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A self-correction algorithm for transparent object shadow detection 透明物体阴影检测的自校正算法
IF 3.4 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-01-06 DOI: 10.1007/s10489-024-06001-z
Jiaqi Li, Shuhuan Wen, Rongting Chen, Di Lu, Jianyi Hu, Hong Zhang

Shadow detection for transparent objects is a challenging task. The difficulty arises from the fact that transparent objects and shadow regions are prone to occlusion, and the boundaries of transparent objects become more blurred due to optical effects, ultimately leading to incomplete shadow detection results. In this paper, a novel semisupervised shadow detection algorithm based on self-correction is proposed to address these problems. We construct a shadow detection module based on a hybrid attention mechanism CBAM and integrate the short-term memory capability of LSTM networks, assisting the model in accurately localizing shadow areas based on prior experience. To address the issue of easily overlooked shadow areas, we aim to minimize the difference between the predicted shadow mask and the real shadow mask as our optimization objective. We train the shadow self-correction module using binary cross-entropy loss to enhance the model’s ability to detect shadow areas that are prone to be overlooked. Furthermore, a pretrained boundary detector is utilized to obtain the boundary information between the predicted and real shadow masks. The shadow detection model is then optimized under the constraint of boundary consistency, enabling the model to more accurately identify the boundaries of shadow regions and enhancing the shadow detection performance. The experimental results indicate that, compared to existing shadow detection algorithms, the proposed algorithm performs well in terms of both transparent and nontransparent object shadow detection.

透明物体的阴影检测是一项具有挑战性的任务。难点在于透明物体和阴影区域容易遮挡,并且由于光学效应,透明物体的边界变得更加模糊,最终导致阴影检测结果不完整。针对这些问题,本文提出了一种基于自校正的半监督阴影检测算法。我们构建了一个基于混合注意机制CBAM的阴影检测模块,并结合LSTM网络的短期记忆能力,帮助模型根据先验经验准确定位阴影区域。为了解决容易被忽略的阴影区域的问题,我们的目标是最小化预测阴影遮罩和真实阴影遮罩之间的差异作为我们的优化目标。我们使用二元交叉熵损失来训练阴影自校正模块,以增强模型检测容易被忽略的阴影区域的能力。此外,利用预训练的边界检测器来获取预测阴影掩模与真实阴影掩模之间的边界信息。然后在边界一致性约束下对阴影检测模型进行优化,使模型能够更准确地识别阴影区域的边界,提高阴影检测性能。实验结果表明,与现有的阴影检测算法相比,本文算法在透明和非透明物体阴影检测方面都表现良好。
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引用次数: 0
A self-calibration algorithm for soil moisture sensors using deep learning 基于深度学习的土壤湿度传感器自校正算法
IF 3.4 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-01-06 DOI: 10.1007/s10489-024-05921-0
Diego Alberto Aranda Britez, Alejandro Tapia, Pablo Millán Gata

In the current era of smart agriculture, accurately measuring soil moisture has become crucial for optimising irrigation systems, significantly improving water use efficiency and crop yields. However, existing soil moisture sensor technologies often suffer from accuracy issues, leading to inefficient irrigation practices. The calibration of these sensors is limited by conventional methods that rely on extensive ground reference data, making the process both costly and impractical. This study introduces an innovative self-calibration method for soil moisture sensors using deep learning. The proposed method focuses on a novel strategy requiring only two characteristic points for calibration: saturation and field capacity. Deep learning algorithms enable effective and accurate in-situ self-calibration of sensors. This method was tested using a large dataset of simulated erroneous sensor readings generated with simulation software. The results demonstrate that the method significantly improves soil moisture measurement accuracy, with 84.83% of sensors showing improvement, offering a more agile and cost-effective implementation compared to traditional approaches. This advance represents a significant step towards more efficient and sustainable agriculture, offering farmers a valuable tool for optimal water and crop management, while highlighting the potential of deep learning in solving complex engineering challenges.

在当前的智能农业时代,准确测量土壤湿度对于优化灌溉系统、显著提高水分利用效率和作物产量至关重要。然而,现有的土壤湿度传感器技术往往存在精度问题,导致灌溉效率低下。这些传感器的校准受到依赖大量地面参考数据的传统方法的限制,使得该过程既昂贵又不切实际。本文介绍了一种基于深度学习的土壤湿度传感器自校准方法。该方法提出了一种新的校正策略,只需要两个特征点:饱和度和场容量。深度学习算法可以实现传感器的有效和准确的原位自校准。使用模拟软件生成的模拟错误传感器读数的大型数据集对该方法进行了测试。结果表明,该方法显著提高了土壤湿度测量精度,84.83%的传感器测量精度得到提高,与传统方法相比,实现方法更加灵活,成本效益更高。这一进展代表着朝着更高效和可持续农业迈出的重要一步,为农民提供了优化水和作物管理的宝贵工具,同时突出了深度学习在解决复杂工程挑战方面的潜力。
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引用次数: 0
Predicting the value of football players: machine learning techniques and sensitivity analysis based on FIFA and real-world statistical datasets 预测足球运动员的价值:基于国际足联和现实世界统计数据集的机器学习技术和敏感性分析
IF 3.4 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-01-04 DOI: 10.1007/s10489-024-06189-0
Qijie Shen

The study focuses on applying machine learning methodologies to football player data for predicting player market values in the dynamic football market. Player datasets are rich, encompassing performance metrics, physiological attributes, and contextual variables. Machine learning models, including both traditional and advanced methods, effectively extract insights from complex data to estimate player market values. Addressing challenges like overfitting and computational complexity involves applying regularization, feature engineering, and interpretability tools to manage high-dimensional data and improve predictive accuracy. In this study sensitivity of selected models (Support Vector Regression (SVR), Random Forest Regression (RFR), Extreme Gradient Boosting (XGB), and Categorical Boosting (CAT)) models to extracted data from FIFA 19 and Real-world Statistical Datasets evaluated by Shapley Additive Explanations (SHAP) and the 20 most relevant features selected in the ranking of SHAP for each regression model. Then, models optimized with two meta-heuristic algorithms demonstrated their performance in predicting the market values of players. Dempster-Shafer Theory (DST) was utilized to develop an ensemble of models to overcome overfitting problems, and Fourier amplitude sensitivity testing (FAST) gave insight for future data extractions. The analysis of market values for players revealed significant model performance variations. XGSC hybrid model demonstrated exceptional precision with a minimal error of 1.7 million dollars (10% of average measured value), followed by RSCX_SC with misestimations of 2 million dollars (13.3% of average measured value). Extracted results suggested that models, especially ensemble form, offer reliable accuracy for club managers and stakeholders, aiding in strategic player selection based on previous performance. This approach proves particularly beneficial for optimizing player salaries, especially when considering a prominent team with market values above average.

该研究的重点是将机器学习方法应用于足球运动员数据,以预测动态足球市场中的球员市场价值。玩家数据集非常丰富,包括表现指标、生理属性和情境变量。机器学习模型,包括传统和先进的方法,有效地从复杂的数据中提取见解,以估计球员市场价值。解决像过拟合和计算复杂性这样的挑战涉及到应用正则化、特征工程和可解释性工具来管理高维数据并提高预测准确性。在本研究中,所选模型(支持向量回归(SVR),随机森林回归(RFR),极端梯度增强(XGB)和分类增强(CAT))模型对FIFA 19和真实世界统计数据集提取数据的敏感性通过Shapley加性解释(SHAP)进行评估,并在每个回归模型的SHAP排名中选择20个最相关的特征。然后,用两种元启发式算法优化了模型,验证了模型在预测参与者市场价值方面的性能。Dempster-Shafer理论(DST)用于开发模型集合以克服过拟合问题,傅里叶振幅灵敏度测试(FAST)为未来的数据提取提供了见解。对球员市场价值的分析揭示了显著的模型性能差异。XGSC混合模型显示出卓越的精度,最小误差为170万美元(平均测量值的10%),其次是RSCX_SC,错误估计为200万美元(平均测量值的13.3%)。提取的结果表明,模型,特别是集合形式,为俱乐部经理和利益相关者提供了可靠的准确性,有助于根据以往表现进行战略性球员选择。事实证明,这种方法对优化球员工资特别有益,尤其是在考虑一支市场价值高于平均水平的优秀球队时。
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引用次数: 0
Batch-mode active ordinal classification based on expected model output change and leadership tree 基于期望模型输出变化和领导树的批量模式主动有序分类
IF 3.4 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-01-04 DOI: 10.1007/s10489-024-06152-z
Deniu He, Naveed Taimoor

While numerous batch-mode active learning (BMAL) methods have been developed for nominal classification, the absence of a BMAL method tailored for ordinal classification is conspicuous. This paper focuses on proposing an effective BMAL method for ordinal classification and argues that a BMAL method should guarantee that the selected instances in each iteration are highly informative, diverse from labeled instances, and diverse from each other. We first introduce an expected model output change criterion based on the kernel extreme learning machine-based ordinal classification model and demonstrate that the criterion is a composite containing both informativeness assessment and diversity assessment. Selecting instances with high scores of this criterion can ensure that the selected are highly informative and diverse from labeled instances. To ensure that the selected instances are diverse from each other, we propose a leadership tree-based batch instance selection approach, drawing inspiration from density peak clustering algorithm. Thus, our BMAL method can select a batch of peak-scoring points from different high-scoring regions in each iteration. The effectiveness of the proposed method is empirically examined through comparisons with several state-of-the-art BMAL methods.

虽然已经开发了许多用于名义分类的批量模式主动学习(BMAL)方法,但明显缺乏针对有序分类的批量模式主动学习方法。本文提出了一种有效的有序分类的BMAL方法,并认为BMAL方法应保证每次迭代中所选实例信息量高,与标记实例不同,并且彼此不同。首先引入了基于核极限学习机的有序分类模型的期望模型输出变化准则,并证明了该准则是包含信息量评价和多样性评价的复合准则。选择在该标准中得分较高的实例可以确保所选的实例信息量高,并且与标记的实例不同。为了保证所选实例的多样性,我们从密度峰值聚类算法中汲取灵感,提出了一种基于领导树的批量实例选择方法。因此,我们的BMAL方法可以在每次迭代中从不同的高分区域中选择一批高分点。通过与几种最先进的BMAL方法的比较,对所提出方法的有效性进行了实证检验。
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引用次数: 0
DT4PEIS: detection transformers for parasitic egg instance segmentation DT4PEIS:寄生卵实例分割检测变压器
IF 3.4 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-01-04 DOI: 10.1007/s10489-024-06199-y
Jesus Ruiz-Santaquiteria, Anibal Pedraza, Oscar Deniz, Gloria Bueno

Parasitic infections pose a significant health risk in many regions worldwide, requiring rapid and reliable diagnostic methods to identify and treat affected individuals. Recent advancements in deep learning have significantly improved the accuracy and efficiency of microscopic image analysis workflows, enabling its application in various domains such as medical diagnostics and microbiology. This work presents DT4PEIS, a novel two-stage architecture for the instance segmentation of parasite eggs in microscopic images. The first stage is a DEtection TRansformer (DETR) based architecture, which predicts the bounding boxes and class labels of the detected eggs. Then, the predicted bounding boxes are used as prompts to guide the segmentation process in the second stage, which is based on the Segment Anything Model (SAM) architecture. We evaluate the performance of the proposed method on the Chula-ParasiteEgg-11 dataset. Our results show that the proposed method outperforms the other architectures in terms of segmentation mean Average Precision (mAP), providing a more detailed and accurate representation of the detected eggs.

寄生虫感染在全球许多地区构成重大健康风险,需要快速可靠的诊断方法来识别和治疗受影响的个体。深度学习的最新进展显著提高了显微图像分析工作流程的准确性和效率,使其能够应用于医学诊断和微生物学等各个领域。这项工作提出了DT4PEIS,一种新的两阶段架构,用于显微镜图像中寄生虫卵的实例分割。第一阶段是基于检测变压器(DETR)的体系结构,该体系结构预测检测到的鸡蛋的边界框和类别标签。然后,使用预测的边界框作为提示来指导第二阶段的分割过程,该阶段基于分段任意模型(SAM)架构。我们在Chula-ParasiteEgg-11数据集上评估了该方法的性能。我们的研究结果表明,该方法在分割平均精度(mAP)方面优于其他架构,提供了更详细和准确的检测鸡蛋表示。
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引用次数: 0
A fault diagnosis method based on interpretable machine learning model and decision visualization for HVs 基于可解释机器学习模型和决策可视化的高压机车故障诊断方法
IF 3.4 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-01-04 DOI: 10.1007/s10489-024-06219-x
Dengji Zhou, Dawen Huang, Ming Tie, Xing Zhang, Jiarui Hao, Yadong Wu, Yaoxin Shen, Yulin Wang

High-speed and highly dynamic hypersonic vehicles demand exceptional safety and reliability during flight. Accurate detection and localization of faults in actuators and reaction control systems are pivotal for controlling and predicting operational states. However, this process encounters challenges such as multiple fault modes, limited data availability, and suboptimal diagnostic accuracy. Our focus is on common fault types in reaction control systems and actuators. We have designed a residual module and an attention module to construct an interpretable fault diagnosis model that extracts deep features from fault residual sequences and state parameter sequences. This model allows for the simultaneous and precise identification of fault type, location, and occurrence time. Furthermore, we visualize the diagnosis process through the use of attention weights and class activation mapping, thereby enhancing the interpretability of the fault diagnosis and bolstering the reliability of the results. Our findings reveal that both the residual module and attention module enhance diagnostic accuracy. In the diagnosis network, shallow attention primarily facilitates feature fusion, whereas deep attention primarily serves to filter features and improve detection capabilities. Without increasing computational complexity, the interpretable fault diagnosis model achieved an accuracy of 96.65%, and the fault time localization error was reduced by 86.15%. The proposed method simplifies model training and elevates fault detection accuracy, offering a reliable approach for isolating and identifying actuator faults.

高速和高动态高超声速飞行器在飞行过程中需要卓越的安全性和可靠性。执行器和反应控制系统故障的准确检测和定位是控制和预测运行状态的关键。然而,这个过程遇到了多种故障模式、有限的数据可用性和次优诊断准确性等挑战。我们的重点是常见的故障类型的反应控制系统和执行器。设计残差模块和关注模块,构建可解释的故障诊断模型,从故障残差序列和状态参数序列中提取深层特征。该模型允许同时准确地识别故障类型、位置和发生时间。此外,我们通过使用注意力权重和类激活映射来可视化诊断过程,从而增强故障诊断的可解释性和增强结果的可靠性。我们的研究结果表明,残差模块和注意模块都提高了诊断的准确性。在诊断网络中,浅关注主要用于特征融合,而深关注主要用于特征过滤和提高检测能力。在不增加计算复杂度的情况下,可解释故障诊断模型的准确率达到96.65%,故障时间定位误差降低86.15%。该方法简化了模型训练,提高了故障检测精度,为隔离和识别执行器故障提供了可靠的方法。
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引用次数: 0
A data-centric framework for combating domain shift in underwater object detection with image enhancement 一种以数据为中心的基于图像增强的水下目标检测对抗域偏移的框架
IF 3.4 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-01-04 DOI: 10.1007/s10489-024-06224-0
Lukas Folkman, Kylie A. Pitt, Bela Stantic

Underwater object detection has numerous applications in protecting, exploring, and exploiting aquatic environments. However, underwater environments pose a unique set of challenges for object detection including variable turbidity, colour casts, and light conditions. These phenomena represent a domain shift and need to be accounted for during design and evaluation of underwater object detection models. Although methods for underwater object detection have been extensively studied, most proposed approaches do not address challenges of domain shift inherent to aquatic environments. In this work we propose a data-centric framework for combating domain shift in underwater object detection with image enhancement. We show that there is a significant gap in accuracy of popular object detectors when tested for their ability to generalize to new aquatic domains. We used our framework to compare 14 image processing and enhancement methods in their efficacy to improve underwater domain generalization using three diverse real-world aquatic datasets and two widely used object detection algorithms. Using an independent test set, our approach superseded the mean average precision performance of existing model-centric approaches by 1.7–8.0 percentage points. In summary, the proposed framework demonstrated a significant contribution of image enhancement to underwater domain generalization.

水下目标探测在保护、探测和开发水生环境方面有着广泛的应用。然而,水下环境对物体检测提出了一系列独特的挑战,包括可变浊度,色偏和光线条件。这些现象代表了一种域移位,需要在水下目标检测模型的设计和评估中加以考虑。尽管水下目标检测方法已经得到了广泛的研究,但大多数提出的方法都没有解决水环境固有的域漂移的挑战。在这项工作中,我们提出了一个以数据为中心的框架,用于对抗图像增强水下目标检测中的域移位。我们表明,当测试其推广到新的水生领域的能力时,流行的目标检测器的准确性存在显着差距。我们使用我们的框架比较了14种图像处理和增强方法在提高水下领域泛化方面的效果,使用了三种不同的真实世界水生数据集和两种广泛使用的目标检测算法。使用独立的测试集,我们的方法将现有以模型为中心的方法的平均精度性能提高了1.7-8.0个百分点。综上所述,所提出的框架显示了图像增强对水下域泛化的重要贡献。
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引用次数: 0
Granular-ball-matrix-based incremental semi-supervised feature selection approach to high-dimensional variation using neighbourhood discernibility degree for ordered partially labelled dataset 基于颗粒球矩阵的基于邻域可辨度的有序部分标记数据高维变化增量半监督特征选择方法
IF 3.4 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-01-04 DOI: 10.1007/s10489-024-06134-1
Weihua Xu, Jinlong Li

In numerous real-world applications, data tends to be ordered and partially labelled, predominantly due to the constraints of labeling costs. The current methodologies for managing such data are inadequate, especially when confronted with the challenge of high-dimensional datasets, which often require reprocessing from the start, resulting in significant inefficiencies. To tackle this, we introduce an incremental semi-supervised feature selection algorithm that is grounded in neighborhood discernibility, and incorporates pseudolabel granular balls and matrix updating techniques. This novel approach evaluates the significance of features for both labelled and unlabelled data independently, using the power of neighborhood distinguishability to identify the most optimal subset of features. In a bid to enhance computational efficiency, especially with large datasets, we adopt a pseudolabel granular balls technique, which effectively segments the dataset into more manageable samples prior to feature selection. For high-dimensional data, we employ matrices to store neighborhood information, with distance functions and matrix structures that are tailored for both low and high-dimensional contexts. Furthermore, we present an innovative matrix updating method designed to accommodate fluctuations in the number of features. Our experimental results conducted across 12 datasets-including 4 with over 2000 features-demonstrate that our algorithm not only outperforms existing methods in handling large samples and high-dimensional datasets but also achieves an average time reduction of over six fold compared to similar semi-supervised algorithms. Moreover, we observe an average improvement in accuracy of 1.4%, 0.6%, and 0.2% per dataset for SVM, KNN, and Random Forest classifiers, respectively, when compared to the best-performing algorithm among the compared algorithms.

在许多现实世界的应用程序中,数据往往是有序和部分标记的,这主要是由于标记成本的限制。目前管理此类数据的方法是不充分的,特别是在面对高维数据集的挑战时,这些数据集往往需要从一开始就重新处理,从而导致效率低下。为了解决这个问题,我们引入了一种基于邻域可辨性的增量半监督特征选择算法,并结合了伪标记颗粒球和矩阵更新技术。这种新方法独立评估标记和未标记数据的特征的重要性,利用邻域可分辨性的力量来识别最优的特征子集。为了提高计算效率,特别是对于大型数据集,我们采用了伪标记颗粒球技术,该技术在特征选择之前有效地将数据集分割为更易于管理的样本。对于高维数据,我们使用矩阵来存储邻域信息,并使用适合低维和高维上下文的距离函数和矩阵结构。此外,我们提出了一种创新的矩阵更新方法,旨在适应特征数量的波动。我们在12个数据集(包括4个超过2000个特征的数据集)上进行的实验结果表明,我们的算法不仅在处理大样本和高维数据集方面优于现有方法,而且与类似的半监督算法相比,平均时间减少了6倍以上。此外,我们观察到SVM、KNN和Random Forest分类器在每个数据集的准确率平均分别提高了1.4%、0.6%和0.2%,与所比较算法中表现最好的算法相比。
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引用次数: 0
Enhancing real-time and day-ahead load forecasting accuracy with deep learning and weighed ensemble approach 利用深度学习和加权集成方法提高实时和日前负荷预测的准确性
IF 3.4 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-01-04 DOI: 10.1007/s10489-024-06155-w
Zeyu Li, Zhirui Tian

Economic dispatching of power system includes real-time dispatching and day-ahead dispatching. In this process, accurate real-time and day-ahead load forecasting is crucial. However, integrating real-time forecasting and day-ahead forecasting into one system, and ensuring that both have good performance, is a challenging problem. To solve the above problem, we propose a load forecasting system based on deep learning and weighted ensemble. The system is composed of the high precision prediction module and the intelligent weighted ensemble module. In the high precision prediction module, we use variational mode decomposition (VMD) to decompose the data into multiple components of different frequencies, and build a selection pool that includes statistical models and deep learning to select the best prediction model for each component through customed metrics. In the intelligent weighted ensemble module, we improve the Grey Wolf optimization algorithm with tent chaos mapping and flight strategy. The improved Grey Wolf optimization algorithm (ILGWO) is used to determine the weight of each component, then the weight is multiplied by the component prediction result, and the final prediction result is obtained by adding. To verify the superiority of the proposed forecasting system, we conducted experiments using four sets of load data from New South Wales, Australia. Through six groups of experiments and three groups of discussion, the accuracy, stability and applicability of the load forecasting system are verified. Compared with the traditional method, the prediction accuracy (MAPE) of the proposed load forecasting system is improved by about 55%. In addition, we further validated the generality of the system with four sets of load data from Queensland, Australia. The results show that the proposed load forecasting system is significantly superior to other models and provides more reliable load forecasting for power system management and scheduling.

电力系统经济调度包括实时调度和日前调度。在此过程中,准确的实时和日前负荷预测至关重要。然而,将实时预测和日前预测集成到一个系统中,并确保两者都具有良好的性能,是一个具有挑战性的问题。为了解决上述问题,我们提出了一种基于深度学习和加权集成的负荷预测系统。该系统由高精度预测模块和智能加权集成模块组成。在高精度预测模块中,我们使用变分模态分解(VMD)将数据分解成不同频率的多个分量,并建立一个包含统计模型和深度学习的选择池,通过自定义指标为每个分量选择最佳的预测模型。在智能加权集成模块中,我们利用帐篷混沌映射和飞行策略对灰狼优化算法进行了改进。采用改进的灰狼优化算法(ILGWO)确定各分量的权重,然后将权重乘以分量预测结果,相加得到最终的预测结果。为了验证所提出的预测系统的优越性,我们使用澳大利亚新南威尔士州的四组负荷数据进行了实验。通过六组实验和三组讨论,验证了负荷预测系统的准确性、稳定性和适用性。与传统方法相比,所提负荷预测系统的预测精度(MAPE)提高约55%。此外,我们还利用澳大利亚昆士兰州的四组负荷数据进一步验证了系统的通用性。结果表明,所提出的负荷预测系统明显优于其他模型,为电力系统管理和调度提供了更可靠的负荷预测。
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引用次数: 0
Hierarchical loop closure detection with weighted local patch features and global descriptors 基于加权局部patch特征和全局描述符的分层闭环检测
IF 3.4 2区 计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Pub Date : 2025-01-04 DOI: 10.1007/s10489-024-06135-0
Mingrong Ren, Xiurui Zhang, Bin Liu, Yuehui Zhu

Maintaining high-precision localization and ensuring map consistency are crucial objectives for mobile robots. However, loop closure detection remains a challenging aspect of their operation because of viewpoint and appearance changes. To address this issue, this paper proposes WP-VLAD, a novel hierarchical loop closure detection method that tightly couples global features and weighted local patch-level features (WPs). WP-VLAD employs MobileNetV3 as the backbone network for feature extraction, and integrates a trainable vector of local aggregated descriptors (VLAD) for compact global and local feature representation. A hierarchical navigable small world method is used to retrieve loop candidate frames based on the global features, whereas a multiscale feature fusion weighted map prediction module assigns weights to the local patches during mutual nearest neighbour matching. The proposed weight allocation strategy emphasizes salient regions, reducing interference from dynamic objects. The experimental results on benchmark datasets demonstrate that WP-VLAD significantly improves matching performance while maintaining efficient computation, exhibiting strong generalizability and robustness across various complex environments.

保持高精度定位和保证地图一致性是移动机器人的关键目标。然而,由于视点和外观的变化,闭环检测仍然是其操作的一个具有挑战性的方面。为了解决这一问题,本文提出了一种新的层次环闭合检测方法WP-VLAD,该方法将全局特征和加权局部补丁级特征(WPs)紧密耦合。WP-VLAD采用MobileNetV3作为特征提取的骨干网络,并集成了一个可训练的局部聚合描述符向量(VLAD),用于紧凑的全局和局部特征表示。采用分层可导航小世界方法基于全局特征检索环路候选帧,采用多尺度特征融合加权地图预测模块在相互近邻匹配过程中为局部补丁分配权重。提出的权重分配策略强调显著区域,减少动态目标的干扰。在基准数据集上的实验结果表明,WP-VLAD在保持高效计算的同时显著提高了匹配性能,在各种复杂环境下表现出较强的通用性和鲁棒性。
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引用次数: 0
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