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Real-time detection of navel orange fruits in the natural environment based on deep learning 基于深度学习的脐橙水果在自然环境中的实时检测
Qianli Zhang, Qiusheng Li, Junyong Hu, Xianghui Xie
Abstact: Deep learning is widely used in intelligent picking, but the adverse effects of different environmental scenes on target detection and recognition are crucial to picking robots’ accurate and efficient work. First, the data set needed for the experiment was manually created. The data set selected 925 navel orange images, including 290 backlit sunny days, 310 forward light, and 325 cloudy days. The training and test sets were divided into 8:2. Then, we studied the detection of navel orange based on the improved model of single-stage target detection network PP-YOLO. Used the backbone network ResNet with deformable convolution to extract image features and combined with FPN (feature pyramid network) for feature fusion to achieve multi-scale detection. The K-means clustering algorithm clustered the appropriate Anchor size for the target navel orange, which reduced the training time and the confidence error of the prediction frame. Loaded the pre-trained model and compared the model performance with the original PP-YOLO, YOLO-v4, YOLO-v3, and Faster RCNN network. Analyzed the Loss curve and AP curve of the training log, the task of detecting navel oranges under sunny, sunny, and cloudy conditions was realized. Finally, the improved PP-YOLO detection accuracy was 90.81%, 92.46%, and 94.31%, and the recognition efficiency reached 72.3 fps, 73.71 fps, and 74.9 fps, respectively. The model performance is better than the other four, with better robustness. CCS CONCEPTS • Computing methodologies∼Artificial intelligence∼Computer vision∼Computer vision tasks∼Vision for robotics
摘要深度学习在智能拾取中有着广泛的应用,但不同环境场景对目标检测和识别的不利影响是影响拾取机器人准确高效工作的关键。首先,手工创建实验所需的数据集。数据集选取了925张脐橙图像,其中逆光晴天290张,正向光照310张,阴天325张。训练集和测试集按8:2划分。然后,我们研究了基于改进的单级目标检测网络PP-YOLO模型的脐橙检测。利用具有可变形卷积的骨干网络ResNet提取图像特征,结合特征金字塔网络FPN进行特征融合,实现多尺度检测。K-means聚类算法对目标肚脐橙进行合适的锚大小聚类,减少了训练时间和预测框架的置信度误差。加载预训练模型,并将模型性能与原始PP-YOLO、YOLO-v4、YOLO-v3和Faster RCNN网络进行比较。通过分析训练日志的Loss曲线和AP曲线,实现了在晴天、晴天和阴天条件下脐橙的检测任务。最终,改进后的PP-YOLO检测精度分别为90.81%、92.46%和94.31%,识别效率分别达到72.3 fps、73.71 fps和74.9 fps。该模型性能优于其他四种模型,具有较好的鲁棒性。CCS概念•计算方法~人工智能~计算机视觉~计算机视觉任务~机器人视觉
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引用次数: 0
Domain adaptation based on the measure of kernel-product maximum mean discrepancy 基于核积最大平均差度量的领域自适应
Xuerui Chen, Guohua Peng
Transfer learning is an important branch of machine learning, focusing on applying what has been learned in the old field to new problems. Maximum mean discrepancy (MMD) is used in most existing works to measure the difference between two distributions by applying a single kernel. Recent works exploit linear combination of multiple kernels and need to learn the weight of each kernel. Because of the singleness of single-kernel and the complexity of multiple-kernel, we propose a novel kernel-product maximum mean discrepancy (DA-KPMMD) approach. We choose the product of linear kernel and Gaussian kernel as the new kernel. Specifically, we reduce differences in the marginal and conditional distribution simultaneously between source and target domain by adaptively adjusting the importance of the two distributions. Further, the within-class distance is minimizing to differentiate samples of different classes. We conduct cross-domain classification experiments on three image datasets and experimental results show the superiority of DA-KPMMD compared with several domain adaptation methods. CCS CONCEPTS • Computing methodologies • Machine learning • Machine learning approaches • Kernel methods
迁移学习是机器学习的一个重要分支,侧重于将旧领域的知识应用于新问题。最大平均差异(MMD)在现有的大多数研究中都是使用单个核来度量两个分布之间的差异。最近的研究利用多核的线性组合,需要学习每个核的权值。针对单核的单一性和多核的复杂性,提出了一种新的核积最大平均差异(DA-KPMMD)方法。我们选择线性核和高斯核的乘积作为新的核。具体来说,我们通过自适应调整源域和目标域的边缘分布和条件分布的重要性,同时减少了两者之间的差异。进一步,最小化类内距离以区分不同类别的样本。我们在三个图像数据集上进行了跨域分类实验,实验结果表明了DA-KPMMD与几种域自适应方法相比的优越性。CCS概念•计算方法•机器学习•机器学习方法•核方法
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引用次数: 0
DISCA: Decentralized Infrastructure for Secure Community Attribute certifying DISCA:用于安全社区属性认证的分散基础设施
Yi Su, Baosheng Wang, Qianqian Xing, Xiaofeng Wang
Inter-domain routing is the cornerstone of the modern Internet, and the security of inter-domain routing is very important to the reliability and security of Internet basic services. However, BGP protocol, as a current standard inter-domain routing protocol, lacks security considerations at the beginning of its design and does not authenticate routing messages. Because the BGP Community attribute is widely used, researchers have found a variety of new routing attacks using the Community attribute. This kind of attack is more covert and flexible, the detection mechanism is difficult to detect its existence, and the current trusted verification scheme can not completely defend against this kind of attack. In order to solve the above problems, this paper proposes a BGP Community attribute authentication scheme based on blockchain. This scheme authenticates the use of BGP Community attributes based on the blockchain smart contract for the first time. Based on the routing source authentication provided by the routing source authentication mechanism, this scheme further puts forward the concept of "the right to know about using". Through the agent authentication mechanism, it can effectively resist a variety of new routing attacks without changing the existing BGP routing protocol.
域间路由是现代互联网的基石,域间路由的安全性对互联网基础服务的可靠性和安全性至关重要。但是,BGP协议作为目前标准的域间路由协议,在设计之初就缺乏对安全性的考虑,并且没有对路由消息进行认证。由于BGP Community属性的广泛应用,研究人员发现了各种利用Community属性的新型路由攻击。这种攻击具有隐蔽性和灵活性,检测机制难以检测到其存在,现有的可信验证方案也不能完全防御这种攻击。为了解决上述问题,本文提出了一种基于区块链的BGP社区属性认证方案。该方案首次基于区块链智能合约对BGP社区属性的使用进行认证。本方案在路由源认证机制提供的路由源认证的基础上,进一步提出了“使用知情权”的概念。通过代理认证机制,可以在不改变现有BGP路由协议的情况下,有效抵御各种新的路由攻击。
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引用次数: 0
An Improved GAIL Based on Object Detection, GRU, and Attention 基于目标检测、GRU和注意力的改进GAIL
Qinghe Liu, Yinghong Tian
Imitation Learning (IL) learns expert behavior without any reinforcement signal. Thus, it is seen as a potential alternative to Reinforcement Learning (RL) in tasks where it is not easy to design reward functions. However, most models based on IL methods cannot work well when the demonstration is high dimension, and the tasks are complex. We set one realistic-like UAV race simulation environment on AirSim Drone Racing Lab (ADRL) to study the two problems. We propose a new model improves on Generative Adversarial Imitation Learning (GAIL). An object detection network trained by the expert dataset allows the model to use high-dimensional visual inputs while alleviating the data inefficiencies of GAIL. Benefit from the recurrent structure and attention mechanism, the model can control the drone cross the gates and complete the race as if it were an expert. Compared to the primitive GAIL structure, our improved structure showed a 70.6% improvement in average successful crossing over 2000 flight training sessions. The average missed crossing decreased by 18.8% and the average collision decreased by 14.1%.
模仿学习(IL)在没有任何强化信号的情况下学习专家行为。因此,在不易设计奖励函数的任务中,它被视为强化学习(RL)的潜在替代方案。然而,大多数基于IL方法的模型在演示高维、任务复杂的情况下不能很好地工作。我们在AirSim无人机竞赛实验室(ADRL)上设置了一个逼真的无人机竞赛仿真环境来研究这两个问题。本文提出了一种基于生成对抗模仿学习(GAIL)的新模型。由专家数据集训练的目标检测网络允许模型使用高维视觉输入,同时减轻了GAIL的数据效率低下。得益于循环结构和注意力机制,该模型可以像专家一样控制无人机穿过大门并完成比赛。与原始的GAIL结构相比,我们改进的结构在2000次飞行训练中平均成功飞越的速度提高了70.6%。平均未过率下降18.8%,平均碰撞率下降14.1%。
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引用次数: 0
Unsupervised Barcode Image Reconstruction Based on Knowledge Distillation 基于知识蒸馏的无监督条码图像重构
X. Cui, Ting Sun, Shuixin Deng, Yusen Xie, Lei Deng, Baohua Chen
Due to the influence of the lighting and the focal length of the camera, the barcode images collected are degraded with low contrast, blur and insufficient resolution, which affects the barcode recognition. To solve the above problems, this paper proposes an unsupervised low-quality barcode image reconstruction method based on knowledge distillation by combining traditional image processing and deep learning technology. The method includes both teacher and student network, in the teachers' network, the first to use the traditional algorithm to enhance the visibility of the barcode image and edge information, and then the method of using migration study, using the barcode image super-resolution network training to blur and super resolution, the final barcode image reconstruction using the depth image prior to in addition to the noise in the image; In order to meet the real-time requirements of model deployment, the student network chooses a lightweight super-resolution network to learn the mapping between the input low quality barcode image and the output high quality barcode image of the teacher network. Experiment shows the proposed algorithm effectively improves the quality and the recognition rate of barcode image, under the premise of ensuring real-time performance.
由于光照和相机焦距的影响,采集到的条码图像对比度低、模糊、分辨率不足,影响了条码识别。针对上述问题,本文将传统图像处理技术与深度学习技术相结合,提出了一种基于知识蒸馏的无监督低质量条码图像重建方法。该方法既包括教师网络,也包括学生网络,在教师网络中,首先采用传统算法增强条码图像的可见性和边缘信息,然后采用迁移研究的方法,利用超分辨率网络训练对条码图像进行模糊和超分辨率处理,最后利用深度图像重建之前除噪的条码图像;为了满足模型部署的实时性要求,学生网选择了一个轻量级的超分辨率网络来学习输入的低质量条码图像与教师网输出的高质量条码图像之间的映射关系。实验表明,该算法在保证实时性的前提下,有效地提高了条码图像的质量和识别率。
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引用次数: 1
The influence of different preprocessing on radar signal recognition based on time-frequency analysis and deep learning 不同预处理对基于时频分析和深度学习的雷达信号识别的影响
Qin Li, Wei Liu, C. Niu, Yanyun Wang, Ou Gao, Yintu Bao, Wei‐qi Zou, Haobo Zhang, Q. Hu, Zhikang Lin, Chaofan Pan
∗Aiming at the problem of the lack of rigorous comparative analysis in the preprocessing step in the classification and recognition of radar signals based on time-frequency diagrams and deep learning, this paper analyzes the influence of signal denoising, different time-frequency analysis, and time-frequency graph denoising in preprocessing on the classification and recognition of radar signals through control variables. Lay the foundation for further research on radar signal classification and recognition.
*针对基于时频图和深度学习的雷达信号分类识别中预处理步骤缺乏严格的对比分析的问题,本文通过控制变量分析了预处理过程中信号去噪、不同时频分析、时频图去噪对雷达信号分类识别的影响。为进一步研究雷达信号分类识别奠定基础。
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引用次数: 1
Line-Constrained L∞ One-Center Problem on Uncertain Points 不确定点上的线约束L∞单中心问题
Quan Nguyen, Jingru Zhang
Problems on uncertain data have attracted significant attention due to the imprecise nature of the measurement. In this paper, we consider the (weighted) L∞ one-center problem on uncertain data with an addition constraint that requires the sought center to be on a line. Given are a set of n (weighted) uncertain points and a line L. Each uncertain point has m possible locations in the plane associated with probabilities. The L∞ one-center aims to compute a point q* on L to minimize the maximum of the expected L∞ distances of all uncertain points to q*. We propose an algorithm to solve this problem in O(mn) time, which is optimal since the input is O(mn).
由于测量的不精确性,不确定数据的问题引起了人们的极大关注。本文考虑了不确定数据上的(加权)L∞单中心问题,该问题具有一个附加约束,要求所寻中心在一条直线上。给定一组n(加权)不确定点和一条线l,每个不确定点在与概率相关的平面上有m个可能的位置。L∞单中心旨在计算L上的一个点q*,以最小化所有不确定点到q*的期望L∞距离的最大值。我们提出了一种在O(mn)时间内解决该问题的算法,由于输入为O(mn),因此该算法是最优的。
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引用次数: 1
Unsupervised Face Recognition Algorithm based on Fast Density Clustering Algorithm 基于快速密度聚类算法的无监督人脸识别算法
Guodong Jiang, Jingjing Zhang, Jinyin Chen, Haibin Zheng, Zhiqing Chen, Liang Bao
Most classic face recognition classification algorithms need to extract enough face images with class label information as training samples. However in most practical applications, face recognition based on supervised methods are incapable to deal with images without any label information. A novel unsupervised face recognition algorithm based on fast density clustering algorithm is proposed in this paper, which doesn't need sample images with class label information. Without any labelled images as examples, the designed method still get higher recognition rate compared with the same classifiers with labelled training sample. The main contributions of this paper include three aspects. Firstly, aiming at most current clustering algorithm has challenges as low clustering purity, parameter sensibility and cluster center manual determination, a fast density clustering algorithm (FDCA) with automatic cluster center determination (ACC) is proposed. Secondly, based on ACC-FDCA, an unsupervised face image recognition algorithm is designed. SSIM, CW-SSIM and PSNR are adopted to calculate face image similarity matrix. Finally, an online unsupervised face video recognition platform is developed based on brought up ACC-FDCA face recognition algorithm. Real life videos are recorded and recognized to testify the high performance of brought up method. We can conclude that classifiers using FDCA to get image samples label information for training could achieve higher recognition rate compared with the same classifiers trained with labelled image samples.
大多数经典的人脸识别分类算法都需要提取足够多的带有类别标签信息的人脸图像作为训练样本。然而,在大多数实际应用中,基于监督的人脸识别方法无法处理没有任何标签信息的图像。提出了一种新的基于快速密度聚类算法的无监督人脸识别算法,该算法不需要带有类标签信息的样本图像。在没有任何标记图像作为示例的情况下,与带有标记训练样本的相同分类器相比,所设计的方法仍然具有更高的识别率。本文的主要贡献包括三个方面。首先,针对目前大多数聚类算法存在聚类纯度低、参数敏感性低、聚类中心人工确定等问题,提出了一种具有自动聚类中心确定功能的快速密度聚类算法(FDCA)。其次,基于ACC-FDCA,设计了一种无监督人脸图像识别算法。采用SSIM、CW-SSIM和PSNR计算人脸图像相似矩阵。最后,基于所提出的ACC-FDCA人脸识别算法,开发了一个在线无监督人脸视频识别平台。真实生活中的视频被记录和识别,以证明抚养方法的高性能。我们可以得出结论,使用FDCA获取图像样本标签信息进行训练的分类器比使用标记图像样本训练的分类器具有更高的识别率。
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引用次数: 1
Few-shot Adversarial Audio Driving Talking Face Generation 少数镜头对抗性音频驱动说话的面孔生成
Ruyi Chen, Shengwu Xiong
Talking-face generation is an interesting and challenging problem in computer vision and has become a research focus. This project aims to generate real talking-face video sequences, especially lip synchronization and head motion. In order to create a personalized talking-face model, these works require training on large-scale audio-visual datasets. However, in many practical scenarios, the personalized appearance features, and audio-video synchronization relationships need to be learned from a few lip synchronization sequences. In this paper, we consider it as a few-shot image synchronization problem: synthesizing talking-face with audio if there are additionally a few lip-synchronized video sequences as the learning task? We apply the reptile methods to train the meta adversarial networks and this meta-model could be adapted on just a few references sequences and done quickly to learn the personalized references models. With meta-learning on the dataset, the model can learn the initialization parameters. And with few adapt steps on the reference sequences, the model can learn quickly and generate highly realistic images with more facial texture and lip-sync. Experiments on several datasets demonstrated significantly better results obtained by our methods than the state-of-the-art methods in both quantitative and quantitative comparisons.
人脸生成是计算机视觉中一个有趣而富有挑战性的问题,已成为研究热点。本项目旨在生成真实的说话面部视频序列,特别是嘴唇同步和头部运动。为了创建个性化的说话脸模型,这些工作需要在大规模的视听数据集上进行训练。然而,在许多实际场景中,个性化的外观特征和音视频同步关系需要从几个唇同步序列中学习。在本文中,我们将其视为一个少镜头图像同步问题:如果另外有几个嘴唇同步的视频序列作为学习任务,那么如何将说话的脸与音频合成?我们采用爬行动物的方法来训练元对抗网络,该元模型可以在少数参考序列上进行调整,并且可以快速地学习个性化的参考模型。通过对数据集的元学习,模型可以学习初始化参数。通过对参考序列的少量调整步骤,该模型可以快速学习并生成具有更多面部纹理和口型同步的高度逼真的图像。在几个数据集上的实验表明,我们的方法在定量和定量比较中获得的结果明显优于最先进的方法。
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引用次数: 0
Rearch on quantitative evaluation technology of equipment battlefield environment adaptability 装备战场环境适应性定量评价技术研究
Hao Chen, Jiajia Wang, Yurong Liu, Jiangtao Xu, Chao Fan
For the performance evaluation, environmental adaptability evaluation, system contribution rate evaluation and other evaluation activities in the equipment test process, the mathematical methods such as uncertainty quantification and Bayesian network are used to quickly build the evaluation index system and quantitative evaluation model related to the evaluation task, design the evaluation prototype, and support various evaluation activities in complex scenarios, Quantifying the impact of uncertain factors as much as possible can speed up the progress of evaluation activities and improve the credibility of evaluation results.
针对装备试验过程中的性能评价、环境适应性评价、系统贡献率评价等评价活动,运用不确定性量化、贝叶斯网络等数学方法,快速构建与评价任务相关的评价指标体系和定量评价模型,设计评价原型,支持复杂场景下的各种评价活动;将不确定因素的影响尽可能量化,可以加快评价活动的进度,提高评价结果的可信度。
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引用次数: 0
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Proceedings of the 3rd International Conference on Advanced Information Science and System
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