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Vision navigation for aircrafts based on 3D reconstruction from real-time image sequences

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Science China(Technological Sciences) 2015年第7期58卷 1196-1208页

作者： ZHU ZunShang SU Ang liu haibo SHANG Yang YU QiFeng College of Aerospace Science and Engineering National University of Defense Technology Hunan Key Laboratory of Videometrics and Vision Navigation

In this paper,we propose a novel vision navigation method based on three-dimensional(3D)reconstruction from real-time image *** adapts 3D reconstruction and terrain matching to establish the correspondence between image points and3D space points and the terrain reference(by using a digital elevation map(DEM)).An adaptive weighted orthogonal iterative pose estimation method is employed to calculate the position and attitude angle of the *** and real experiments show that the proposed method is capable of providing accurate navigation parameters for a long-endurance flight without using a global positioning system or an inertial navigation system(INS).Moreover,it can be combined with an INS to achieve an improved navigation result.

关键词： vision navigation 3D reconstruction terrain matching pose estimation

Local saliency consistency-based label inference for weakly supervised salient object detection using scribble annotations

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CAAI Transactions on Intelligence Technology 2024年第1期9卷 239-249页

作者： Shuo Zhao Peng Cui Jing Shen haibo liu School of Computer Science and Technology Harbin University of Science and TechnologyHarbinChina School of Computer Science and Technology Harbin Engineering UniversityHarbinChina

Recently,weak supervision has received growing attention in the field of salient object detection due to the convenience of ***,there is a large performance gap between weakly supervised and fully supervised salient object detectors because the scribble annotation can only provide very limited foreground/background ***,an intuitive idea is to infer annotations that cover more complete object and background regions for *** this end,a label inference strategy is proposed based on the assumption that pixels with similar colours and close positions should have consistent ***,k-means clustering algorithm was first performed on both colours and coordinates of original annotations,and then assigned the same labels to points having similar colours with colour cluster centres and near coordinate cluster ***,the same annotations for pixels with similar colours within each kernel neighbourhood was set *** experiments on six benchmarks demonstrate that our method can significantly improve the performance and achieve the state-of-the-art results.

关键词： label inference salient object detection weak supervision

Pose optimization based on integral of the distance between line segments

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Science China Technological Sciences 2016年第1期59卷 135-148页

作者： ZHANG YueQiang LI Xin liu haibo SHANG Yang YU QiFeng College of Aerospace Science and Engineering National University of Defense Technology Hunan Provincial Key Laboratory of Image Measurement and Vision Navigation

In this paper, new solutions for the problem of pose estimation from correspondences between 3D model lines and 2D image lines are proposed. Traditional line-based pose estimation methods rely on the assumption that the noises(perpendicular to the line) for the two endpoints are statistically independent. However, these two noises are in fact negatively correlated when the image line segment is fitted using the least-squares technique. Therefore, we design a new error function expressed by the average integral of the distance between line segments. Three least-squares techniques that optimize both the rotation and translation simultaneously are proposed in which the new error function is exploited. In addition, Lie group formalism is utilized to describe the pose parameters, and then, the optimization problem can be solved by means of a simple iterative least squares method. To enhance the robustness to outliers existing in the match data, an M-estimation method is developed to convert the pose optimization problem into an iterative reweighted least squares problem. The proposed methods are validated through experiments using both synthetic and real-world data. The experimental results show that the proposed methods yield a clearly higher precision than the traditional methods.

关键词： machine vision perspective-n-line problem line distance function pose optimization M-estimation

Rational design of Aspergillus flavus A5p1-immobilized cell system to enhance the decolorization of reactive blue 4(RB4)

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Chinese Journal of Chemical Engineering 2022年第12期52卷 37-44页

作者： Wenbo Yang Qingyun Li Shiqi Guo Shijie Sun Aixing Tang haibo liu Youyan liu School of Chemistry and Chemical Engineering Guangxi UniversityNanning 530004China Guangxi Key Laboratory of Biorefining Nanning 530003China

Anthraquinone dyes are a class of typical carcinogenic and hard-biodegradable organic *** study aimed to enhance the decolorization of anthraquinone dye by rationally designing an expected immobilized *** blue 4(RB4) was used as a substrate model and a previous isolated dyedegrading strain Aspergillus flavus A5pl was purposefully *** the effects of cell attachment and mass transfer,the polyurethane foam(PUF) with open pore structure was selected as the immobilization *** showed that the RB4 decolorization efficiency was significant enhanced after *** to the free mycelium system,the decolorization time of200 mg·L^(-1)RB4 was shortened from 48 h to 28 h by the PUF-immobilized cell ***,the PUF-immobilized system could tolerate RB4 up to 2000 mg-L^(-1).In the packed bed bioreactor(PBBR),an average decolorization efficiency of 93.3% could be maintained by the PUF-immobilized system for26 *** decolorization process of RB4 was well described by the logistic equation and the degradation pathway was *** was found that the higher specific growth rate of the PUF-immobilized cells was one of reasons for the enhanced *** good performance of the PUFimmobilized cell system would make it have potential application value for RB4 bioremediation.

关键词： Aspergillus flavus A5p1 Reactive blue 4(RB4) Polyurethane foam(PUF) Immobilized cell Decolorization

Vehicle tracking by detection in UAV aerial video

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Science China(Information Sciences) 2019年第2期62卷 192-194页

作者： Shaohua liu Suqin WANG Wenhao SHI haibo liu Zhaoxin LI Tianlu MAO School of Electronic Engineering University of Beijing Posts and Telecommunications Institute of Electronic and Information Engineering in Guangdong University of Electronic Science and Technology of China School of Control and Computer Engineering North China Electric Power University Beijing Key Lab of Mobile Computing and Pervasive Device Institute of Computing TechnologyChinese Academy of Sciences

With the maturity and popularity of UAV (unmanned aerial vehicle) technology [1–3], UAV video is becoming an effective supplement to the fixed monitoring video [4, 5]. In the aspect of traffic information acquisition, the advantages of UAV are obvious. UAV can fly not only between the buildings, but also on the freeway, and even into the tunnel, showing the unique flexibility and maneuverability. UAV can control its hovering position artificially and has a high angle shot to get more comprehensive and clearer video *** some emergent situation, such as evacuation caused by typhoons and earthquakes, there are lots of countryside areas without fixed road monitoring cameras. UAV is undoubtedly the best choice to

关键词： UAV Vehicle tracking by detection in UAV aerial video

Adsorption behavior of CO_(2) in magnesite micro-pores at high temperature and pressure

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Geoscience Frontiers 2021年第2期12卷 991-999页

作者： Longxing Yang Lei liu Hong liu Li Yi Xiaoyu Gu haibo liu Hanyu Wang United Laboratory of High-Pressure Physics and Earthquake Science Key Laboratory of Earthquake PredictionInstitute of Earthquake ForecastingCEABeijing100036China

The fluid inclusions in mantle rocks and melt indicated that a large amount of CO_(2)fluid exists in the deep earth,which is of great significance for understanding the deep carbon cycle and the composition of ***,it was also suggested that carbonate minerals were likely to be the main host of mantle *** the same time,the distribution and behavior of carbon in the mantle still remain a *** this paper,the adsorption behavior and occurrence characteristics of supercritical CO_(2)in magnesite(MgCO3)pores were studied by the Grand Canonical Monte Carlo method(GCMC)under the different conditions of CO_(2)pressures(0–100 MPa),temperatures(350–1500 K)and the pore sizes(7.5–30Å).The simulated results showed that the adsorption of CO_(2)in magnesite was a physical adsorption,which was mainly controlled by the intermolecular *** gas adsorption became more stable when the adsorption site shifted from the high energy site to the low energy site with increasing pressure(P)and decreasing temperature(T)and pore *** the same time,the variations of excess adsorption amounts of CO_(2)in the pores of magnesite(Nexcess)under the different conditions were quantitatively *** was found that the Nexcess decreased with increasing T,but increased with increasing P and pore *** results favor understanding the CO_(2)migration,seismic precursor observations,and heat transfer process in the deep earth.

关键词： CO_(2) Magnesite Adsorption Nexcess GCMC Carbon cycle

Fixturing technology and system for thin-walled parts machining:a review

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Frontiers of Mechanical Engineering 2022年第4期17卷 1-32页

作者： haibo liu Chengxin WANG Te LI Qile BO Kuo liu Yongqing WANG Key Laboratory for Precision and Non-traditional Machining Technology of Ministry of Education Dalian University of TechnologyDalian 116024China

During the overall processing of thin-walled parts(TWPs),the guaranteed capability of the machining process and quality is determined by ***,reliable fixtures suitable for the structure and machining process of TWP are *** this review,the key role of fixtures in the manufacturing system is initially *** main problems in machining and workholding due to the characteristics of TWP are then analyzed in ***,the definition of TWP fixtures is reinterpreted from narrow and broad *** functions corresponding to the issues of machining and workholding are then clearly *** categories are classified systematically according to previous research achievements,and the operation mode,functional characteristics,and structure of each fixture are comprehensively *** function and execution mode of TWP fixtures are then systematically summarized and analyzed,and the functions of various TWP fixtures are *** directions for future research on TWP fixtures technology are also *** main purpose of this review is to provide some reference and guidance for scholars to examine TWP fixtures.

关键词： thin-walled part(TWP) fixture machining fixture categories fixture function

Correction method for non-landing measuring of vehicle-mounted theodolite based on static datum conversion

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Science China(Technological Sciences) 2013年第9期56卷 2268-2277页

作者： liu JinBo ZHANG XiaoHu liu haibo YUAN Yun ZHU ZhaoKun YU QiFeng College of Aerospace Science and Engineering National University of Defense Technology Hunan Key Laboratory of Videometrics and Vision Navigation

During the non-landing measuring of vehicle mounted theodolite, especially under high-speed tracking measurement, the misalignment of theodolite's center of mass and spindle etc. will cause high-frequency vibration of theodolite platform, increase the observation error of targets and even unbelievable results. In this paper, a correction method of non-landing measuring of theodolite based on static datum conversion is presented, which can effectively improve the observation accuracy of theodolite. The CCD camera is fixed to the theodolite platform to calculate the gesture shaking quantity of theodolite platform in geodetic coordinate system through the real time imaging of static datum. The observation results of theodolite are corrected by using such shaking quantity. The experiment shows that the correction accuracy exceeds 10 s of arc. The intrinsic parameter calibration technology of camera based on stellar angular distance and absolute conic put forward in this paper can prevent the estimated error of extrinsic parameters influencing the intrinsic parameter calibration and improve the intrinsic parameter calibration accuracy; the static datum conversion technology can reduce the influence of installation error of camera and theodolite platform on gesture measuring of the platform. The simulation experiment shows that when the shaking range of the platform is less than 30 min of arc, the influence of the three-axis installation error of camera within 3deg on the accuracy of correction results is less than 8 s of arc. The method in this paper can be extended to and used in the field of gesture shaking measuring and micro-structure deformation of various unstable platforms, therefore it is of important theoretical research significance and has wide engineering application prospect.

关键词： vehicle-mounted theodolite non-landing Measuring error correction static datum conversion decoupling calibration

Dual-functional pyrene implemented mesoporous silicon material used for the detection and adsorption of metal ions

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Chinese Journal of Chemical Engineering 2023年第8期60卷 108-117页

作者： Jing Huang Honghui Cai Qian Zhao Yunpeng Zhou haibo liu Jing Wang School of Chemistry and Chemical Engineering Guangxi UniversityNanning 530004China

A fluorescent active organic–inorganic hybrid material Py N-SBA-15 was synthesized by implementing pyrene derivatives into mesoporous SBA-15 *** N-SBA-15 had detection and removal functionalities toward Al^(3+),Cu^(2+),and Hg^(2+).On the one hand,Py N-SBA-15 was used as a fluorescence sensor and displayed high sensitivity toward Al^(3+),Cu^(2+),and Hg^(2+)cations (limit of detection:8.0×10^(-7),1.1×10^(-7),and 2.9×10^(-6)mol·L^(–1),respectively) among various analytes with“turn-off”*** the other hand,the adsorption studies for these toxic analytes (Cu^(2+),Hg^(2+),and Al^(3+)) showed that the ion removal capacity could reach up to 45,581,and 85 mg·g^(-1),***,the Langmuir isotherm models were better fitted with the adsorption data,indicating that the adsorption was mono-layer *** analysis revealed that the adsorption process was well described by the pseudo-second-order kinetic model for Cu^(2+)and Hg^(2+)and pseudo-first-order kinetic model for Al^(3+).The prepared silica material could be reused in four recycles without significantly decreasing its adsorption ***,the Py N-SBA-15 material can serve as a promising candidate for the simultaneous rapid detection and efficient adsorption of metal ions.

关键词： Dual function Nanomaterials Mesoporous silica Metal ions Detection and adsorption