闪电AR谱的多重分形特性分析及放电类型的识别

对闪电时域波形的分形研究由于忽略了其频率特性,致使复杂多变的闪电过程的全部特性无法得到充分表征。针对此问题,本文将多重分形理论引入到现代谱估计中,提出了一种基于AR(auto-regressive)谱的闪电电场信号的多重分形特性分析及放电类型的识别方法。首先基于AR模型谱估计法获得闪电电场信号的功率谱,然后,通过多重分形去趋势波动分析(multifractal detrended fluctuation analysis,MF-DFA) 法验证了闪电AR谱序列具有多重分形特性,并进一步对AR谱序列的Hurst指数以及多重分形谱进行了讨论,最后将相关参数作为闪电信号的有效特征值输入支持向量机进行了云闪(intracloud lightning) 和地闪(cloud-to-ground lightning,CG) 不同放电类型的识别。实验结果表明,本文方法对云、地闪信号的有效识别率达到了94%以上,该研究成果对闪电的特性研究与自动化识别技术均具有一定的参考价值。     

The research on channel estimation and signal-noise ratio estimation based on minimum error entropy kalman filter for single carrier frequency domain equalization system

In this paper, the channel estimation and signal-to-noise ratio (SNR) estimation technique of single-carrier frequency domain equalization (SC-FDE) system under low SNR in aeronautical multipath channel are studied, a SNR estimation algorithm which is easy to implement in engineering and an improved LS channel estimation algorithm based on Kalman filter using minimum error entropy (MEE-KF) are proposed. This paper first introduces the SC-FDE system and introduces the principle of MEE-KF, and then, the channel estimation flow based on MEE-KF is obtained by combining it with the traditional LS channel estimation algorithm, which makes the estimation results perform better. Simulation results show that after getting more accurate noise variance, the channel estimation results can better follow the changes of the channel after MEE-KF processing, so as to resist the doppler frequency offset effect and make the channel estimation results more accurate, that is the channel response results of the data part can be closer to the real situation, so that the communication performance of SC-FDE system has also been greatly improved.     

一种3D眼镜虚拟试戴系统的实现

针对人脸图像试戴3D眼镜过程中存在的镜腿遮挡人脸问题,文中提出一种基于人脸图像的3D眼镜虚拟试戴技术。利用构建的人脸形状的三维模型,使其在虚拟试戴中对镜腿起到消隐作用,解决镜腿的遮挡问题。文中对输入的人脸图像进行关键点检测,结合Graham扫描法求得人脸形状的凸多边形,利用平移扫描构建人脸形状的三维模型。此外,文中根据定位人脸图像上的关键点以及姿态估计后对三维眼镜模型的变换,将眼镜模型佩戴到人脸图像上。实验结果表明,该方法对于多视角的人脸图像实现了虚拟试戴效果,解决了多种视角下人脸图像试戴过程中镜腿的遮挡问题,虚拟试戴中镜腿遮挡平均准确率为94.5%,遮挡精度较高。     

Real-time 3D multi-pedestrian detection and tracking using 3D LiDAR point cloud for mobile robot

Mobile robots are used in modern life; however, object recognition is still insufficient to realize robot navigation in crowded environments. Mobile robots must rapidly and accurately recognize the movements and shapes of pedestrians to navigate safely in pedestrian-rich spaces. This study proposes real-time, accurate, three-dimensional (3D) multi-pedestrian detection and tracking using a 3D light detection and ranging (LiDAR) point cloud in crowded environments. The pedestrian detection quickly segments a sparse 3D point cloud into individual pedestrians using a lightweight convolutional autoencoder and connected-component algorithm. The multi-pedestrian tracking identifies the same pedestrians considering motion and appearance cues in continuing frames. In addition, it estimates pedestrians' dynamic movements with various patterns by adaptively mixing heterogeneous motion models. We evaluate the computational speed and accuracy of each module using the KITTI dataset. We demonstrate that our integrated system, which rapidly and accurately recognizes pedestrian movement and appearance using a sparse 3D LiDAR, is applicable for robot navigation in crowded spaces.     

基于测量误差不确定性加权的快速相机位姿估计算法

在相机位姿估计任务中,参考点位置的测量容易受测量仪器或者所处环境影响,出现一定程度的测量误差,其中误差较大的点对最终求解精度的影响很大,被称为野值点。文章针对现有算法抗野值点能力较弱的问题,提出一种基于测量误差不确定性加权的快速相机位姿估计算法。该算法以经典的正交迭代算法为基础,引入M估计方法,对目标函数根据参考点的测量误差赋予相应大小的权值,最大程度地将野值点的影响排除,并引入Kronecker积对计算过程进行优化,减少了迭代过程中的冗余计算,提高运算速度。仿真实验结果表明,改进后的算法提升了原算法的抗野值点能力,且计算速度更快。     

Improved inter-view correlations for low complexity MV-HEVC

The more advanced multi-view extension, MV-HEVC, effectively exploits visual similarities between multi-view videos and enables high compression efficiency. Each view in the multi-view sequence depends on the captured scene, the distance between cameras and recording angles. Increasing the distance between dependent viewpoints generates an inter-view disparity. This impacts the inter-view similarities, affects the disparity estimation and further increases the computational complexity of the MV-HEVC encoder. In this paper, an efficient earlier disparity estimation is proposed for low complexity MV-HEVC. This algorithm is based on reducing the complexity of disparity estimation by eliminating the inter-view offset. Moreover, the inter-view similarities are controlled by considering the reliability of each coding unit size in the search range. This reliability is estimated by reducing the number of searching points within a new limited window. For reliable motion estimation, we further proposed an earlier decision of coding units splitting in the dependent views according to those in the reference views. Experimental results show that the proposed algorithm can achieve an average encoding time saving of 20.37%–40,61% with marginal performance degradation.     

Estimation of Multinomial Probabilities under a Model Constraint

In this paper estimation of the probabilities of a multinomial distribution has been studied. The five estimators considered are: unrestricted estimator (UE), restricted estimator (RE) (under model ), preliminary test estimator (PTE) based on a test of the model , shrinkage estimator (SE) and the positive-rule shrinkage estimator (PRSE). Asymptotic distributions of these estimators are given under Pitman alternatives and the asymptotic risk under a quadratic loss has been evaluated. The relative performance of the five estimators is then studied with respect to their asymptotic distributional risks (ADR). It is seen that neither of the preliminary test and shrinkage estimators dominates the other, though each fares well relative to the other estimators. However, the positive rule estimator is recommended for use for dimension 3 or more while the PTE is recommended for dimension less than 3.     

Measurement scheduling for recursive team estimation

We consider a decentralized LQG measurement scheduling problem in which every measurement is costly, no communication between observers is permitted, and the observers' estimation errors are coupled quadratically. This setup, motivated by considerations from organization theory, models measurement scheduling problems in which cost, bandwidth, or security constraints necessitate that estimates be decentralized, although their errors are coupled. We show that, unlike the centralized case, in the decentralized case the problem of optimizing the time integral of the measurement cost and the quadratic estimation error is fundamentally stochastic, and we characterize the -optimal open-loop schedules as chattering solutions of a deterministic Lagrange optimal control problem. Using a numerical example, we describe also how this deterministic optimal control problem can be solved by nonlinear programming.This research was supported in part by ARPA Grant N00174-91-C-0116 and NSF Grant NCR-92-04419.     

方向估计的神经网络计算

本文给出一种借助于二维神经网络构成的混合系统,用它来完成几种方向估计算法,这些算法包括：最大似然法,交替投影最大似然法,Ｍａｒｃｏｓ等人提出的无需特征分解的“传播算法”。利用神经网络对某些算法的快速性,该系统为实时实现目标的精确定位提供了一条新的,有效的途径。     

Higher order spectral estimation for random fields

This paper is concerned with the nonparametric estimation of the higher order cumulant spectra of vector-valued stationary random fields onZ ^d by smoothing the periodograms, whereZ is the space of integers and the dimensiond1. We derive the asymptotic cumulant properties of the spectral estimates, and consider an application to multidimensional nonlinear systems identification. Numerical examples with simulated data are provided.