,能够重建出具有较强真实感的三维人脸。
文摘高精度、高分辨率的地形地貌数据是活动构造定量研究的基础。摄影测量方法的出现和快速发展为获取高精度地形地貌数据提供了一种经济有效的技术手段。相比于传统的测量方法,摄影测量方法可在大范围内同时进行,不受地面通视条件的限制,且测量成本相对较低。尤其近年来,随着计算机视觉理论及高效的自动特征匹配算法的发展,一种名为"Structure from Motion"(SfM)的三维重建技术被引入摄影测量方法中,极大地提高了摄影测量的自动化程度。文中介绍了摄影测量方法的基本原理及发展历程,并综述了摄影测量方法在活动构造研究中的应用,最后通过SfM摄影测量方法在活动构造研究中的1个具体应用实例,展示了摄影测量方法在活动构造定量研究中的巨大应用潜力。
文摘为研究视觉SLAM(Simutaneous Localization and Mapping)以及视觉SFM(Structure From Motion)领域中机器人能低成本重建出可进行语义识别三维场景的问题,借鉴Colmap算法,对重建过程中的部分步骤加以改进,对初始化图像的选择进行了精选,在重建出有误差的三维点云中进行多次基于光束平差法的优化,对无人机拍摄的图像进行重建分析,结果表明,图像在重建的完整度、鲁棒性、精确度以及效率等方面,均取得了较好的效果。
基金supported by the National Natural Science Foundation of China(62003267)the Natural Science Foundation of Shaanxi Province(2020JQ-220)the Open Project of Science and Technology on Electronic Information Control Laboratory(JS20201100339)。
文摘This paper presents a deep reinforcement learning(DRL)-based motion control method to provide unmanned aerial vehicles(UAVs)with additional flexibility while flying across dynamic unknown environments autonomously.This method is applicable in both military and civilian fields such as penetration and rescue.The autonomous motion control problem is addressed through motion planning,action interpretation,trajectory tracking,and vehicle movement within the DRL framework.Novel DRL algorithms are presented by combining two difference-amplifying approaches with traditional DRL methods and are used for solving the motion planning problem.An improved Lyapunov guidance vector field(LGVF)method is used to handle the trajectory-tracking problem and provide guidance control commands for the UAV.In contrast to conventional motion-control approaches,the proposed methods directly map the sensorbased detections and measurements into control signals for the inner loop of the UAV,i.e.,an end-to-end control.The training experiment results show that the novel DRL algorithms provide more than a 20%performance improvement over the state-ofthe-art DRL algorithms.The testing experiment results demonstrate that the controller based on the novel DRL and LGVF,which is only trained once in a static environment,enables the UAV to fly autonomously in various dynamic unknown environments.Thus,the proposed technique provides strong flexibility for the controller.
文摘Block-matching motion estimation plays an important role in video coding. The simple and efficient fast block-matching algorithm using Variable Shape Search (VSS) proposed in this paper is based on diamond search and hexagon search. The initial big diamond search is designed to fit the directional centre-biased characteristics of the real-world video se- quence, and the directional hexagon search is designed to identify a small region where the best motion vector is expected to locate. Finally, the small diamond search is used to select the best motion vector in the located small region. Experimental results showed that the proposed VSS algorithm can significantly reduce the computational complexity, and provide competitive computational speedup with similar distortion performance as compared with the popular Diamond-based Search (DS) algorithm in the MPEG-4 Simple Profile.
基金National Natural Science Foundation of China Under Grant No.51278382
文摘This paper reports a series solution of wave functions for two-dimensional scattering and diffraction of plane SH waves induced by a symmetrical V-shaped canyon with different shape ratios. A half-space with a symmetrical V-shaped canyon is divided into two sub-regions by using a circular-arc auxiliary boundary. The two sub-regions are represented by global and local cylindrical coordinate systems, respectively. In each coordinate system, the wave field satisfying the Helmholtz equation is represented by the separation of variables method, in terms of the series of both Bessel functions and Hankel functions with unknown complex coefficients. Then, the two wave fields are described in the local coordinate system using the Graf addition theorem. Finally, the unknown coefficients are sought by satisfying the continuity conditions of the auxiliary boundary. To consider the phase characteristics of the wave scattering, a parametric analysis is carried out in the time domain by assuming an incident signal of the Ricker type. Surface and subsurface transient responses demonstrate the characteristics and mechanisms of wave propagating and scattering.
