With the rapid popularization of mobile devices and the wide application of various sensors,scene perception methods applied to mobile devices occupy an important position in location-based services such as navigation...With the rapid popularization of mobile devices and the wide application of various sensors,scene perception methods applied to mobile devices occupy an important position in location-based services such as navigation and augmented reality(AR).The development of deep learning technologies has greatly improved the visual perception ability of machines to scenes.The basic framework of scene visual perception,related technologies and the specific process applied to AR navigation are introduced,and future technology development is proposed.An application(APP)is designed to improve the application effect of AR navigation.The APP includes three modules:navigation map generation,cloud navigation algorithm,and client design.The navigation map generation tool works offline.The cloud saves the navigation map and provides navigation algorithms for the terminal.The terminal realizes local real-time positioning and AR path rendering.展开更多
Image matching technology is theoretically significant and practically promising in the field of autonomous navigation.Addressing shortcomings of existing image matching navigation technologies,the concept of high-dim...Image matching technology is theoretically significant and practically promising in the field of autonomous navigation.Addressing shortcomings of existing image matching navigation technologies,the concept of high-dimensional combined feature is presented based on sequence image matching navigation.To balance between the distribution of high-dimensional combined features and the shortcomings of the only use of geometric relations,we propose a method based on Delaunay triangulation to improve the feature,and add the regional characteristics of the features together with their geometric characteristics.Finally,k-nearest neighbor(KNN)algorithm is adopted to optimize searching process.Simulation results show that the matching can be realized at the rotation angle of-8°to 8°and the scale factor of 0.9 to 1.1,and when the image size is 160 pixel×160 pixel,the matching time is less than 0.5 s.Therefore,the proposed algorithm can substantially reduce computational complexity,improve the matching speed,and exhibit robustness to the rotation and scale changes.展开更多
Multi-modal image matching is crucial in aerospace applications because it can fully exploit the complementary and valuable information contained in the amount and diversity of remote sensing images.However,it remains...Multi-modal image matching is crucial in aerospace applications because it can fully exploit the complementary and valuable information contained in the amount and diversity of remote sensing images.However,it remains a challenging task due to significant non-linear radiometric,geometric differences,and noise across different sensors.To improve the performance of heterologous image matching,this paper proposes a normalized self-similarity region descriptor to extract consistent structural information.We first construct the pointwise self-similarity region descriptor based on the Euclidean distance between adjacent image blocks to reflect the structural properties of multi-modal images.Then,a linear normalization approach is used to form Modality Independent Region Descriptor(MIRD),which can effectively distinguish structural features such as points,lines,corners,and flat between multi-modal images.To further improve the matching accuracy,the included angle cosine similarity metric is adopted to exploit the directional vector information of multi-dimensional feature descriptors.The experimental results show that the proposed MIRD has better matching accuracy and robustness for various multi-modal image matching than the state-of-the-art methods.MIRD can effectively extract consistent geometric structure features and suppress the influence of SAR speckle noise using non-local neighboring image blocks operation,effectively applied to various multi-modal image matching.展开更多
For the autonomous guided vehicle (AGV) used mainly in unfixed work fields, a machine vision method was proposed for the navigation system, in which a series of navigation-signs are placed along the travel route. The ...For the autonomous guided vehicle (AGV) used mainly in unfixed work fields, a machine vision method was proposed for the navigation system, in which a series of navigation-signs are placed along the travel route. The navigation system detects and recognizes these signs, and accordingly informs the travel control system. In order for the navigation to have balanced ability of 1) covering a large area and 2) recognizing details of the sign, the proposed vision method was designed to be a hybrid one, using both the stereo vision and the traditional 2D template matching. The former implemented a coarse recognition function for above 1), and the later implemented a fine recognition function for above 2). The results from the coarse recognition were used in the fine recognition for the gaze control to input suitable 2D image of the signs. Experiments on a prototype system show the feasibility of the proposed hybrid method in achieving the objective specifications for a typical AGV.展开更多
In the paper,a set of algorithms to construct synthetic aperture radar（SAR）matching suitable features are frstly proposed based on the evolutionary synthesis strategy.During the process,on the one hand,the indexes o...In the paper,a set of algorithms to construct synthetic aperture radar（SAR）matching suitable features are frstly proposed based on the evolutionary synthesis strategy.During the process,on the one hand,the indexes of primary matching suitable features（PMSFs）are designed based on the characteristics of image texture,SAR imaging and SAR matching algorithm,which is a process involving expertise;on the other hand,by designing a synthesized operation expression tree based on PMSFs,a much more flexible expression form of synthesized features is built,which greatly expands the construction space.Then,the genetic algorithm-based optimized searching process is employed to search the synthesized matching suitable feature（SMSF）with the highest effciency,largely improving the optimized searching effciency.In addition,the experimental results of the airborne synthetic aperture radar ortho-images of C-band and P-band show that the SMSFs gained via the algorithms can reflect the matching suitability of SAR images accurately and the matching probabilities of selected matching suitable areas of ortho-images could reach 99±0.5%.展开更多
基金supported by ZTE Industry⁃University⁃Institute Coopera⁃tion Funds under Grant No.HC⁃CN⁃20210707004.
文摘With the rapid popularization of mobile devices and the wide application of various sensors,scene perception methods applied to mobile devices occupy an important position in location-based services such as navigation and augmented reality(AR).The development of deep learning technologies has greatly improved the visual perception ability of machines to scenes.The basic framework of scene visual perception,related technologies and the specific process applied to AR navigation are introduced,and future technology development is proposed.An application(APP)is designed to improve the application effect of AR navigation.The APP includes three modules:navigation map generation,cloud navigation algorithm,and client design.The navigation map generation tool works offline.The cloud saves the navigation map and provides navigation algorithms for the terminal.The terminal realizes local real-time positioning and AR path rendering.
基金supported by the National Natural Science Foundations of China(Nos.51205193,51475221)
文摘Image matching technology is theoretically significant and practically promising in the field of autonomous navigation.Addressing shortcomings of existing image matching navigation technologies,the concept of high-dimensional combined feature is presented based on sequence image matching navigation.To balance between the distribution of high-dimensional combined features and the shortcomings of the only use of geometric relations,we propose a method based on Delaunay triangulation to improve the feature,and add the regional characteristics of the features together with their geometric characteristics.Finally,k-nearest neighbor(KNN)algorithm is adopted to optimize searching process.Simulation results show that the matching can be realized at the rotation angle of-8°to 8°and the scale factor of 0.9 to 1.1,and when the image size is 160 pixel×160 pixel,the matching time is less than 0.5 s.Therefore,the proposed algorithm can substantially reduce computational complexity,improve the matching speed,and exhibit robustness to the rotation and scale changes.
基金supported by the National Natural Science Foundation of China,China(No.61801491)。
文摘Multi-modal image matching is crucial in aerospace applications because it can fully exploit the complementary and valuable information contained in the amount and diversity of remote sensing images.However,it remains a challenging task due to significant non-linear radiometric,geometric differences,and noise across different sensors.To improve the performance of heterologous image matching,this paper proposes a normalized self-similarity region descriptor to extract consistent structural information.We first construct the pointwise self-similarity region descriptor based on the Euclidean distance between adjacent image blocks to reflect the structural properties of multi-modal images.Then,a linear normalization approach is used to form Modality Independent Region Descriptor(MIRD),which can effectively distinguish structural features such as points,lines,corners,and flat between multi-modal images.To further improve the matching accuracy,the included angle cosine similarity metric is adopted to exploit the directional vector information of multi-dimensional feature descriptors.The experimental results show that the proposed MIRD has better matching accuracy and robustness for various multi-modal image matching than the state-of-the-art methods.MIRD can effectively extract consistent geometric structure features and suppress the influence of SAR speckle noise using non-local neighboring image blocks operation,effectively applied to various multi-modal image matching.
文摘For the autonomous guided vehicle (AGV) used mainly in unfixed work fields, a machine vision method was proposed for the navigation system, in which a series of navigation-signs are placed along the travel route. The navigation system detects and recognizes these signs, and accordingly informs the travel control system. In order for the navigation to have balanced ability of 1) covering a large area and 2) recognizing details of the sign, the proposed vision method was designed to be a hybrid one, using both the stereo vision and the traditional 2D template matching. The former implemented a coarse recognition function for above 1), and the later implemented a fine recognition function for above 2). The results from the coarse recognition were used in the fine recognition for the gaze control to input suitable 2D image of the signs. Experiments on a prototype system show the feasibility of the proposed hybrid method in achieving the objective specifications for a typical AGV.
基金supported by National Natural Science Foundation of China (Grant No.41204026)Advanced Research Foundation (Grant No.9140A24060712KG13290)Open Fund of Key Laboratory of Science and Technology on Aerospace Flight Dynamics (Grant No.2012AFDL010)
文摘In the paper,a set of algorithms to construct synthetic aperture radar（SAR）matching suitable features are frstly proposed based on the evolutionary synthesis strategy.During the process,on the one hand,the indexes of primary matching suitable features（PMSFs）are designed based on the characteristics of image texture,SAR imaging and SAR matching algorithm,which is a process involving expertise;on the other hand,by designing a synthesized operation expression tree based on PMSFs,a much more flexible expression form of synthesized features is built,which greatly expands the construction space.Then,the genetic algorithm-based optimized searching process is employed to search the synthesized matching suitable feature（SMSF）with the highest effciency,largely improving the optimized searching effciency.In addition,the experimental results of the airborne synthetic aperture radar ortho-images of C-band and P-band show that the SMSFs gained via the algorithms can reflect the matching suitability of SAR images accurately and the matching probabilities of selected matching suitable areas of ortho-images could reach 99±0.5%.
