Inspired by eagle’s visual system,an eagle-vision-based object detection method for unmanned aerial vehicle(UAV)formation in hazy weather is proposed in this paper.To restore the hazy image,the values of atmospheric ...Inspired by eagle’s visual system,an eagle-vision-based object detection method for unmanned aerial vehicle(UAV)formation in hazy weather is proposed in this paper.To restore the hazy image,the values of atmospheric light and transmission are estimated on the basis of the signal processing mechanism of ON and OFF channels in eagle’s retina.Local features of the dehazed image are calculated according to the color antagonism mechanism and contrast sensitivity function of eagle’s visual system.A center-surround operation is performed to simulate the response of reception field.The final saliency map is generated by the Random Forest algorithm.Experimental results verify that the proposed method is capable to detect UAVs in hazy image and has superior performance over traditional methods.展开更多
For traffic object detection in foggy environment based on convolutional neural network(CNN),data sets in fog-free environment are generally used to train the network directly.As a result,the network cannot learn the ...For traffic object detection in foggy environment based on convolutional neural network(CNN),data sets in fog-free environment are generally used to train the network directly.As a result,the network cannot learn the object characteristics in the foggy environment in the training set,and the detection effect is not good.To improve the traffic object detection in foggy environment,we propose a method of generating foggy images on fog-free images from the perspective of data set construction.First,taking the KITTI objection detection data set as an original fog-free image,we generate the depth image of the original image by using improved Monodepth unsupervised depth estimation method.Then,a geometric prior depth template is constructed to fuse the image entropy taken as weight with the depth image.After that,a foggy image is acquired from the depth image based on the atmospheric scattering model.Finally,we take two typical object-detection frameworks,that is,the two-stage object-detection Fster region-based convolutional neural network(Faster-RCNN)and the one-stage object-detection network YOLOv4,to train the original data set,the foggy data set and the mixed data set,respectively.According to the test results on RESIDE-RTTS data set in the outdoor natural foggy environment,the model under the training on the mixed data set shows the best effect.The mean average precision(mAP)values are increased by 5.6%and by 5.0%under the YOLOv4 model and the Faster-RCNN network,respectively.It is proved that the proposed method can effectively improve object identification ability foggy environment.展开更多
基金the Science and Technology Innovation 2030-Key Projects(Nos.2018AAA0102303,2018AAA0102403)the Aeronautical Science Foundation of China(No.20175851033)the National Natural Science Foundation of China(Nos.U1913602,U19B2033,91648205,61803011).
文摘Inspired by eagle’s visual system,an eagle-vision-based object detection method for unmanned aerial vehicle(UAV)formation in hazy weather is proposed in this paper.To restore the hazy image,the values of atmospheric light and transmission are estimated on the basis of the signal processing mechanism of ON and OFF channels in eagle’s retina.Local features of the dehazed image are calculated according to the color antagonism mechanism and contrast sensitivity function of eagle’s visual system.A center-surround operation is performed to simulate the response of reception field.The final saliency map is generated by the Random Forest algorithm.Experimental results verify that the proposed method is capable to detect UAVs in hazy image and has superior performance over traditional methods.
文摘For traffic object detection in foggy environment based on convolutional neural network(CNN),data sets in fog-free environment are generally used to train the network directly.As a result,the network cannot learn the object characteristics in the foggy environment in the training set,and the detection effect is not good.To improve the traffic object detection in foggy environment,we propose a method of generating foggy images on fog-free images from the perspective of data set construction.First,taking the KITTI objection detection data set as an original fog-free image,we generate the depth image of the original image by using improved Monodepth unsupervised depth estimation method.Then,a geometric prior depth template is constructed to fuse the image entropy taken as weight with the depth image.After that,a foggy image is acquired from the depth image based on the atmospheric scattering model.Finally,we take two typical object-detection frameworks,that is,the two-stage object-detection Fster region-based convolutional neural network(Faster-RCNN)and the one-stage object-detection network YOLOv4,to train the original data set,the foggy data set and the mixed data set,respectively.According to the test results on RESIDE-RTTS data set in the outdoor natural foggy environment,the model under the training on the mixed data set shows the best effect.The mean average precision(mAP)values are increased by 5.6%and by 5.0%under the YOLOv4 model and the Faster-RCNN network,respectively.It is proved that the proposed method can effectively improve object identification ability foggy environment.
