Intelligent extraction of road cracks based on vehicle laser point cloud and panoramic sequence images

In light of the limited efficacy of conventional methods for identifying pavement cracks and the absence of comprehensive depth and location data in two-dimensional photographs,this study presents an intelligent strategy for extracting road cracks.This methodology involves the integration of laser point cloud data obtained from a vehicle-mounted system and a panoramic sequence of images.The study employs a vehicle-mounted LiDAR measurement system to acquire laser point cloud and panoramic sequence image data simultaneously.A convolutional neural network is utilized to extract cracks from the panoramic sequence image.The extracted sequence image is then aligned with the laser point cloud,enabling the assignment of RGB information to the vehicle-mounted three dimensional(3D)point cloud and location information to the two dimensional(2D)panoramic image.Additionally,a threshold value is set based on the crack elevation change to extract the aligned roadway point cloud.The three-dimensional data pertaining to the cracks can be acquired.The experimental findings demonstrate that the use of convolutional neural networks has yielded noteworthy outcomes in the extraction of road cracks.The utilization of point cloud and image alignment techniques enables the extraction of precise location data pertaining to road cracks.This approach exhibits superior accuracy when compared to conventional methods.Moreover,it facilitates rapid and accurate identification and localization of road cracks,thereby playing a crucial role in ensuring road maintenance and traffic safety.Consequently,this technique finds extensive application in the domains of intelligent transportation and urbanization development.The technology exhibits significant promise for use in the domains of intelligent transportation and city development.

Relative Navigation of Long-Range Non-Cooperative Targets Based on Monocular Sequence Images

Along with the increase of the number of failed satellites,plus space debris,year by year,it will take considerable manpower and resources if we rely just on ground surveillance and early warning.An alternative effective way would be to use autonomous long-range non-cooperative target relative navigation to solve this problem.For longrange non-cooperative targets,the stereo cameras or lidars that are commonly used would not be applicable.This paper studies a relative navigation method for long-range relative motion estimation of non-cooperative targets using only a monocular camera.Firstly,the paper provides the nonlinear relative orbit dynamics equations and then derives the discrete recursive form of the dynamics equations.An EKF filter is then designed to implement the relative navigation estimation.After that,the relative"locally weakly observability"theory for nonlinear systems is used to analyze the observability of monocular sequence images.The analysis results show that by relying only on monocular sequence images it has the possibility of deducing the relative navigation for long-range non-cooperative targets.Finally,numerical simulations show that the method given in this paper can achieve a complete estimation of the relative motion of longrange non-cooperative targets without conducting orbital maneuvers.

3D Motion Parameters Determination Based on Binocular Sequence Images

Exactly capturing three dimensional (3D) motion i nf ormation of an object is an essential and important task in computer vision, and is also one of the most difficult problems. In this paper, a binocular vision s ystem and a method for determining 3D motion parameters of an object from binocu lar sequence images are introduced. The main steps include camera calibration, t he matching of motion and stereo images, 3D feature point correspondences and re solving the motion parameters. Finally, the experimental results of acquiring th e motion parameters of the objects with uniform velocity and acceleration in the straight line based on the real binocular sequence images by the mentioned meth od are presented.

Secure Transmission of Compressed Medical Image Sequences on Communication Networks Using Motion Vector Watermarking

Medical imaging plays a key role within modern hospital management systems for diagnostic purposes.Compression methodologies are extensively employed to mitigate storage demands and enhance transmission speed,all while upholding image quality.Moreover,an increasing number of hospitals are embracing cloud computing for patient data storage,necessitating meticulous scrutiny of server security and privacy protocols.Nevertheless,considering the widespread availability of multimedia tools,the preservation of digital data integrity surpasses the significance of compression alone.In response to this concern,we propose a secure storage and transmission solution for compressed medical image sequences,such as ultrasound images,utilizing a motion vector watermarking scheme.The watermark is generated employing an error-correcting code known as Bose-Chaudhuri-Hocquenghem(BCH)and is subsequently embedded into the compressed sequence via block-based motion vectors.In the process of watermark embedding,motion vectors are selected based on their magnitude and phase angle.When embedding watermarks,no specific spatial area,such as a region of interest(ROI),is used in the images.The embedding of watermark bits is dependent on motion vectors.Although reversible watermarking allows the restoration of the original image sequences,we use the irreversible watermarking method.The reason for this is that the use of reversible watermarks may impede the claims of ownership and legal rights.The restoration of original data or images may call into question ownership or other legal claims.The peak signal-to-noise ratio(PSNR)and structural similarity index(SSIM)serve as metrics for evaluating the watermarked image quality.Across all images,the PSNR value exceeds 46 dB,and the SSIM value exceeds 0.92.Experimental results substantiate the efficacy of the proposed technique in preserving data integrity.

MOVING OBJECT TRACKING IN DYNAMIC IMAGE SEQUENCE BASED ON ESTIMATION OF MOTION VECTORS OF FEATURE POINTS

An improved estimation of motion vectors of feature points is proposed for tracking moving objects of dynamic image sequence. Feature points are firstly extracted by the improved minimum intensity change （MIC） algorithm. The matching points of these feature points are then determined by adaptive rood pattern searching. Based on the random sample consensus （RANSAC） method, the background motion is finally compensated by the parameters of an affine transform of the background motion. With reasonable morphological filtering, the moving objects are completely extracted from the background, and then tracked accurately. Experimental results show that the improved method is successful on the motion background compensation and offers great promise in tracking moving objects of the dynamic image sequence.

A deep Koopman operator-based modelling approach for long-term prediction of dynamics with pixel-level measurements

Although previous studies have made some clear leap in learning latent dynamics from high-dimensional representations,the performances in terms of accuracy and inference time of long-term model prediction still need to be improved.In this study,a deep convolutional network based on the Koopman operator(CKNet)is proposed to model non-linear systems with pixel-level measurements for long-term prediction.CKNet adopts an autoencoder network architecture,consisting of an encoder to generate latent states and a linear dynamical model(i.e.,the Koopman operator)which evolves in the latent state space spanned by the encoder.The decoder is used to recover images from latent states.According to a multi-step ahead prediction loss function,the system matrices for approximating the Koopman operator are trained synchronously with the autoencoder in a mini-batch manner.In this manner,gradients can be synchronously transmitted to both the system matrices and the autoencoder to help the encoder self-adaptively tune the latent state space in the training process,and the resulting model is time-invariant in the latent space.Therefore,the proposed CKNet has the advantages of less inference time and high accuracy for long-term prediction.Experiments are per-formed on OpenAI Gym and Mujoco environments,including two and four non-linear forced dynamical systems with continuous action spaces.The experimental results show that CKNet has strong long-term prediction capabilities with sufficient precision.

Rapid Texture Mapping from Image Sequences for Building Geometry Model

An effective approach, mapping the texture for building model based on the digital photogrammetric theory, is proposed. The easily-acquired image sequences from digital video camera on helicopter are used as texture resource, and the correspondence between the space edge in building geometry model and its line feature in image sequences is determined semi-automatically. The experimental results in production of three-dimensional data for car navigation show us an attractive future both in efficiency and effect.

Measurement of 3-D motion parameters of jacket launch based on stereo image sequences

To make sure that the process of jacket launch occurs in a seml-controlled manner, this paper deals with measurement of kinematic parameters of jacket launch using stereo vision and motion analysis. The system captured stereo image sequences by two separate CCD cameras, and then rebuilt 3D coordinates of the feature points to analyze the jacket launch motion. The possibility of combining stereo vision and motion analysis for measurement was examined. Resuhs by experiments using scale model of jacket confirm the theoretical data.

Screen image sequence compression method utilizing adaptive block size coding and hierarchical GOP structure

To compress screen image sequence in real-time remote and interactive applications,a novel compression method is proposed.The proposed method is named as CABHG.CABHG employs hybrid coding schemes that consist of intra-frame and inter-frame coding modes.The intra-frame coding is a rate-distortion optimized adaptive block size that can be also used for the compression of a single screen image.The inter-frame coding utilizes hierarchical group of pictures(GOP) structure to improve system performance during random accesses and fast-backward scans.Experimental results demonstrate that the proposed CABHG method has approximately 47%-48% higher compression ratio and 46%-53% lower CPU utilization than professional screen image sequence codecs such as TechSmith Ensharpen codec and Sorenson 3 codec.Compared with general video codecs such as H.264 codec,XviD MPEG-4 codec and Apple's Animation codec,CABHG also shows 87%-88% higher compression ratio and 64%-81% lower CPU utilization than these general video codecs.

Modified Adaptive Weighted Averaging Filtering Algorithm for Noisy Image Sequences

In order to avoid the influence of noise variance on the filtering performances, a modified adaptive weighted averaging (MAWA) filtering algorithm is proposed for noisy image sequences. Based upon adaptive weighted averaging pixel values in consecutive frames, this algorithm achieves the filtering goal by assigning smaller weights to the pixels with inappropriate estimated motion trajectory for noise. It only utilizes the intensity of pixels to suppress noise and accordingly is independent of noise variance. To evaluate the performance of the proposed filtering algorithm, its mean square error and percentage of preserved edge points were compared with those of traditional adaptive weighted averaging and non-adaptive mean filtering algorithms under different noise variances. Relevant results show that the MAWA filtering algorithm can preserve image structures and edges under motion after attenuating noise, and thus may be used in image sequence filtering.

Image sequence-based risk behavior detection of power operation inspection personnel

A novel image sequence-based risk behavior detection method to achieve high-precision risk behavior detection for power maintenance personnel is proposed in this paper.In this method,the original image sequence data is first separated from the foreground and background.Then,the free anchor frame detection method is used in the foreground image to detect the personnel and correct their direction.Finally,human posture nodes are extracted from each frame of the image sequence,which are then used to identify the abnormal behavior of the human.Simulation experiment results demonstrate that the proposed algorithm has significant advantages in terms of the accuracy of human posture node detection and risk behavior identification.

Novel Frame Shift and Integral Technique for Enhancing Low-Light-Level Moving Images

A novel frame shift and integral technique for the enhancement of low light level moving image sequence is introduced. According to the technique, motion parameters of target are measured by algorithm based on difference processing. To obtain spatial relativity, images are shifted according to the motion parameters. As a result, the processing of integral and average can be applied to images that have been shifted. The technique of frame shift and integral that includes the algorithm of motion parameter determination is discussed, experiments with low light level moving image sequences are also described. The experiment results show the effectiveness and the robustness of the parameter determination algorithm, and the improvement in the signal-to-noise ratio （SNR） of low light level moving images.

Dim Moving Small Target Detection by Local and Global Variance Filtering on Temporal Profiles in Infrared Sequences

In this paper, the temporal different characteristics between the target and background pixels are used to detect dim moving targets in the slow-evolving complex background. A local and global variance filter on temporal profiles is presented that addresses the temporal characteristics of the target and background pixels to eliminate the large variation of background temporal profiles. Firstly, the temporal behaviors of different types of image pixels of practical infrared scenes are analyzed.Then, the new local and global variance filter is proposed. The baseline of the fluctuation level of background temporal profiles is obtained by using the local and global variance filter. The height of the target pulse signal is extracted by subtracting the baseline from the original temporal profiles. Finally, a new target detection criterion is designed. The proposed method is applied to detect dim and small targets in practical infrared sequence images. The experimental results show that the proposed algorithm has good detection performance for dim moving small targets in the complex background.

Center of rotation estimation for rocket nozzle by infrared reflective makers and image sequences

The determination of an accurate center of rotation of rocket motor nozzle or other object to be measured is of great interest across a wide range of applications,such as rocket,missile,robotics,industry,spaceflight,aviation and human motion analysis fields,particularly for clinical gait analysis.A new approach was proposed to estimate the moving objects' instantaneous center of rotation and other motion parameters.The new method assumes that the two segment of object to be measured are rigid body which rotates around a center of rotation between each other relatively.The center of rotation varies with time in the global coordinate system but is fixed in the local coordinate system attached to each segment.The models of rocket motor nozzle and its movement were established.The arbitrary moving object's corresponding to motion equations were deduced,and the least square closed-form solutions of the object's motion parameters were figured out.It is assumed that the two high speed CCD cameras mounted on the 750 nm infrared(IR) filter are synchronized and calibrated in advance.The virtual simulation experiment using 3D coordinates of markers was conducted by synchronized stereo image sequences based on 6-DOF motion platform and the experimental results prove the feasibility of our algorithm.The test results show that the precision of x,y,z component on center of rotation is up to 0.14 mm,0.13 mm,0.15 mm.

Three-dimensional motion parameters estimation from stereo image sequences based on infrared reflective markers

In this paper,an innovative 3D motion parameters estimation method from stereo image sequences based on infrared(IR) reflective markers is presented.It was assumed that two high speed CCD cameras had been calibrated previously.The method consists of the following steps:1) the coordinate of several markers and depth map for each stereo pair was determined from the sequences of stereo images by relations of markers' coordinate the correspondence between markers was established,2) the 3D motion parameters of the target was computed based upon the matched markers' coordinate,and 3) translated 3D motion parameters estimation into the problem of least square according to the movement model of the object to be measured.Without using line,curve or corner correspondence,this method can calculate the depth of these markers feature easily and quickly in contrast to traditional approaches.The two CCD cameras work on 200 f/s,and each processing cost time is about 3 ms.It was found that,by using several markers and a large number of stereo images,this method can improve the computational speed,robustness and numerical accuracy of the motion parameters in comparison with traditional methods.The virtual simulation experiment was conducted using synthesized stereo image sequences based on 6-DOF motion platform and the experimental results proved the validity of our approach and showed that the translation and rotation precision is up to 0.1 mm and 0.1°.

Discontinuity-preserving optical flow algorithm

A modification of Horn and Schunk＇s approach is investigated, which leads to a better preservation of flow discontinuities. It improves Horn-Schunk model in three aspects： （1） It replaces the smooth weight coefficient in the energy equation by the variable weight coefficient. （2） It adopts a novel method to compute the mean velocity. The novel method also reflects the effect of the intensity difference on the image velocity diffusion. （3） It introduces a more efficient iterative method than the Gauss-Seidel method to solve the associated Euler-Lagrange equation. The experiment results validate the better effect of the improved method on preserving discontinuities.

Distortion Identification Technique Based on Hilbert-Huang Transform in Video Stabilization

A distortion identification technique is presented based on Hilbert-Huang transform to identify distortion model and distortion frequency of distorted real-world image sequences. The distortion model is identified simply based on Hilbert marginal spectral analysis after empirical mode decomposing. And distortion frequency is identified by analyzing the occurrence frequency of instantaneous frequency components of every intrinsic mode functions. Rational digital frequency filter with suitable cutoff frequency is designed to remove undesired fluctuations based on identification results. Experimental results show that this technique can identify distortion model and distortion frequency of displacement sequence accurately and efficiently. Based on identification results, distorted image sequence can be stabilized effectively.

A New Method of Small Moving Target Detection and Its Performance Analysis

This paper describes a new method of small moving target detection and analyzes the performance of this algorithm. The method is based on multi-level threshold decision-making and sliding trajectory confidence testing technology. The parameters of the algorithm are also given. Experiments have been conducted, the results show that the algorithm has advantages of high detection probability, simple structure, and excellent real-time performance.

Fast speedometer identification in dynamic scene based on phase correlation

Speedometer identification has been researched for many years.The common approaches to that problem are usually based on image subtraction,which does not adapt to image offsets caused by camera vibration.To cope with the rapidity,robust and accurate requirements of this kind of work in dynamic scene,a fast speedometer identification algorithm is proposed,it utilizes phase correlation method based on regional entire template translation to estimate the offset between images.In order to effectively reduce unnecessary computation and false detection rate,an improved linear Hough transform method with two optimization strategies is presented for pointer line detection.Based on VC＋＋ 6.0 software platform with OpenCV library,the algorithm performance under experiments has shown that it celerity and precision.

System Structure and Calibration Models of Intelligent Photogrammetron

This paper describes the structure, geometric model and geometric calibrationof Photogrammetron Ⅰ - the first type of photogrammetron which is designed to be a coherent stereophotogrammetric system in which two cameras are mounted on a physical base but driven by anintelligent agent architecture. The system calibration is divided into two parts: the in-labcalibration determines the fixed parameters in advance of system operation, and the in-situcalibration keeps tracking the free parameters in real-time during the system operation. In a videosurveillance set-up, prepared control points are tracked in stereo image sequences, so that the freeparameters of the system can be continuously updated through iterative bundle adjustment and Kalmanfiltering.