Real-time follow-up head tracking in dynamic complex environments

In the modes of both object motion and camera motion, an enhanced Camshift algorithm, which is based on suppressing similar color features of background and on joint color probability density distribution image, is proposed to real-time track head in dynamic complex environment. The system consists of face detection module, head tracking module and camera control module. When tracking fails, a self-recovery mechanism is introduced. At first the Adaboost face detector based on Haar-like features is implemented to find frontal faces, the false positive is filtered according to the skin color criterion, and the true face is used to initialize the tracking module. In hue saturation value (HSV) colorspace, the hue-saturation (H-S) histogram of face skin and the saturation-value (S-V) histogram of hair are built to produce the joint color probability density distribution image, and this is intended to realize the head tracking with arbitrary pose. During tracking, region of interest (ROI) is introduced, and the color probability density distribution of a specified background area outside the ROI is learned, similar color features in the head are suppressed according to the learning result. The background suppression step is intended to resolve the problem that the tracker maybe fails when the head is distracted by backgrounds having similar colors with the head. A closed loop control model based on speed regulation is applied to drive an active camera to center the head. Once tracking drift or failure is detected, the system stops tracking and returns to the face detection module. Our experimental results show that the presented system is well suitable for tracking head with arbitrary pose in dynamic complex environments, also the active camera can track moving head smoothly and stably. The system is computationally efficient and can run in real-time completely.     

连续交通网络设计的全局双层多项式优化模型

提出了一种面向典型连续交通网络设计问题的全局双层多项式优化模型,其函数均为多项式,且下层问题为凸问题;上层问题旨在优化网络性能,下层问题用来刻画确定性用户均衡(DUE)交通流模式;利用Fritz John条件和乘子代替下层规划,将提出的双层多项式优化模型转换为等价单层优化问题,并利用矩半定规划(MSDP)方法得到其全局最优解;利用矩矩阵的秩作为保证全局最优性的充分条件,并估计全局最优解的个数;给出了最优道路收费问题的数值算例,用提出的双层多项式优化模型描述了算例中的最优道路收费问题,并通过Wardrop用户均衡约束调整现有路段上的交通流量,使总通行费收益最大化。研究结果表明:该简单算例的最大收益为13.5元,同时可以得到该算例的矩矩阵的秩为1,从而证明了该结果的全局最优性,提出的方法克服了均衡约束数学规划(MPEC)法和值函数法等现有求解双层优化问题的经典算法由于连续交通网络设计固有的非凸性,只能找到局部最优的问题;提出的全局双层多项式优化模型与算法为典型连续交通网络设计提供了更好的探索工具。      

Ant colony optimization for feature selection in software product lines

Software product lines （SPLs） are important software engineering techniques for creating a collection of similar software systems. Software products can be derived from SPLs quickly. The process of software product derivation can be modeled as feature selection optimization with resource constraints, which is a non- deterministic polynomial-time hard （NP-hard） problem. In this paper, we present an approach that using ant colony optimization to get an approximation solution of the problem in polynomial time. We evaluate our approach by comparing it to two important approximation techniques. One is filtered Cartesian flattening and modified heuristic （FCF＋M-HEU） algorithm, the other is genetic algorithm for optimized feature selection （GAFES）. The experimental results show that our approach performs 6% worse than FCF＋M-HEU with reducing much running time. Meanwhile, it performs 10% better than GAFES with taking more time.     

一种基于几何约束的轨道提取方法研究

针对基于Hough变换或螺旋曲线模型的视觉轨道检测方法存在的不足,本文提出了一种基于几何约束的轨道提取方法.该方法利用摄像机和轨道平面之间的成像关系近似满足单因矩阵的特点,利用逆透视映射(IPM)将输入图像转换为Bird-view图像,并采用一种改进的边缘检测方法进行边缘检测.然后将二值化的边缘图像在垂直方向上分割为多个区段,在每个区段上,利用先验知识生成的系列模板图像,对分段IPM图像进行去噪处理和Chamfer距离变换后进行距离匹配检测,将轨道检测转换为一个二维匹配搜索过程.在分段检测结果的基础上,进一步利用曲线拟合得到边缘图像中完整的轨道曲线方程.该曲线方程通过已知的单因矩阵转换为原始图像中的曲线描述,实现在原始图像中的检测和定位.实验验证了所提方法的可行性和可靠性.     

Bi-criteria optimal fault-tolerable control for SY-II remote operated vehicle

This paper proposed a bi-criteria weighting approach for fault tolerant control(FTC)of SY-II remote operated vehicle(ROV).This approach integrates the minimum kinetic energy(2-norm optimal)approach with the infinity-norm approach through a weighting coefcient,on the basis of SY-II ROV force allocation model.For the realization of fault tolerable control,this approach converts a quadratic programming problem into primaldual neural network.From the motion control simulations and experiments,bi-criteria optimization approach outperforms minimum kinetic energy optimization in FTC,SY-II ROV can realize 2-degree of freedom(DOF)horizontal fault tolerant control with one main thruster and any of horizontal ones.Therefore,this scheme is proved to be of superiority and computational efciency,both the reliability and safety for ROV have been improved.     

Path Planning of Planar Kinked Line Seam by Visual Servoing for Robotic Welding

Welding path planning can substitute for the manual teaching process of the robot and can promote the autonomous level of the robotic welding. A path planning method by visual servoing was presented, in which the optimal angle of charge-coupled device (CCD) camera was also planned. Aiming at planning two forms of kinked line seams, obtuse angle seam and right angle seam, a practicable solution was put forward. In this solution, the intersection of two adjacent straight segments is detected in each local seam image, and if intersection is found, theseam errors are calculated using the next straight segment. The experimental results show that kinked line seam can be well planned using this solution.     

基于混合粒子群算法的物流集气管网布局优化

气田集输系统优化设计是解决气田内部的集输管线、集气站、处理站等的合理分配问题,属于NP难点问题,合理规划气井的归属和选择集输管线可有效降低气田集气成本.以基准日均出气量和基准管道集输半径为基准建立日均出气量和管道集输半径的函数关系式,并以气井集气量、集气管道半径、集输距离、管线投资费用系数等为变量建立基于成本的井组划分...     

Path Planning of Planar Kinked Line Seam by Visual Servoing for Robotic Welding

Welding path planning can substitute for the manual teaching process of the robot and can promote the autonomous level of the robotic welding. A path planning method by visual servoing was presented, in which the optimal angle of charge-coupled device (CCD) camera was also planned. Aiming at planning two forms of kinked line seams, obtuse angle seam and right angle seam, a practicable solution was put forward. In this solution, the intersection of two adjacent straight segments is detected in each local seam image, and if intersection is found, the seam errors are calculated using the next straight segment. The experimental results show that kinked line seam can be well planned using this solution.     

基于结构光的多投影显示系统图像对准算法

为了解决多投影显示系统的图像对准问题,提出了一种基于结构光投影技术的对准算法.该算法通过求取等相位线的交点来建立投影机图像与相机拍摄图像间的映射关系,对于投影机图像上任一像素点,有水平和垂直2个相位值.在相机图像的水平相位展开图中找出与该点水平相位值相等的离散坐标点的位置,拟合出一条水平等相位线,同理,可以得到它的一条垂直等相位线;求出水平和垂直等相位线的交点,即为该点对应于相机图像中的像素点.该算法无需知道显示墙的解析表达式和相机的内部参数,适用于任意光滑的曲面显示墙.对准后图像与原始图像的对比实验表明:峰值信噪比达到27.904,结构相似度为0.972 4,说明该算法能有效提高图像的对准精度.      

基于激光与视觉融合的车辆自主定位与建图算法

定位与建图是车辆未知环境自主驾驶的基础,激光雷达依赖于场景几何特征而视觉图像 易受光线干扰,依靠单一激光点云或视觉图像的定位与建图算法存在一定局限性。本文提出一 种激光与视觉融合SLAM(Simultaneous Localization And Mapping)的车辆自主定位算法,通过融 合互补的激光与视觉各自优势提升定位算法的整体性能。为发挥多源融合优势,本文在算法前 端利用激光点云获取视觉特征的深度信息,将激光-视觉特征以松耦合的方式输入位姿估计模块 提升算法的鲁棒性。针对算法后端位姿和特征点大范围优化过程中计算量过大的问题,提出基 于关键帧和滑动窗口的平衡选取策略,以及基于特征点和位姿的分类优化策略减少计算量。实 验结果表明：本文算法的平均定位相对误差为 0.11 m 和 0.002 rad,平均资源占用率为 22.18% (CPU)和 21.50%(内存),与经典的 A-LOAM(Advanced implementation of LOAM)和 ORB-SLAM2 (Oriented FAST and Rotated BRIEF SLAM2)算法相比在精确性和鲁棒性上均有良好表现。     

一种基于摄像机标定的车辆视频测速方法

以Tsai两步法为摄像机标定原理,提出了一种车辆速度视频测量方法,并对摄像机标定误差和车速检测误差进行了分析。首先利用Tsai两步法得到摄像机的内部和外部参数,然后将图像空间提取出的运动车辆特征点位移转换到世界坐标系,最后利用帧差时间求得车辆的瞬时速度。实验结果表明,基于摄像机标定的车辆速度视频测量方法,具有简单实用、鲁棒性强、精确度高等优点,满足车辆视频测速系统的要求。     

Geometric calibration algorithm of polarization camera using planar patterns

Polarization pattern provides additional information besides spectral signatures. It can be used in many applications, such as navigation, defect detection and object identification. A novel polarization camera composed of four synchronized cameras is proposed, and it can realize real-time polarization measurement. This study particularly concentrates on the geometric calibration of the system. The projection model is analyzed and the multi-camera calibration algorithm is proposed. Firstly, each camera is calibrated separately using planar patterns, and then the geometric calibration algorithms are performed. Due to the geometrical constraint, a global optimization method results in smaller estimation uncertainties. A mean rotation error of 0.025° and a mean translation error of 0.26mm are achieved after geometric calibration. The images are rectified to establish a correspondence among cameras and are combined to acquire the polarization measurement. The polarization pattern of the skylight is measured by the system and the results are consistent with the previous studies.     

基于图像叠合的工程机器人立体视觉系统

立体视觉系统为遥操作工程机器人增加了视觉反馈.在对三目摄像机获取的3幅图像进行图像叠合的基础上,对比分析、求解3幅图像的视差来获取物体的视差图与深度图,进而获取物体的真实坐标,以利于三维物体重新构建.实验结果表明,利用叠合后的图像进行处理、计算,能够准确地实现三维物体的定位.     

基于机器视觉的铁路货运木材检尺系统开发

利用三角测量原理,采用图像处理技术,解决了基于机器视觉木材检尺技术的难点问题.实验结果表明：开发的检尺系统可直接确定目标面到相机镜头间的距离,并且能够与机器视觉检尺无缝融合,与其他测距传感器相比,该系统成本低,不仅适合单根等小批量的木材检尺要求,而且适合大批量的铁路货运木材的检尺工作.     

基于图像表面梯度的翻拍检测

经过翻拍后的篡改图像能够轻易绕过现有的图像篡改检测系统,这对图像真实性的检测构成严重的安全威胁.本文基于翻拍过程中两次使用相机进行拍摄而引入的非线性响应,使用Lib-SVM设计图像分类器判别翻拍图像和真实图像.翻拍后图像表面梯度值与真实图像相比会产生非线性变化,这使翻拍图像表面梯度值产生异常.本文基于图像表面梯度特性提取相关特征值,使用支持向量机分类器进行翻拍图像和真实图像的判别.实验结果表明,本文提出的特征分类效果良好,可以正确检测翻拍图像.     

Fusion of remote sensing images based on nonsubsampled contourlet transform and region segmentation

The purpose of remote sensing images fusion is to produce a fused image that contains more clear, accurate and comprehensive information than any single image. A novel fusion method is proposed in this paper based on nonsubsampled contourlet transform (NSCT) and region segmentation. Firstly, the multispectral image is transformed to intensity-hue-saturation (IHS) system. Secondly, the panchromatic image and the component intensity of the multispectral image are decomposed by NSCT. Then the NSCT coefficients of high and low frequency subbands are fused by different rules, respectively. For the high frequency subbands, the fusion rules are also unalike in the smooth and edge regions. The two regions are segregated in the panchromatic image, and the segmentation is based on particle swarm optimization. Finally, the fusion image can be obtained by performing inverse NSCT and inverse IHS transform. The experimental results are evaluated by both subjective and objective criteria. It is shown that the proposed method can obtain superior results to others.     

基于状态参数的安全数码相机模型

现有安全数码相机不能识别二次获取图像且必须直接参与含水印数字照片的认证过程.针对上述问题,本文从含水印数字照片的密钥生成与传递方式入手,提出一种基于状态参数的新型安全数码相机模型.该模型通过设计相机密钥设置函数——级联-混沌映射,隐蔽地生成安全数码相机的相机密钥,然后以相机密钥和照片拍摄时相机的取景模式、焦距、拍摄时间等状态参数为明文数据,利用Hash函数计算出含水印数字照片的密钥,讨论分析了该模型中密钥的保密性和难伪造性,建立了相机与密钥的多对一非线性映射关系.实验结果表明,相机密钥或状态参数改变时,密钥的变化量近似均匀分布.      

相机视频图像自适应对比度增强系统的研制

介绍了基于图像处理方法的自适应对比度增强系统的组成、工作原理、硬件电路设计与软件设计.针对监察相机工作环境照度变化范围大的特点,提出一种改进的灰度直方图均衡化方法.应用此方法所研制的系统,能够自适应于多种光照条件下获得的低对比度图像,自动进行对比度调整,改善监察相机输出视频图像的质量.对于清晰图像,经调整后图像质量至少无明显降低.     

基于图像处理的磁选柱溢流液面监控系统设计

对溢流液面的正常情况与跑矿情况进行识别,设计开发了一个用于识别磁选柱溢流液面状态的数字图像处理系统,并利用Visual C＋＋6.0进行了系统实现。系统由图像处理和图像识别两部分组成,利用该系统可以计算磁选柱溢流液面的相关纹理参数,基于纹理参数及其图像识别实验建立一定的样本参数,从而为识别溢流液面的变化情况提供可靠数据依据。     

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为了深入研究多式联运运输方案优化问题,将问题抽象成为组合优化问题,并将交叉熵方法应用于多式联运问题的研究.探讨综合运输的背景下,寻求运输成本、转运费用等最小化的运输方案,提出了针对多式联运运输方案选择问题的交叉熵算法,并给出了计算步骤和相应的计算方法.在计算过程中,为了验证本文提出算法的有效性,采用节点扩展的网络图描述多式联运网络,进而转化为最短路问题进行求解.结果表明,运输成本、转运费用对运输方案起到关键作用,并且提出的交叉熵算法能够很快收敛.