Real and Pseudo Pedestrian Detection Method with CA-YOLOv5s Based on Stereo Image Fusion

With the development of convolutional neural networks, the effect of pedestrian detection has been greatly improved by deep learning models. However, the presence of pseudo pedestrians will lead to accuracy reduction in pedestrian detection. To solve the problem that the existing pedestrian detection algorithms cannot distinguish pseudo pedestrians from real pedestrians, a real and pseudo pedestrian detection method with CA-YOLOv5s based on stereo image fusion is proposed in this paper. Firstly, the two-view images of the pedestrian are captured by a binocular stereo camera. Then, a proposed CA-YOLOv5s pedestrian detection algorithm is used for the left-view and right-view images, respectively, to detect the respective pedestrian regions. Afterwards, the detected left-view and right-view pedestrian regions are matched to obtain the feature point set, and the 3D spatial coordinates of the feature point set are calculated with Zhengyou Zhang’s calibration method. Finally, the RANSAC plane-fitting algorithm is adopted to extract the 3D features of the feature point set, and the real and pseudo pedestrian detection is achieved by the trained SVM. The proposed real and pseudo pedestrian detection method with CA-YOLOv5s based on stereo image fusion effectively solves the pseudo pedestrian detection problem and efficiently improves the accuracy. Experimental results also show that for the dataset with real and pseudo pedestrians, the proposed method significantly outperforms other existing pedestrian detection algorithms in terms of accuracy and precision.     

基于机器视觉的三维灰度重构技术

基于双目立体视觉三维重构原理,采用主动扫描实现特征匹配的三维灰度重构技术,通过特征结构光扫描物体表面,由经过预标定的两套成像传感器拍摄其图像,经过图像处理程序提取出特征点,完成特征匹配,再计算出物体表面三维轮廓,同时将成像传感器中的灰度信息映射到相应的特征点,从而实现特征点的三维信息和颜色信息的重构和匹配。该技术为三维彩色逼真场景的重构奠定了基础。     

基于网格点投影灰度相似性的三维重建新方法

基于双目立体视觉的三维重构是计算机视觉技术的主要内容之一,在机器人视觉导航、航空测绘、医学成像和工业检测等很多领域都有广泛的应用.提出一种基于网格点投影灰度相似性的双日立体视觉的三维重建新方法.首先将被测物体所在的世界坐标系划分成问距卡日等的矩形网格,将网格节点作为潜在的物点投影到左右图像坐标系上,然后根据不同深度的空间点在两幅图像上相应的灰度相似性来判断被测物体在三维空间中的深度信息.通过Matlab平台下的仿真实验证明了本方法的三维重建效果和计箅效率都要优于传统方法.与传统的图像匹配方法相比,具有算法简单、速度快、精度高、且不受摄像装置非线性畸变影响的优点.     

基于立体视觉的空间运动分析

利用摄影测量方法和计算机视觉技术得出了一套完整的、由双目立体序列图像确定场景中目标运动信息的方法与步骤。讨论了双目立体视觉系统的在任检校,相关系数和松弛法相结合基于点特征的物体运动、立体匹配,运动前后三维特征点的对应,以及利用能减少待定变量、降低计算复杂性、提高算法精确性的反对称矩阵分解算法求解运动参数(R和T)等问题。给出了从一组真实图像中获取目标运动参数的计算结果。     

多尺度融合超分辨率算法在无人机探测中的应用

基于光电传感器的低慢小无人机探测系统能够快速准确地发现并识别无人机目标,但远距离非合作无人机目标在图像中像素比重过小,特征退化较明显,使识别率大大降低.图像超分辨技术能够从低分辨率目标图像区域中获得高分辨率图像并恢复更多的细节特征,现有超分辨技术很难在保证推理速度的前提下兼容图像的高低频特征,因此为了满足探测系统的需求...     

基于立体舒适度的立体图像感知距离估计

提出了一种基于立体舒适度的双目图像感知距离估计方法.首先,推导双目立体图像的立体深度;然后进行主观实验获取实际人眼感知到的深度,分析其与立体深度间的差异;最后,将立体舒适度作为生理因素,建立感知距离、立体深度与视觉舒适度之间的关联关系,并得出感知距离的计算模型.在IVY公共数据集上进行实验验证,结果表明:当视觉舒适度值较高时,模型预测值的平均绝对值误差与均方根误差较主观评测值分别减少了0.0049、0.0073;而当视觉舒适度值较低时,平均绝对值误差与均方根误差分别减少了0.0721、0.0594.本模型结果更接近人类主观感知到的深度.     

改进Fast-RCNN的双目视觉车辆检测方法

针对不同空间尺度的车辆表现出显著不同的特征导致检测算法效率低、准确性差且单目难以准确获取车辆距离信息的问题,提出了一种改进Fast-RCNN的汽车目标检测法,利用双目视觉对车辆进行测距。首先利用双目立体相机采集前方图像并进行预处理,加载深度神经网络Fast-RCNN的训练数据,再针对汽车不同空间尺度引入多个内置的子网络,将来自所有子网络的输出自适应组合对车辆进行检测,然后利用SURF特征匹配算法进行左右图像的立体匹配,根据匹配数据进行三维重建并确定车辆质心坐标,从而测量出车辆与双目相机之间的距离。实验结果表明,所述算法可以实现对车辆的快速检测,检测时间比传统的Fast-RCNN缩短了42 ms,并且实现了对5 m范围车辆距离的准确测量,其误差仅为2.4%,精确度高,实时性好。     

基于多频外差原理的相位解包裹方法

根据多频外差原理推导了三频光栅条纹解包裹的过程,获取了光栅条纹的绝对相位值。同时,为了减小误差,提高测量精度,提出了一种相位修正的方法,比较了相位修正前后的相位图,表明该方法能够非常有效地去除相位误差。通过将修正后的绝对相位值作为匹配的一个特征量,利用机器视觉中双目立体视觉的方法求取物体的三维特征。实验证实了该方法的可行性,并得到良好的测量结果。     

基于双目序列图像的测距定位与自车速度估计

为了确定车辆在行驶过程中的相对位置与速度,提出一种基于双目序列图像的实时测距定位及自车速度估计方法。该方法利用车载双目视觉传感器采集周围环境的序列图像,并对同一时刻的左右图像进行基于SURF(speeded up robust features)特征的立体匹配,以获取环境特征点的景深,实现车辆测距定位;同时又对相邻两帧图像进行基于SURF特征的跟踪匹配,并通过对应匹配点在相邻两帧摄像机坐标系下的三维坐标,计算出摄像机坐标系在车辆运动前后的变换参数,根据变换参数估算出车辆的行驶速度。模拟实验表明,该方法具有良好的可行性,速度计算结果比较稳定,平均误差均在6%以内。     

Computer-generated kinoforms of real-existing full-color 3D objects using pure-phase look-up-table method

A computational method based on pure-phase look-up-table (LUT) is proposed for generating kinoforms of full-color real-existing three-dimensional (3D) objects. The principle of the pure-phase LUT method is described. 3D depth as well as color information of a full-color 3D object is obtained by the full-color 3D profile measurement approach based on binocular vision. The obtained full-color 3D data is decomposed into red (R), green (G), and blue (B) channels, and kinoforms of each channel are calculated from the depth map and color information of the corresponding channel using the pure-phase LUT method. In order to reduce the speckle noise of reconstructed full-color 3D image, sequential kinoforms of each color channel are generated by adding dynamic-pseudorandom phase factor into the object domain. Numerical reconstruction and optical reconstruction with a phase-only spatial light modulator (SLM) show that, with the proposed method, full-color holographic 3D display of real-existing full-color 3D objects is available.     

MFAN: Multi-Level Features Attention Network for Fake Certificate Image Detection

Up to now, most of the forensics methods have attached more attention to natural content images. To expand the application of image forensics technology, forgery detection for certificate images that can directly represent people’s rights and interests is investigated in this paper. Variable tampered region scales and diverse manipulation types are two typical characteristics in fake certificate images. To tackle this task, a novel method called Multi-level Feature Attention Network (MFAN) is proposed. MFAN is built following the encoder–decoder network structure. In order to extract features with rich scale information in the encoder, on the one hand, we employ Atrous Spatial Pyramid Pooling (ASPP) on the final layer of a pre-trained residual network to capture the contextual information at different scales; on the other hand, low-level features are concatenated to ensure the sensibility to small targets. Furthermore, the resulting multi-level features are recalibrated on channels for irrelevant information suppression and enhancing the tampered regions, guiding the MFAN to adapt to diverse manipulation traces. In the decoder module, the attentive feature maps are convoluted and unsampled to effectively generate the prediction mask. Experimental results indicate that the proposed method outperforms some state-of-the-art forensics methods.     

Accurate object detection with a discriminative shape model

Discriminative model over bag-of-visual-words representation significantly improves the accuracy of object detection under clutter. However, it encounters bottleneck because of completely ignoring geometric constraint between features. On the contrary, to detect object accurately explicit shape model heavily relies on geometric information of the object, which as a result lacks of discriminative power. In this paper, we present a discriminative shape model to make use of the advantages of the two models based on the insight that the two models are essentially complementary. Discriminative model provides discriminative power, while shape model encodes geometry. The cost function that we used to distinguish objects considers both the detection maps of the discriminative model and the result of shape matching. In this cost function, we adopt a novel way to deal with multi-scale detection maps. We show that this cost function has very strong discriminative power, which makes learning a discriminative threshold for full object detection possible. For shape model, we also present a scheme for learning a good shape model from noisy images. Experiments on UIUC Car and Weizmann–Shotton horses show state-of-the-art performance of our model.     

基于双目立体视觉实现物体三维测量的研究

以双目立体视觉理论为基础,提取立体图像的Harris角点作为特征点,经过基于小波变换的子线段匹配方法,采用由粗到细的匹配策略匹配端点,盒滤波技术加速法,解决了匹配准确度和匹配速度之间的平衡问题.采用该方法对水泥冷却机内熟料进行测量,实验表明该方法能够较精确的对物体实现三维测量.     

No-Reference Quality Assessment for 3D Synthesized Images Based on Visual-Entropy-Guided Multi-Layer Features Analysis

Multiview video plus depth is one of the mainstream representations of 3D scenes in emerging free viewpoint video, which generates virtual 3D synthesized images through a depth-image-based-rendering (DIBR) technique. However, the inaccuracy of depth maps and imperfect DIBR techniques result in different geometric distortions that seriously deteriorate the users’ visual perception. An effective 3D synthesized image quality assessment (IQA) metric can simulate human visual perception and determine the application feasibility of the synthesized content. In this paper, a no-reference IQA metric based on visual-entropy-guided multi-layer features analysis for 3D synthesized images is proposed. According to the energy entropy, the geometric distortions are divided into two visual attention layers, namely, bottom-up layer and top-down layer. The feature of salient distortion is measured by regional proportion plus transition threshold on a bottom-up layer. In parallel, the key distribution regions of insignificant geometric distortion are extracted by a relative total variation model, and the features of these distortions are measured by the interaction of decentralized attention and concentrated attention on top-down layers. By integrating the features of both bottom-up and top-down layers, a more visually perceptive quality evaluation model is built. Experimental results show that the proposed method is superior to the state-of-the-art in assessing the quality of 3D synthesized images.     

Three-dimensional imaging and visualization of partially occluded objects using axially distributed stereo image sensing

In this Letter, we propose a multiperspective three-dimensional (3D) imaging system using axially distributed stereo image sensing. In this proposed method, the stereo camera is translated along its optical axis and multiple axial elemental image pairs for a 3D scene are collected. The captured elemental images are reconstructed in 3D using a computational reconstruction algorithm based on ray back-projection. The proposed method is applied to partially occluded object visualization. Optical experiments are performed to verify the approach.     

Accelerating Causal Inference and Feature Selection Methods through G-Test Computation Reuse

This article presents a novel and remarkably efficient method of computing the statistical G-test made possible by exploiting a connection with the fundamental elements of information theory: by writing the G statistic as a sum of joint entropy terms, its computation is decomposed into easily reusable partial results with no change in the resulting value. This method greatly improves the efficiency of applications that perform a series of G-tests on permutations of the same features, such as feature selection and causal inference applications because this decomposition allows for an intensive reuse of these partial results. The efficiency of this method is demonstrated by implementing it as part of an experiment involving IPC–MB, an efficient Markov blanket discovery algorithm, applicable both as a feature selection algorithm and as a causal inference method. The results show outstanding efficiency gains for IPC–MB when the G-test is computed with the proposed method, compared to the unoptimized G-test, but also when compared to IPC–MB++, a variant of IPC–MB which is enhanced with an AD–tree, both static and dynamic. Even if this proposed method of computing the G-test is presented here in the context of IPC–MB, it is in fact bound neither to IPC–MB in particular, nor to feature selection or causal inference applications in general, because this method targets the information-theoretic concept that underlies the G-test, namely conditional mutual information. This aspect grants it wide applicability in data sciences.     

双目视觉用于鱼苗尺寸测量

为了有效地提高鱼苗尺寸测量的效率及精度,搭建了平行式双目立体视觉系统。根据双目视觉原理,首先基于改进后的由多组同心圆构成的标定板对双目视觉测量系统进行定标;然后利用Harris角点提取算法获取鱼苗图像的关键特征点,并基于归一化互相关(Normalized Cross Correlation,NCC)立体匹配算法对关键特征点进行匹配,提取坐标数据;最后根据坐标数据进行计算,得到鱼苗的空间坐标,实现对鱼苗尺寸的精确测量。结果表明,由所搭建的平行式双目立体视觉系统测量的相对误差在8%以内,为双目视觉应用于鱼类养殖业的可行性提供了依据。     

基于兴趣区域掩码卷积神经网络的红外-可见光图像融合与目标识别算法研究

建立权重独立的双通道残差卷积神经网络,对可见光与红外频段下的目标图像进行特征提取,生成多尺度复合频段特征图组.基于像点间的欧式距离计算双频段特征图显著性,根据目标在不同成像频段下的特征贡献值进行自适应融合.通过热源能量池化核与视觉注意力机制,分别生成目标在双频段下的兴趣区域逻辑掩码并叠加在融合图像上,凸显目标特征并抑制...     

单目多视点立体图像提取及应用

设计并实现了一种基于广角相机和平面镜的单目多视点立体图像摄像系统,给出了硬件装置的设计指标和优化方法;同时,在研究了硬件系统的标定方法基础上,实现了其在三维测距方面的应用。多枚平面镜构成的对称斗型腔体被放置在广角相机前面,物体光线经过不同平面镜反射后,投影到相机图像平面的不同区域,在相机投影平面上生成物体多个影像,形成单目多视点投影图像。该类图像等价于视点不同的多幅图像,可以使用多视点立体视觉算法实现三维测量。