An algorithm of highly maneuvering target tracking is proposed to solve the problem of large tracking error caused by strong maneuver. In this algorithm, a new estimator, named as multi-parameter fusion Singer (MF-Sin...An algorithm of highly maneuvering target tracking is proposed to solve the problem of large tracking error caused by strong maneuver. In this algorithm, a new estimator, named as multi-parameter fusion Singer (MF-Singer) model is derived based on the Singer model and the fuzzy reasoning method by using radial acceleration and velocity of the target, and applied to the problem of maneuvering target tracking in strong maneuvering environment and operating environment. The tracking performance of the MF-Singer model is evaluated and compared with other manuevering tracking models. It is shown that the MF-Singer model outperforms these algorithms in several examples.展开更多
It is well known that Landsat TM images are the most widely used remote sensing data in various fields.Usually,it has 7 different electromagnetic spectrum bands,among which the sixth one has much lower ground resoluti...It is well known that Landsat TM images are the most widely used remote sensing data in various fields.Usually,it has 7 different electromagnetic spectrum bands,among which the sixth one has much lower ground resolution compared with the other six bands.Nevertheless,it is useful in the study of rock spectrum reflection,geothermal resources exploration,etc.To improve the ground resolution of TM6 to the level as that of the other six bands is a problem .This paper presents an algorithm based on the combination of multivariate regression model with semivariogram function which can improve the ground resolution of TM6 by "fusing" the data of other six bands.It includes the following main steps: （1） testing the correlation between TM6 and one of TM15,7.If the correlation coefficient between TM6 and another one is greater than a given threshold value,then select the band to the regression analysis as an argument.（2） calculating the size of the template window within which some parameters needed by the regression model will be calculated; （3） replacing the original pixel values of TM6 by those obtained by regression analysis; （4） using image entropy as a measurement to evaluate the quality of the fused image of TM6.The basic mechanism of the algorithm is discussed and the V C ++ program for implementing this algorithm is also presented.A simple application example is given in the last part of this paper,showing the effectiveness of the algorithm.展开更多
In order to improve the ability of a bionic quadruped robot to percept the location of obstacles in a complex and dynamic environment, the information fusion between an ultrasonic sensor and a binocular sensor was stu...In order to improve the ability of a bionic quadruped robot to percept the location of obstacles in a complex and dynamic environment, the information fusion between an ultrasonic sensor and a binocular sensor was studied under the condition that the robot moves in the Walk gait on a structured road. Firstly, the distance information of obstacles from these two sensors was separately processed by the Kalman filter algorithm, which largely reduced the noise interference. After that, we obtained two groups of estimated distance values from the robot to the obstacle and a variance of the estimation value. Additionally, a fusion of the estimation values and the variances was achieved based on the STF fusion algorithm. Finally, a simulation was performed to show that the curve of a real value was tracked well by that of the estimation value, which attributes to the effectiveness of the Kalman filter algorithm. In contrast to statistics before fusion, the fusion variance of the estimation value was sharply decreased. The precision of the position information is 4. 6 cm, which meets the application requirements of the robot.展开更多
随着无人机的大规模普及,倾斜摄影测量技术应用越来越广泛,但是由于其技术特点,在数据采集过程中受角度、遮蔽等因素的影响,导致三维模型极易出现拉花、扭曲等问题。基于此,探讨了融合机载激光雷达(Light Laser Detection and Ranging,L...随着无人机的大规模普及,倾斜摄影测量技术应用越来越广泛,但是由于其技术特点,在数据采集过程中受角度、遮蔽等因素的影响,导致三维模型极易出现拉花、扭曲等问题。基于此,探讨了融合机载激光雷达(Light Laser Detection and Ranging,LiDAR)、地面数据采集和倾斜摄影技术的方法,以提高高层建筑物三维建模的精度和细节。机载LiDAR技术通过激光雷达扫描获取点云数据,提供建筑物的几何形状和细节信息,倾斜摄影技术可以提供建筑物纹理信息,与机载LiDAR技术结合可以提高建模的真实感和精度。点面三维激光扫描仪能够有效补充前两项技术的缺失,如补充细节数据。研究融合三种数据源的信息,综合利用它们的优势,为城市规划、建设和管理提供更准确、可靠的数据支持。展开更多
基金supported by the National Natural Science Foundation of China(6153102061471383)
文摘An algorithm of highly maneuvering target tracking is proposed to solve the problem of large tracking error caused by strong maneuver. In this algorithm, a new estimator, named as multi-parameter fusion Singer (MF-Singer) model is derived based on the Singer model and the fuzzy reasoning method by using radial acceleration and velocity of the target, and applied to the problem of maneuvering target tracking in strong maneuvering environment and operating environment. The tracking performance of the MF-Singer model is evaluated and compared with other manuevering tracking models. It is shown that the MF-Singer model outperforms these algorithms in several examples.
基金This paper is supported by National Natural Science Foundation of China （No. 61074078） and Fundamental Research Funds for the Central Universities （No. 12MS121）.
文摘It is well known that Landsat TM images are the most widely used remote sensing data in various fields.Usually,it has 7 different electromagnetic spectrum bands,among which the sixth one has much lower ground resolution compared with the other six bands.Nevertheless,it is useful in the study of rock spectrum reflection,geothermal resources exploration,etc.To improve the ground resolution of TM6 to the level as that of the other six bands is a problem .This paper presents an algorithm based on the combination of multivariate regression model with semivariogram function which can improve the ground resolution of TM6 by "fusing" the data of other six bands.It includes the following main steps: （1） testing the correlation between TM6 and one of TM15,7.If the correlation coefficient between TM6 and another one is greater than a given threshold value,then select the band to the regression analysis as an argument.（2） calculating the size of the template window within which some parameters needed by the regression model will be calculated; （3） replacing the original pixel values of TM6 by those obtained by regression analysis; （4） using image entropy as a measurement to evaluate the quality of the fused image of TM6.The basic mechanism of the algorithm is discussed and the V C ++ program for implementing this algorithm is also presented.A simple application example is given in the last part of this paper,showing the effectiveness of the algorithm.
文摘识别非驾驶行为是提高驾驶安全性的重要手段之一。目前基于骨架序列和图像的融合识别方法具有计算量大和特征融合困难的问题。针对上述问题,本文提出一种基于多尺度骨架图和局部视觉上下文融合的驾驶员行为识别模型(skeleton-image based behavior recognition network,SIBBR-Net)。SIBBR-Net通过基于多尺度图的图卷积网络和基于局部视觉及注意力机制的卷积神经网络,充分提取运动和外观特征,较好地平衡了模型表征能力和计算量间的关系。基于手部运动的特征双向引导学习策略、自适应特征融合模块和静态特征空间上的辅助损失,使运动和外观特征间互相引导更新并实现自适应融合。最终在Drive&Act数据集进行算法测试,SIBBR-Net在动态标签和静态标签条件下的平均正确率分别为61.78%和80.42%,每秒浮点运算次数为25.92G,较最优方法降低了76.96%。
基金Supported by the Ministerial Level Advanced Research Foundation(40401060305)
文摘In order to improve the ability of a bionic quadruped robot to percept the location of obstacles in a complex and dynamic environment, the information fusion between an ultrasonic sensor and a binocular sensor was studied under the condition that the robot moves in the Walk gait on a structured road. Firstly, the distance information of obstacles from these two sensors was separately processed by the Kalman filter algorithm, which largely reduced the noise interference. After that, we obtained two groups of estimated distance values from the robot to the obstacle and a variance of the estimation value. Additionally, a fusion of the estimation values and the variances was achieved based on the STF fusion algorithm. Finally, a simulation was performed to show that the curve of a real value was tracked well by that of the estimation value, which attributes to the effectiveness of the Kalman filter algorithm. In contrast to statistics before fusion, the fusion variance of the estimation value was sharply decreased. The precision of the position information is 4. 6 cm, which meets the application requirements of the robot.
文摘随着无人机的大规模普及,倾斜摄影测量技术应用越来越广泛,但是由于其技术特点,在数据采集过程中受角度、遮蔽等因素的影响,导致三维模型极易出现拉花、扭曲等问题。基于此,探讨了融合机载激光雷达(Light Laser Detection and Ranging,LiDAR)、地面数据采集和倾斜摄影技术的方法,以提高高层建筑物三维建模的精度和细节。机载LiDAR技术通过激光雷达扫描获取点云数据,提供建筑物的几何形状和细节信息,倾斜摄影技术可以提供建筑物纹理信息,与机载LiDAR技术结合可以提高建模的真实感和精度。点面三维激光扫描仪能够有效补充前两项技术的缺失,如补充细节数据。研究融合三种数据源的信息,综合利用它们的优势,为城市规划、建设和管理提供更准确、可靠的数据支持。
