The distributive configuration of cooperative target is one of the important factors affecting the accuracy of pose measurement with monocular vision. In this paper, we propose a cooperative target configuration optimization method based on particle swarm optimization (PSO) to achieve a more accurate pose solution. First, the mathematical relationship between the distributive configuration of cooperative targets and measurement accuracy is derived based on the Perspective-n-Point (PnP) principle, meanwhile, the necessity for the distributive configuration optimization of cooperative targets is also demonstrated. Then, with the help of a pose solving algorithm based on angle parameterization, the PSO is adopted to construct the objective function and design the corresponding parameters. Next, the global optimal distributive configuration of cooperative target can be obtained by multiple reiterative methods, and the mathematical relationship is given between the cooperative target distributive configuration and the pose solution error. Finally, the feasibility and effectiveness of our method are verified by simulation and physical experiments. Compared to the random or artificially set cooperative target configurations, the proposed optimal configuration method improves the accuracy of pose measurement by 20%.
The restoration of nonuniform distorted infrared (IR) images is crucial for human visual perception and subsequent application tasks. However, existing methods sometimes fail to yield visually natural decompositions and perform insufficiently in the preservation of meaningful structures while suppressing disturbing noise. A spatially adaptive hybrid ℓ1 − ℓ2 variational framework for the nonuniform intensity correction of IR images is proposed. Considering the piecewise constant characteristics of latent images, a weighted ℓ1-norm regularization method is developed to constrain the local affinity of neighborhood pixels according to their intensity and structural priors, thereby significantly preserving structures while smoothly flattening areas. Additionally, an ℓ2-norm guided local smoothness constraint is incorporated with an absolute scale term provided by coarse estimation to characterize the bias field component to restrict potential solutions and enforce the bias component to be textureless. Moreover, the proposed ℓ1 − ℓ2 model is efficiently solved by an alternating direction method of multipliers scheme. Extensive experiments on both synthesized images and two real-world IR datasets indicate that the performance of the proposed method is superior to that of five existing algorithms both visually and numerically.
The detection of pavement cracks is essential for damage assessment and maintenance of pavement. Obtaining complete crack paths using traditional approaches is difficult due to the varied appearance of pavement cracks and complex texture noise. A robust graph network refining algorithm guided by multiscale curvilinear structure filtering (CFGNR) is proposed for pavement crack detection. A multiscale curvilinear structure filter consisting of curved linear templates and a local texture inhibition term is first utilized to enhance crack contours. The enhanced pavement image is then presented as a graph of overcomplete crack paths, and a graph network refining approach derived from path saliency and local contrast constraints is utilized to select the optimal subset of crack paths. Finally, an iterative path growing algorithm is employed to obtain pixel-level cracks. Experimental results on four public pavement datasets show that the proposed algorithm significantly improves the completeness of detected cracks and achieves a superior performance compared to six existing algorithms.
Region proposal algorithms are beneficial for enhancing the performance of object detection and recognition methods. We present a method for grouping region proposals based on perceptual grouping principles. The grouping principles are simulated to extract image features, and the region proposals are segmented by solving a sequence of parametric maxflow problems. In order to extract complex objects from natural images, the element connectedness cue is introduced in the parametric energy functions. This newly introduced cue is propitious to group objects with diversified patterns. To effectively fuse the grouping principles, a multiclassify-based learning algorithm is proposed to optimize an ensemble of binary segmentation models. The training samples are first divided into groups to pretrain each individual model, and the algorithm adaptively adjusts the sample groups in the iteration procedure to learn an optimal set of models. We conduct the experiments on the PASCAL Visual Object Classes Challenge 2012 segmentation dataset but also in the context of region proposals in optical remote sensing images, and the results show that the proposed method can achieve a favorable performance compared to the existing algorithms.
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