A navigation method based on the partially observable markov decision process （POMDP） for smart wheelchairs in uncertain environments is presented in this paper. The design key factors for the navigation system of a...A navigation method based on the partially observable markov decision process （POMDP） for smart wheelchairs in uncertain environments is presented in this paper. The design key factors for the navigation system of a smart wheelchair are discussed. A kinematics model of the smart wheelchair is given, and the model and principle of POMDP are introduced. In order to respond in uncertain local environments, a novel navigation methodology based on POMDP using the sensors perception and the user＇s joystick input is presented. The state space, the action set, the observations and the sensor fusion of the navigation method are given in detail, and the optimal policy of the POMDP model is proposed. Experimental results demonstrate the feasibility of this navigation method. Analysis is also conducted to investigate performance evaluation, advantages of the approach and potential generalization of this paper.展开更多
Most of the traditional methods are based on block motion compensation tending to involve heavy blocking artifacts in the interpolated frames. In this paper, a new frame interpolation method with pixel-level motion ve...Most of the traditional methods are based on block motion compensation tending to involve heavy blocking artifacts in the interpolated frames. In this paper, a new frame interpolation method with pixel-level motion vector field （MVF） is proposed. Our method consists of the following four steps： （i） applying the pixel-level motion vectors （MVs） estimated by optical flow algorithm to eliminate blocking artifacts （ii） motion post-processing and super-sampling anti-aliasing to solve the problems caused by pixel-level MVs （iii） robust warping method to address collisions and holes caused by occlusions （iv） a new holes filling method using triangular mesh （HFTM） to reduce the artifacts caused by holes. Experimental results show that the proposed method can effectively alleviate the holes and blocking artifacts in interpolated frames, and outperforms existing methods both in terms of objective and subjective performances, especially for sequences with complex motions.展开更多
文摘A navigation method based on the partially observable markov decision process （POMDP） for smart wheelchairs in uncertain environments is presented in this paper. The design key factors for the navigation system of a smart wheelchair are discussed. A kinematics model of the smart wheelchair is given, and the model and principle of POMDP are introduced. In order to respond in uncertain local environments, a novel navigation methodology based on POMDP using the sensors perception and the user＇s joystick input is presented. The state space, the action set, the observations and the sensor fusion of the navigation method are given in detail, and the optimal policy of the POMDP model is proposed. Experimental results demonstrate the feasibility of this navigation method. Analysis is also conducted to investigate performance evaluation, advantages of the approach and potential generalization of this paper.
文摘Most of the traditional methods are based on block motion compensation tending to involve heavy blocking artifacts in the interpolated frames. In this paper, a new frame interpolation method with pixel-level motion vector field （MVF） is proposed. Our method consists of the following four steps： （i） applying the pixel-level motion vectors （MVs） estimated by optical flow algorithm to eliminate blocking artifacts （ii） motion post-processing and super-sampling anti-aliasing to solve the problems caused by pixel-level MVs （iii） robust warping method to address collisions and holes caused by occlusions （iv） a new holes filling method using triangular mesh （HFTM） to reduce the artifacts caused by holes. Experimental results show that the proposed method can effectively alleviate the holes and blocking artifacts in interpolated frames, and outperforms existing methods both in terms of objective and subjective performances, especially for sequences with complex motions.
