Onboard visual object tracking in unmanned aerial vehicles(UAVs)has attractedmuch interest due to its versatility.Meanwhile,due to high precision,Siamese networks are becoming hot spots in visual object tracking.Howev...Onboard visual object tracking in unmanned aerial vehicles(UAVs)has attractedmuch interest due to its versatility.Meanwhile,due to high precision,Siamese networks are becoming hot spots in visual object tracking.However,most Siamese trackers fail to balance the tracking accuracy and time within onboard limited computational resources of UAVs.To meet the tracking precision and real-time requirements,this paper proposes a Siamese dense pixel-level network for UAV object tracking named SiamDPL.Specifically,the Siamese network extracts features of the search region and the template region through a parameter-shared backbone network,then performs correlationmatching to obtain the candidate regionwith high similarity.To improve the matching effect of template and search features,this paper designs a dense pixel-level feature fusion module to enhance the matching ability by pixel-wise correlation and enrich the feature diversity by dense connection.An attention module composed of self-attention and channel attention is introduced to learn global context information and selectively emphasize the target feature region in the spatial and channel dimensions.In addition,a target localization module is designed to improve target location accuracy.Compared with other advanced trackers,experiments on two public benchmarks,which are UAV123@10fps and UAV20L fromthe unmanned air vehicle123(UAV123)dataset,show that SiamDPL can achieve superior performance and low complexity with a running speed of 100.1 fps on NVIDIA TITAN RTX.展开更多
3D vehicle detection based on LiDAR-camera fusion is becoming an emerging research topic in autonomous driving.The algorithm based on the Camera-LiDAR object candidate fusion method(CLOCs)is currently considered to be...3D vehicle detection based on LiDAR-camera fusion is becoming an emerging research topic in autonomous driving.The algorithm based on the Camera-LiDAR object candidate fusion method(CLOCs)is currently considered to be a more effective decision-level fusion algorithm,but it does not fully utilize the extracted features of 3D and 2D.Therefore,we proposed a 3D vehicle detection algorithm based onmultimodal decision-level fusion.First,project the anchor point of the 3D detection bounding box into the 2D image,calculate the distance between 2D and 3D anchor points,and use this distance as a new fusion feature to enhance the feature redundancy of the network.Subsequently,add an attention module:squeeze-and-excitation networks,weight each feature channel to enhance the important features of the network,and suppress useless features.The experimental results show that the mean average precision of the algorithm in the KITTI dataset is 82.96%,which outperforms previous state-ofthe-art multimodal fusion-based methods,and the average accuracy in the Easy,Moderate and Hard evaluation indicators reaches 88.96%,82.60%,and 77.31%,respectively,which are higher compared to the original CLOCs model by 1.02%,2.29%,and 0.41%,respectively.Compared with the original CLOCs algorithm,our algorithm has higher accuracy and better performance in 3D vehicle detection.展开更多
Low-light image enhancement methods have limitations in addressing issues such as color distortion,lack of vibrancy,and uneven light distribution and often require paired training data.To address these issues,we propo...Low-light image enhancement methods have limitations in addressing issues such as color distortion,lack of vibrancy,and uneven light distribution and often require paired training data.To address these issues,we propose a two-stage unsupervised low-light image enhancement algorithm called Retinex and Exposure Fusion Network(RFNet),which can overcome the problems of over-enhancement of the high dynamic range and under-enhancement of the low dynamic range in existing enhancement algorithms.This algorithm can better manage the challenges brought about by complex environments in real-world scenarios by training with unpaired low-light images and regular-light images.In the first stage,we design a multi-scale feature extraction module based on Retinex theory,capable of extracting details and structural information at different scales to generate high-quality illumination and reflection images.In the second stage,an exposure image generator is designed through the camera response mechanism function to acquire exposure images containing more dark features,and the generated images are fused with the original input images to complete the low-light image enhancement.Experiments show the effectiveness and rationality of each module designed in this paper.And the method reconstructs the details of contrast and color distribution,outperforms the current state-of-the-art methods in both qualitative and quantitative metrics,and shows excellent performance in the real world.展开更多
光伏故障检测对光伏电站智能运维具有重要意义。针对光伏组件红外图像中热斑目标小、难检测的问题,研究了基于改进Faster R CNN的光伏组件红外热斑故障检测模型。将Swin Transformer作为Faster R CNN模型中的特征提取模块,捕获图像的全...光伏故障检测对光伏电站智能运维具有重要意义。针对光伏组件红外图像中热斑目标小、难检测的问题,研究了基于改进Faster R CNN的光伏组件红外热斑故障检测模型。将Swin Transformer作为Faster R CNN模型中的特征提取模块,捕获图像的全局信息,建立特征之间的依赖关系,提高模型的建模能力;进一步利用BiFPN进行特征融合,改善了热斑故障由于目标小和特征不明显容易被模型忽略掉的问题;同时为了抑制光伏红外图像中背景和噪声的干扰,加入轻量级注意力模块CBAM,使模型更加关注重要通道和关键区域,提高对热斑故障检测精度。在自建光伏组件图像数据集上进行实验,热斑故障检测精度高达915,验证了本文模型对光伏组件热斑故障检测的有效性。展开更多
基金funded by the National Natural Science Foundation of China(Grant No.52072408),author Y.C.
文摘Onboard visual object tracking in unmanned aerial vehicles(UAVs)has attractedmuch interest due to its versatility.Meanwhile,due to high precision,Siamese networks are becoming hot spots in visual object tracking.However,most Siamese trackers fail to balance the tracking accuracy and time within onboard limited computational resources of UAVs.To meet the tracking precision and real-time requirements,this paper proposes a Siamese dense pixel-level network for UAV object tracking named SiamDPL.Specifically,the Siamese network extracts features of the search region and the template region through a parameter-shared backbone network,then performs correlationmatching to obtain the candidate regionwith high similarity.To improve the matching effect of template and search features,this paper designs a dense pixel-level feature fusion module to enhance the matching ability by pixel-wise correlation and enrich the feature diversity by dense connection.An attention module composed of self-attention and channel attention is introduced to learn global context information and selectively emphasize the target feature region in the spatial and channel dimensions.In addition,a target localization module is designed to improve target location accuracy.Compared with other advanced trackers,experiments on two public benchmarks,which are UAV123@10fps and UAV20L fromthe unmanned air vehicle123(UAV123)dataset,show that SiamDPL can achieve superior performance and low complexity with a running speed of 100.1 fps on NVIDIA TITAN RTX.
基金supported by the Financial Support of the Key Research and Development Projects of Anhui (202104a05020003)the Natural Science Foundation of Anhui Province (2208085MF173)the Anhui Development and Reform Commission Supports R&D and Innovation Projects ([2020]479).
文摘3D vehicle detection based on LiDAR-camera fusion is becoming an emerging research topic in autonomous driving.The algorithm based on the Camera-LiDAR object candidate fusion method(CLOCs)is currently considered to be a more effective decision-level fusion algorithm,but it does not fully utilize the extracted features of 3D and 2D.Therefore,we proposed a 3D vehicle detection algorithm based onmultimodal decision-level fusion.First,project the anchor point of the 3D detection bounding box into the 2D image,calculate the distance between 2D and 3D anchor points,and use this distance as a new fusion feature to enhance the feature redundancy of the network.Subsequently,add an attention module:squeeze-and-excitation networks,weight each feature channel to enhance the important features of the network,and suppress useless features.The experimental results show that the mean average precision of the algorithm in the KITTI dataset is 82.96%,which outperforms previous state-ofthe-art multimodal fusion-based methods,and the average accuracy in the Easy,Moderate and Hard evaluation indicators reaches 88.96%,82.60%,and 77.31%,respectively,which are higher compared to the original CLOCs model by 1.02%,2.29%,and 0.41%,respectively.Compared with the original CLOCs algorithm,our algorithm has higher accuracy and better performance in 3D vehicle detection.
基金supported by the National Key Research and Development Program Topics(Grant No.2021YFB4000905)the National Natural Science Foundation of China(Grant Nos.62101432 and 62102309)in part by Shaanxi Natural Science Fundamental Research Program Project(No.2022JM-508).
文摘Low-light image enhancement methods have limitations in addressing issues such as color distortion,lack of vibrancy,and uneven light distribution and often require paired training data.To address these issues,we propose a two-stage unsupervised low-light image enhancement algorithm called Retinex and Exposure Fusion Network(RFNet),which can overcome the problems of over-enhancement of the high dynamic range and under-enhancement of the low dynamic range in existing enhancement algorithms.This algorithm can better manage the challenges brought about by complex environments in real-world scenarios by training with unpaired low-light images and regular-light images.In the first stage,we design a multi-scale feature extraction module based on Retinex theory,capable of extracting details and structural information at different scales to generate high-quality illumination and reflection images.In the second stage,an exposure image generator is designed through the camera response mechanism function to acquire exposure images containing more dark features,and the generated images are fused with the original input images to complete the low-light image enhancement.Experiments show the effectiveness and rationality of each module designed in this paper.And the method reconstructs the details of contrast and color distribution,outperforms the current state-of-the-art methods in both qualitative and quantitative metrics,and shows excellent performance in the real world.
文摘由于低照度图像具有对比度低、细节丢失严重、噪声大等缺点,现有的目标检测算法对低照度图像的检测效果不理想.为此,本文提出一种结合空间感知注意力机制和多尺度特征融合(Spatial-aware Attention Mechanism and Multi-Scale Feature Fusion,SAM-MSFF)的低照度目标检测方法 .该方法首先通过多尺度交互内存金字塔融合多尺度特征,增强低照度图像特征中的有效信息,并设置内存向量存储样本的特征,捕获样本之间的潜在关联性;然后,引入空间感知注意力机制获取特征在空间域的长距离上下文信息和局部信息,从而增强低照度图像中的目标特征,抑制背景信息和噪声的干扰;最后,利用多感受野增强模块扩张特征的感受野,对具有不同感受野的特征进行分组重加权计算,使检测网络根据输入的多尺度信息自适应地调整感受野的大小.在ExDark数据集上进行实验,本文方法的平均精度(mean Average Precision,mAP)达到77.04%,比现有的主流目标检测方法提高2.6%~14.34%.
文摘光伏故障检测对光伏电站智能运维具有重要意义。针对光伏组件红外图像中热斑目标小、难检测的问题,研究了基于改进Faster R CNN的光伏组件红外热斑故障检测模型。将Swin Transformer作为Faster R CNN模型中的特征提取模块,捕获图像的全局信息,建立特征之间的依赖关系,提高模型的建模能力;进一步利用BiFPN进行特征融合,改善了热斑故障由于目标小和特征不明显容易被模型忽略掉的问题;同时为了抑制光伏红外图像中背景和噪声的干扰,加入轻量级注意力模块CBAM,使模型更加关注重要通道和关键区域,提高对热斑故障检测精度。在自建光伏组件图像数据集上进行实验,热斑故障检测精度高达915,验证了本文模型对光伏组件热斑故障检测的有效性。
