The quick response code based artificial labels are applied to provide semantic concepts and relations of surroundings that permit the understanding of complexity and limitations of semantic recognition and scene only...The quick response code based artificial labels are applied to provide semantic concepts and relations of surroundings that permit the understanding of complexity and limitations of semantic recognition and scene only with robot's vision.By imitating spatial cognizing mechanism of human,the robot constantly received the information of artificial labels at cognitive-guide points in a wide range of structured environment to achieve the perception of the environment and robot navigation.The immune network algorithm was used to form the environmental awareness mechanism with "distributed representation".The color recognition and SIFT feature matching algorithm were fused to achieve the memory and cognition of scenario tag.Then the cognition-guide-action based cognizing semantic map was built.Along with the continuously abundant map,the robot did no longer need to rely on the artificial label,and it could plan path and navigate freely.Experimental results show that the artificial label designed in this work can improve the cognitive ability of the robot,navigate the robot in the case of semi-unknown environment,and build the cognizing semantic map favorably.展开更多
针对遥感地物建筑物图像目标尺度差异大、样本空间分布不均衡、地物边界模糊、场景区域跨度大所导致的分割效果不佳问题,本文提出一种融合动态特征增强高精度遥感建筑物分割算法。首先,构建New_GhostNetV2网络,利用自适应上下文感知卷积...针对遥感地物建筑物图像目标尺度差异大、样本空间分布不均衡、地物边界模糊、场景区域跨度大所导致的分割效果不佳问题,本文提出一种融合动态特征增强高精度遥感建筑物分割算法。首先,构建New_GhostNetV2网络,利用自适应上下文感知卷积,增强算法对样本空间特征的捕捉能力。其次,采用Ghost Convolution结合跳跃连接和特征分支策略设计多层级信息增强模块,增强特征整合。随后引入级联注意力CGA(cascaded group attention),通过组内独立注意力计算,加强模型对多样化地物形态的适应性。最后,通过动态深度特征增强器构造特征融合模块,进一步加强模型捕获能力。在WHU数据集上实验结果表明:改进算法较基线模型F1-Score提高8.57%,mIoU提高12.48%,与其他主流语义分割模型相比,改进DeepLabv3+具有更好的分割精度。展开更多
基金Projects(61203330,61104009,61075092)supported by the National Natural Science Foundation of ChinaProject(2013M540546)supported by China Postdoctoral Science Foundation+2 种基金Projects(ZR2012FM031,ZR2011FM011,ZR2010FM007)supported by Shandong Provincal Nature Science Foundation,ChinaProjects(2011JC017,2012TS078)supported by Independent Innovation Foundation of Shandong University,ChinaProject(201203058)supported by Shandong Provincal Postdoctoral Innovation Foundation,China
文摘The quick response code based artificial labels are applied to provide semantic concepts and relations of surroundings that permit the understanding of complexity and limitations of semantic recognition and scene only with robot's vision.By imitating spatial cognizing mechanism of human,the robot constantly received the information of artificial labels at cognitive-guide points in a wide range of structured environment to achieve the perception of the environment and robot navigation.The immune network algorithm was used to form the environmental awareness mechanism with "distributed representation".The color recognition and SIFT feature matching algorithm were fused to achieve the memory and cognition of scenario tag.Then the cognition-guide-action based cognizing semantic map was built.Along with the continuously abundant map,the robot did no longer need to rely on the artificial label,and it could plan path and navigate freely.Experimental results show that the artificial label designed in this work can improve the cognitive ability of the robot,navigate the robot in the case of semi-unknown environment,and build the cognizing semantic map favorably.
文摘针对遥感地物建筑物图像目标尺度差异大、样本空间分布不均衡、地物边界模糊、场景区域跨度大所导致的分割效果不佳问题,本文提出一种融合动态特征增强高精度遥感建筑物分割算法。首先,构建New_GhostNetV2网络,利用自适应上下文感知卷积,增强算法对样本空间特征的捕捉能力。其次,采用Ghost Convolution结合跳跃连接和特征分支策略设计多层级信息增强模块,增强特征整合。随后引入级联注意力CGA(cascaded group attention),通过组内独立注意力计算,加强模型对多样化地物形态的适应性。最后,通过动态深度特征增强器构造特征融合模块,进一步加强模型捕获能力。在WHU数据集上实验结果表明:改进算法较基线模型F1-Score提高8.57%,mIoU提高12.48%,与其他主流语义分割模型相比,改进DeepLabv3+具有更好的分割精度。
