Preprocessing method of night vision image application in apple harvesting robot

Due to the low working efficiency of apple harvesting robots,there is still a long way to go for commercialization.The machine performance and extended operating time are the two research aspects for improving efficiencies of harvesting robots,this study focused on the extended operating time and proposed a round-the-clock operation mode.Due to the influences of light,temperature,humidity,etc.,the working environment at night is relatively complex,and thus restricts the operating efficiency of the apple harvesting robot.Three different artificial light sources(incandescent lamp,fluorescent lamp,and LED lights)were selected for auxiliary light according to certain rules so that the apple night vision images could be captured.In addition,by color analysis,night and natural light images were compared to find out the color characteristics of the night vision images,and intuitive visual and difference image methods were used to analyze the noise characteristics.The results showed that the incandescent lamp is the best artificial auxiliary light for apple harvesting robots working at night,and the type of noise contained in apple night vision images is Gaussian noise mixed with some salt and pepper noise.The preprocessing method can provide a theoretical and technical reference for subsequent image processing.

Night Vision Object Tracking System Using Correlation Aware LSTM-Based Modified Yolo Algorithm

Improved picture quality is critical to the effectiveness of object recog-nition and tracking.The consistency of those photos is impacted by night-video systems because the contrast between high-profile items and different atmospheric conditions,such as mist,fog,dust etc.The pictures then shift in intensity,colour,polarity and consistency.A general challenge for computer vision analyses lies in the horrid appearance of night images in arbitrary illumination and ambient envir-onments.In recent years,target recognition techniques focused on deep learning and machine learning have become standard algorithms for object detection with the exponential growth of computer performance capabilities.However,the iden-tification of objects in the night world also poses further problems because of the distorted backdrop and dim light.The Correlation aware LSTM based YOLO(You Look Only Once)classifier method for exact object recognition and deter-mining its properties under night vision was a major inspiration for this work.In order to create virtual target sets similar to daily environments,we employ night images as inputs;and to obtain high enhanced image using histogram based enhancement and iterative wienerfilter for removing the noise in the image.The process of the feature extraction and feature selection was done for electing the potential features using the Adaptive internal linear embedding(AILE)and uplift linear discriminant analysis(ULDA).The region of interest mask can be segmen-ted using the Recurrent-Phase Level set Segmentation.Finally,we use deep con-volution feature fusion and region of interest pooling to integrate the presently extremely sophisticated quicker Long short term memory based(LSTM)with YOLO method for object tracking system.A range of experimentalfindings demonstrate that our technique achieves high average accuracy with a precision of 99.7%for object detection of SSAN datasets that is considerably more than that of the other standard object detection mechanism.Our approach may therefore satisfy the true demands of night scene target detection applications.We very much believe that our method will help future research.

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°.

Decoding brain responses to pixelized images in the primary visual cortex: implications for visual cortical prostheses

Visual cortical prostheses have the potential to restore partial vision. Still limited by the low-resolution visual percepts provided by visual cortical prostheses, implant wearers can currently only ＂see＂ pixelized images, and how to obtain the specific brain responses to different pixelized images in the primary visual cortex（the implant area） is still unknown. We conducted a functional magnetic resonance imaging experiment on normal human participants to investigate the brain activation patterns in response to 18 different pixelized images. There were 100 voxels in the brain activation pattern that were selected from the primary visual cortex, and voxel size was 4 mm × 4 mm × 4 mm. Multi-voxel pattern analysis was used to test if these 18 different brain activation patterns were specific. We chose a Linear Support Vector Machine（LSVM） as the classifier in this study. The results showed that the classification accuracies of different brain activation patterns were significantly above chance level, which suggests that the classifier can successfully distinguish the brain activation patterns. Our results suggest that the specific brain activation patterns to different pixelized images can be obtained in the primary visual cortex using a 4 mm × 4 mm × 4 mm voxel size and a 100-voxel pattern.

Novel region-based image compression method based on spiking cortical model

To get the high compression ratio as well as the high-quality reconstructed image, an effective image compression scheme named irregular segmentation region coding based on spiking cortical model（ISRCS） is presented. This scheme is region-based and mainly focuses on two issues. Firstly, an appropriate segmentation algorithm is developed to partition an image into some irregular regions and tidy contours, where the crucial regions corresponding to objects are retained and a lot of tiny parts are eliminated. The irregular regions and contours are coded using different methods respectively in the next step. The other issue is the coding method of contours where an efficient and novel chain code is employed. This scheme tries to find a compromise between the quality of reconstructed images and the compression ratio. Some principles and experiments are conducted and the results show its higher performance compared with other compression technologies, in terms of higher quality of reconstructed images, higher compression ratio and less time consuming.

Employment of predictive search algorithm in digital image correlation

A predictive search algorithm to estimate the size and direction of displacement vectors was presented.The algorithm decreased the time of calculating the displacement of each pixel.In addition,the updating reference image scheme was used to update the reference image and to decrease the computation time when the displacement was larger than a certain number.In this way,the search range and computational complexity were cut down,and less EMS memory was occupied.The capability of proposed search algorithm was then verified by the results of both computer simulation and experiments.The results showed that the algorithm could improve the efficiency of correlation method and satisfy the accuracy requirement for practical displacement measuring.

Deep Learning Blockchain Integration Framework for Ureteropelvic Junction Obstruction Diagnosis Using Ultrasound Images

UreteroPelvic Junction Obstruction(UPJO)is a common hydronephrosis disease in children that can result in an even progressive loss of renal function.Ultrasonography is an economical,radiationless,noninvasive,and high noise preliminary diagnostic step for UPJO.Artificial intelligence has been widely applied to medical fields and can greatly assist doctors'diagnostic abilities.The demand for a highly secure network environment in transferring electronic medical data online,therefore,has led to the development of blockchain technology.In this study,we built and tested a framework that integrates a deep learning diagnosis model with blockchain technology.Our diagnosis model is a combination of an attention-based pyramid semantic segmentation network and a discrete wavelet transformation-processed residual classification network.We also compared the performance between benchmark models and our models.Our diagnosis model outperformed benchmarks on the segmentation task and classification task with MloU=87.93,MPA=93.52,and accuracy=91.77%.For the blockchain system,we applied the InterPlanetary File System protocol to build a secure and private sharing environment.This framework can automatically grade the severity of UPJO using ultrasound images,guarantee secure medical data sharing,assist in doctors'diagnostic ability,relieve patients'burden,and provide technical support for future federated learning and linkage of the Internet of Medical Things(loMT).

CMOS vision sensor with fully digital image process integrated into low power 1/8-inch chip

A digital still camera image processing system on a chip, different from the video camera system, is pre- sented for mobile phone to reduce the power consumption and size. A new color interpolation algorithm is proposed to enhance the image quality. The system can also process fixed patten noise （FPN） reduction, color correction, gamma correction, RGB/YUV space transfer, etc. The chip is controlled by sensor regis- ters by inter-integrated circuit （I2C） interface. The voltage for both the front-end analog and the pad cir- cuits is 2.8 V, and the volatge for the image signal processing is 1.8 V. The chip running under the external 13.5-MHz clock has a video data rate of 30 frames/s and the measured power dissipation is about 75 roW.