基于改进KCF算法的织物折皱回复检测研究

织物折皱回复性能是评价织物形态稳定性的关键指标。传统折皱回复角测试方法存在检测过程依赖人工操作、难以量化折皱动态演变等问题。为实现对折皱回复全过程的自动化监测,文章提出一种基于改进核相关滤波算法的动态折皱回复检测方法。该方法使用高速摄像机捕捉织物折皱形变回复过程,应用改进的核相关滤波算法检测追踪折皱顶点的运动角度变化。通过引入多特征融合提高检测鲁棒性,利用Canny边缘检测自适应调整目标区域,减小边界效应。在此基础上提取感兴趣区域骨架,计算折皱顶角度随时间变化信息。结果表明,不同织物折皱角度变化规律与织物组织结构高度相关。最后与标准测试结果建立线性模型,验证所提方法的有效性。文章实现了对织物折皱回复全过程的自动化检测与定量评估,提供了一种更为高效准确的折皱回复性能检测新思路,具有广阔应用前景。

融合卡尔曼预测的改进KCF目标跟踪方法

针对核相关滤波器(KCF)跟踪算法在遮挡环境中存在跟踪漂移及跟踪失败的问题,提出融合卡尔曼预测的改进KCF跟踪方法。采用灰度图像和方向梯度直方图(HOG)特征融合用于检测目标位置;利用平均峰值相关能量(APCE)进行目标遮挡判断并在KCF算法上改进:若发生遮挡情况,则用卡尔曼滤波算法预测下一时刻的目标位置,并代替原KCF算法中的目标,防止跟踪漂移;若无遮挡出现,则用KCF算法继续跟踪,从而实现遮挡环境下目标的有效跟踪。采用OTB100数据集对视频长时间和遮挡序列进行跟踪实验。结果表明:论文算法与KCF算法对比,在遮挡情况下目标跟踪精度和成功率分别提升11.9%和13.4%,说明论文提出算法的成功率和跟踪精度均显著提高。

一种基于Filter Faster R-CNN的数字PCR液滴检测技术

目的研究液滴数字聚合酶链式反应(ddPCR)液滴检测技术,去除图像中灰尘、气泡、芯片表面的划痕以及微小凹陷等因素产生的异常点对结果的影响,实现高通量、稳定和准确的ddPCR液滴的自动检测。方法提出Filter Faster R-CNN ddPCR液滴检测模型。使用Faster R-CNN生成液滴预测框,之后使用异常点过滤模块(Filter)去除阳性液滴预测框中的异常点。以诺如病毒片段的质粒为模板进行ddPCR实验,建立一个ddPCR数据集,用于模型的训练(2462例,约占78.56%)和测试(672例,约占21.44%)。对异常点过滤模块的3个过滤支路在验证集上进行消融实验,通过与其他ddPCR液滴检测模型进行比较的对比实验以及进行ddPCR的绝对定量实验。结果在少尘和多尘的环境中,Filter Faster R-CNN阳性液滴准确率为98.23%和88.35%,综合指标F1分数分别达到了99.15%和99.14%,高于其他相比较的模型。独立样本T检验的结果证明,相比未添加过滤模块的网络,添加过滤模块后能够显著提示模型在多尘环境中的阳性准确率。在ddPCR绝对定量实验中,将商业化流式检测设备的结果作为标准浓度,绘制了回归线。结果显示,回归线斜率为1.0005,截距为-0.025,决定系数达到了0.9997,二者结果高度一致。结论本文提出了一种基于Filter Faster R-CNN的ddPCR液滴检测技术,为在多种环境条件下的ddPCR实验提供了鲁棒的液滴检测方法。

Underwater four-quadrant dual-beam circumferential scanning laser fuze using nonlinear adaptive backscatter filter based on pauseable SAF-LMS algorithm

The phenomenon of a target echo peak overlapping with the backscattered echo peak significantly undermines the detection range and precision of underwater laser fuzes.To overcome this issue,we propose a four-quadrant dual-beam circumferential scanning laser fuze to distinguish various interference signals and provide more real-time data for the backscatter filtering algorithm.This enhances the algorithm loading capability of the fuze.In order to address the problem of insufficient filtering capacity in existing linear backscatter filtering algorithms,we develop a nonlinear backscattering adaptive filter based on the spline adaptive filter least mean square(SAF-LMS)algorithm.We also designed an algorithm pause module to retain the original trend of the target echo peak,improving the time discrimination accuracy and anti-interference capability of the fuze.Finally,experiments are conducted with varying signal-to-noise ratios of the original underwater target echo signals.The experimental results show that the average signal-to-noise ratio before and after filtering can be improved by more than31 d B,with an increase of up to 76%in extreme detection distance.

Estimating the subsolar magnetopause position from soft X-ray images using a low-pass image filter

The Lunar Environment heliospheric X-ray Imager(LEXI)and Solar wind Magnetosphere Ionosphere Link Explorer(SMILE)missions will image the Earth’s dayside magneto pause and cusps in soft X-rays after their respective launches in the near future,to specify glo bal magnetic reconnection modes for varying solar wind conditions.To suppo rt the success of these scientific missions,it is critical to develop techniques that extract the magnetopause locations from the observed soft X-ray images.In this research,we introduce a new geometric equation that calculates the subsolar magnetopause position(RS)from a satellite position,the look direction of the instrument,and the angle at which the X-ray emission is maximized.Two assumptions are used in this method:(1)The look direction where soft X-ray emissions are maximized lies tangent to the magnetopause,and(2)the magnetopause surface near the subsolar point is almost spherical and thus RSis nea rly equal to the radius of the magneto pause curvature.We create synthetic soft X-ray images by using the Open Geospace General Circulation Model(OpenGGCM)global magnetohydrodynamic model,the galactic background,the instrument point spread function,and Poisson noise.We then apply the fast Fourier transform and Gaussian low-pass filte rs to the synthetic images to re move noise and obtain accurate look angles for the soft X-ray pea ks.From the filte red images,we calculate RS and its accuracy for different LEXI locations,look directions,and solar wind densities by using the OpenGGCM subsolar magnetopause location as ground truth.Our method estimates RS with an accuracy of<0.3 RE when the solar wind density exceeds>10 cm-3.The accuracy improves for greater solar wind densities and during southward interplanetary magnetic fields.The method ca ptures the magnetopause motion during southwa rd interplaneta ry magnetic field turnings.Consequently,the technique will enable quantitative analysis of the magnetopause motion and help reveal the dayside reconnection modes for dynamic solar wind conditions.This technique will suppo rt the LEXI and SMILE missions in achieving their scientific o bjectives.

An improved particle filter indoor fusion positioning approach based on Wi-Fi/PDR/geomagnetic field

The existing indoor fusion positioning methods based on Pedestrian Dead Reckoning(PDR)and geomagnetic technology have the problems of large initial position error,low sensor accuracy,and geomagnetic mismatch.In this study,a novel indoor fusion positioning approach based on the improved particle filter algorithm by geomagnetic iterative matching is proposed,where Wi-Fi,PDR,and geomagnetic signals are integrated to improve indoor positioning performances.One important contribution is that geomagnetic iterative matching is firstly proposed based on the particle filter algorithm.During the positioning process,an iterative window and a constraint window are introduced to limit the particle generation range and the geomagnetic matching range respectively.The position is corrected several times based on geomagnetic iterative matching in the location correction stage when the pedestrian movement is detected,which made up for the shortage of only one time of geomagnetic correction in the existing particle filter algorithm.In addition,this study also proposes a real-time step detection algorithm based on multi-threshold constraints to judge whether pedestrians are moving,which satisfies the real-time requirement of our fusion positioning approach.Through experimental verification,the average positioning accuracy of the proposed approach reaches 1.59 m,which improves 33.2%compared with the existing particle filter fusion positioning algorithms.

Uncertainties of landslide susceptibility prediction: Influences of random errors in landslide conditioning factors and errors reduction by low pass filter method

In the existing landslide susceptibility prediction(LSP)models,the influences of random errors in landslide conditioning factors on LSP are not considered,instead the original conditioning factors are directly taken as the model inputs,which brings uncertainties to LSP results.This study aims to reveal the influence rules of the different proportional random errors in conditioning factors on the LSP un-certainties,and further explore a method which can effectively reduce the random errors in conditioning factors.The original conditioning factors are firstly used to construct original factors-based LSP models,and then different random errors of 5%,10%,15% and 20%are added to these original factors for con-structing relevant errors-based LSP models.Secondly,low-pass filter-based LSP models are constructed by eliminating the random errors using low-pass filter method.Thirdly,the Ruijin County of China with 370 landslides and 16 conditioning factors are used as study case.Three typical machine learning models,i.e.multilayer perceptron(MLP),support vector machine(SVM)and random forest(RF),are selected as LSP models.Finally,the LSP uncertainties are discussed and results show that:(1)The low-pass filter can effectively reduce the random errors in conditioning factors to decrease the LSP uncertainties.(2)With the proportions of random errors increasing from 5%to 20%,the LSP uncertainty increases continuously.(3)The original factors-based models are feasible for LSP in the absence of more accurate conditioning factors.(4)The influence degrees of two uncertainty issues,machine learning models and different proportions of random errors,on the LSP modeling are large and basically the same.(5)The Shapley values effectively explain the internal mechanism of machine learning model predicting landslide sus-ceptibility.In conclusion,greater proportion of random errors in conditioning factors results in higher LSP uncertainty,and low-pass filter can effectively reduce these random errors.

基于KCF和双目测距的目标跟随系统设计与实现

针对KCF(核相关滤波算法)对快速运动过程中的物体或在视频帧率较低情况下,稳定性较差的问题。论文在经典KCF算法上结合了双目测距算法,设计并实现了一种目标跟随系统。实验表明,结合KCF和双目测距的算法不仅能够有效提升跟随效果并且满足嵌入式平台的运行要求。

基于改进KCF的移动机器人视觉行人跟踪系统

针对视觉跟踪机器人在跟踪目标被大面积遮挡和短暂丢失的场景下容易跟踪失败的问题,提出了一种基于改进核相关滤波(kernelized correlation filter,KCF)的移动机器人视觉行人跟踪系统。在传统KCF算法的基础上引入平均峰值相关能量(average peak correla-tion energy,APCE),结合APCE响应值和最大响应值判断目标丢失情况,并加入了两级重检测机制。在OTB2013数据集的目标丢失(out of view,OV)场景中,改进算法的成功率和精度分别达到0.626和0.592像素,比传统KCF算法分别提升了8.7%和10.9%,有效提高了算法在目标遮挡和短暂丢失场景下的跟踪鲁棒性。在有行人干扰的场景中进行跟踪实验,实验结果表明所提视觉行人跟踪系统能够稳定跟踪目标行人。

Nonlinear Filtering With Sample-Based Approximation Under Constrained Communication:Progress, Insights and Trends

The nonlinear filtering problem has enduringly been an active research topic in both academia and industry due to its ever-growing theoretical importance and practical significance.The main objective of nonlinear filtering is to infer the states of a nonlinear dynamical system of interest based on the available noisy measurements. In recent years, the advance of network communication technology has not only popularized the networked systems with apparent advantages in terms of installation,cost and maintenance, but also brought about a series of challenges to the design of nonlinear filtering algorithms, among which the communication constraint has been recognized as a dominating concern. In this context, a great number of investigations have been launched towards the networked nonlinear filtering problem with communication constraints, and many samplebased nonlinear filters have been developed to deal with the highly nonlinear and/or non-Gaussian scenarios. The aim of this paper is to provide a timely survey about the recent advances on the sample-based networked nonlinear filtering problem from the perspective of communication constraints. More specifically, we first review three important families of sample-based filtering methods known as the unscented Kalman filter, particle filter,and maximum correntropy filter. Then, the latest developments are surveyed with stress on the topics regarding incomplete/imperfect information, limited resources and cyber security.Finally, several challenges and open problems are highlighted to shed some lights on the possible trends of future research in this realm.

一种结合Faceboxes与KCF的多尺度人脸检测算法

针对车间内员工面部多尺度变化导致现有人脸检测算法效果不佳的问题,本文提出了一种结合人脸检测模型Faceboxes与核相关滤波(kernel correlation fliter,KCF)的人脸检测融合算法。该算法首先对Faceboxes网络结构进行优化,并引入多尺度融合技术以提升多尺度人脸检测的精度;其次,通过方向梯度直方图(histogram of oriented gradients,HOG)与局部二值模式(local binary patterns,LBP)特征融合优化KCF,增强目标跟踪能力;最后,将二者整合,形成“检测-跟踪-检测”的循环系统。实验证明,本算法在静态图像和动态视频中的检测效果和速度均佳,能满足实际需求,展现出良好的实用性。

A dual adaptive unscented Kalman filter algorithm for SINS-based integrated navigation system

In this study, the problem of measuring noise pollution distribution by the intertial-based integrated navigation system is effectively suppressed. Based on nonlinear inertial navigation error modeling, a nested dual Kalman filter framework structure is developed. It consists of unscented Kalman filter (UKF)master filter and Kalman filter slave filter. This method uses nonlinear UKF for integrated navigation state estimation. At the same time, the exact noise measurement covariance is estimated by the Kalman filter dependency filter. The algorithm based on dual adaptive UKF (Dual-AUKF) has high accuracy and robustness, especially in the case of measurement information interference. Finally, vehicle-mounted and ship-mounted integrated navigation tests are conducted. Compared with traditional UKF and the Sage-Husa adaptive UKF (SH-AUKF), this method has comparable filtering accuracy and better filtering stability. The effectiveness of the proposed algorithm is verified.

Recursive Filtering for Stochastic Systems With Filter-and-Forward Successive Relays

In this paper,the recursive filtering problem is considered for stochastic systems over filter-and-forward successive relay(FFSR)networks.An FFSR is located between the sensor and the remote filter to forward the measurement.In the successive relay,two cooperative relay nodes are adopted to forward the signals alternatively,thereby existing switching characteristics and inter-relay interferences(IRI).Since the filter-and-forward scheme is employed,the signal received by the relay is retransmitted after it passes through a linear filter.The objective of the paper is to concurrently design optimal recursive filters for FFSR and stochastic systems against switching characteristics and IRI of relays.First,a uniform measurement model is proposed by analyzing the transmission mechanism of FFSR.Then,novel filter structures with switching parameters are constructed for both FFSR and stochastic systems.With the help of the inductive method,filtering error covariances are presented in the form of coupled difference equations.Next,the desired filter gain matrices are further obtained by minimizing the trace of filtering error covariances.Moreover,the stability performance of the filtering algorithm is analyzed where the uniform bound is guaranteed on the filtering error covariance.Finally,the effectiveness of the proposed filtering method over FFSR is verified by a three-order resistance-inductance-capacitance circuit system.

Bayesian Filtering for High-Dimensional State-Space Models With State Partition and Error Compensation

In the era of exponential growth of data availability,the architecture of systems has a trend toward high dimensionality,and directly exploiting holistic information for state inference is not always computationally affordable.This paper proposes a novel Bayesian filtering algorithm that considers algorithmic computational cost and estimation accuracy for high-dimensional linear systems.The high-dimensional state vector is divided into several blocks to save computation resources by avoiding the calculation of error covariance with immense dimensions.After that,two sequential states are estimated simultaneously by introducing an auxiliary variable in the new probability space,mitigating the performance degradation caused by state segmentation.Moreover,the computational cost and error covariance of the proposed algorithm are analyzed analytically to show its distinct features compared with several existing methods.Simulation results illustrate that the proposed Bayesian filtering can maintain a higher estimation accuracy with reasonable computational cost when applied to high-dimensional linear systems.

Dynamic Event-Triggered Quadratic Nonfragile Filtering for Non-Gaussian Systems:Tackling Multiplicative Noises and Missing Measurements

This paper focuses on the quadratic nonfragile filtering problem for linear non-Gaussian systems under multiplicative noises,multiple missing measurements as well as the dynamic event-triggered transmission scheme.The multiple missing measurements are characterized through random variables that obey some given probability distributions,and thresholds of the dynamic event-triggered scheme can be adjusted dynamically via an auxiliary variable.Our attention is concentrated on designing a dynamic event-triggered quadratic nonfragile filter in the well-known minimum-variance sense.To this end,the original system is first augmented by stacking its state/measurement vectors together with second-order Kronecker powers,thus the original design issue is reformulated as that of the augmented system.Subsequently,we analyze statistical properties of augmented noises as well as high-order moments of certain random parameters.With the aid of two well-defined matrix difference equations,we not only obtain upper bounds on filtering error covariances,but also minimize those bounds via carefully designing gain parameters.Finally,an example is presented to explain the effectiveness of this newly established quadratic filtering algorithm.

State Estimation of Drive-by-Wire Chassis Vehicle Based on Dual Unscented Particle Filter Algorithm

Accurate vehicle dynamic information plays an important role in vehicle driving safety.However,due to the characteristics of high mobility and multiple controllable degrees of freedom of drive-by-wire chassis vehicles,the current mature application of traditional vehicle state estimation algorithms can not meet the requirements of drive-by-wire chassis vehicle state estimation.This paper proposes a state estimation method for drive-by-wire chassis vehicle based on the dual unscented particle filter algorithm,which make full use of the known advantages of the four-wheel drive torque and steer angle parameters of the drive-by-wire chassis vehicle.In the dual unscented particle filter algorithm,two unscented particle filter transfer information to each other,observe the vehicle state information and the tire force parameter information of the four wheels respectively,which reduce the influence of parameter uncertainty and model parameter changes on the estimation accuracy during driving.The performance with the dual unscented particle filter algorithm,which is analyzed in terms of the time-average square error,is superior of the unscented Kalman filter algorithm.The effectiveness of the algorithm is further verified by driving simulator test.In this paper,a vehicle state estimator based on dual unscented particle filter algorithm was proposed for the first time to improve the estimation accuracy of vehicle parameters and states.

A multi-scale second-order autoregressive recursive filter approach for the sea ice concentration analysis

To effectively extract multi-scale information from observation data and improve computational efficiency,a multi-scale second-order autoregressive recursive filter(MSRF)method is designed.The second-order autoregressive filter used in this study has been attempted to replace the traditional first-order recursive filter used in spatial multi-scale recursive filter(SMRF)method.The experimental results indicate that the MSRF scheme successfully extracts various scale information resolved by observations.Moreover,compared with the SMRF scheme,the MSRF scheme improves computational accuracy and efficiency to some extent.The MSRF scheme can not only propagate to a longer distance without the attenuation of innovation,but also reduce the mean absolute deviation between the reconstructed sea ice concentration results and observations reduced by about 3.2%compared to the SMRF scheme.On the other hand,compared with traditional first-order recursive filters using in the SMRF scheme that multiple filters are executed,the MSRF scheme only needs to perform two filter processes in one iteration,greatly improving filtering efficiency.In the two-dimensional experiment of sea ice concentration,the calculation time of the MSRF scheme is only 1/7 of that of SMRF scheme.This means that the MSRF scheme can achieve better performance with less computational cost,which is of great significance for further application in real-time ocean or sea ice data assimilation systems in the future.

3D robust anisotropic diffusion filtering algorithm for sparse view neutron computed tomography 3D image reconstruction

The most critical part of a neutron computed tomography(NCT) system is the image processing algorithm,which directly affects the quality and speed of the reconstructed images.Various types of noise in the system can degrade the quality of the reconstructed images.Therefore,to improve the quality of the reconstructed images of NCT systems,efficient image processing algorithms must be used.The anisotropic diffusion filtering(ADF) algorithm can not only effectively suppress the noise in the projection data,but also preserve the image edge structure information by reducing the diffusion at the image edges.Therefore,we propose the application of the ADF algorithm for NCT image reconstruction.To compare the performance of different algorithms in NCT systems,we reconstructed images using the ordered subset simultaneous algebraic reconstruction technique(OS-SART) algorithm with different regular terms as image processing algorithms.In the iterative reconstruction,we selected two image processing algorithms,the Total Variation and split Bregman solved total variation algorithms,for comparison with the performance of the ADF algorithm.Additionally,the filtered back-projection algorithm was used for comparison with an iterative algorithm.By reconstructing the projection data of the numerical and clock models,we compared and analyzed the effects of each algorithm applied in the NCT system.Based on the reconstruction results,OS-SART-ADF outperformed the other algorithms in terms of denoising,preserving the edge structure,and suppressing artifacts.For example,when the 3D Shepp–Logan was reconstructed at 25 views,the root mean square error of OS-SART-ADF was the smallest among the four iterative algorithms,at only 0.0292.The universal quality index,mean structural similarity,and correlation coefficient of the reconstructed image were the largest among all algorithms,with values of 0.9877,0.9878,and 0.9887,respectively.

CRBFT:A Byzantine Fault-Tolerant Consensus Protocol Based on Collaborative Filtering Recommendation for Blockchains

Blockchain has been widely used in finance,the Internet of Things(IoT),supply chains,and other scenarios as a revolutionary technology.Consensus protocol plays a vital role in blockchain,which helps all participants to maintain the storage state consistently.However,with the improvement of network environment complexity and system scale,blockchain development is limited by the performance,security,and scalability of the consensus protocol.To address this problem,this paper introduces the collaborative filtering mechanism commonly used in the recommendation system into the Practical Byzantine Fault Tolerance(PBFT)and proposes a Byzantine fault-tolerant(BFT)consensus protocol based on collaborative filtering recommendation(CRBFT).Specifically,an improved collaborative filtering recommendation method is designed to use the similarity between a node’s recommendation opinions and those of the recommender as a basis for determining whether to adopt the recommendation opinions.This can amplify the recommendation voice of good nodes,weaken the impact of cunningmalicious nodes on the trust value calculation,andmake the calculated resultsmore accurate.In addition,the nodes are given voting power according to their trust value,and a weight randomelection algorithm is designed and implemented to reduce the risk of attack.The experimental results show that CRBFT can effectively eliminate various malicious nodes and improve the performance of blockchain systems in complex network environments,and the feasibility of CRBFT is also proven by theoretical analysis.

Polarity-controllable magnetic skyrmion filter

The skyrmion generator is one of the indispensable components for the future functional skyrmion devices,but the process of generating skyrmion cannot avoid mixing with other magnetic textures,such as skyrmionium and nested skyrmion bags.These mixed magnetic textures will inevitably lead to the blockage of skyrmion transport and even the distortion of data information.Therefore,the design of an efficient skyrmion filter is of great significance for the development of skyrmion-based spintronic devices.In this work,a skyrmion filter scheme is proposed,and the high-efficiency filtering function is demonstrated by micromagnetic simulations.The results show that the filtering effect of the scheme depends on the structure geometry and the spin current density that drives the skyrmion.Based on this scheme,the polarity of the filtered skyrmion can be controlled by switching the magnetization state at the output end,and the“cloning”of the skyrmion can be realized by geometric optimization of the structure.We believe that in the near future,the skyrmion filter will become one of the important components of skyrmion-based spintronic devices in the future.