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Vision based terrain reconstruction for planet rover using a special binocular bundle adjustment

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Journal of zhejiang University-Science A(Applied Physics & Engineering) 2008年第10期9卷 1341-1350页

作者： Min-yi SHEN Zhi-yu XIANG Ji-lin LIU Institute of information and Communication Engineering Zhejiang University Hangzhou 310027 China zhejiang provincial key laboratory of information Network Technology Zhejiang University Hangzhou 310027 China

This paper presents a pure vision based technique for 3D reconstruction of planet terrain. The reconstruction accuracy depends ultimately on an optimization technique known as 'bundle adjustment'. In vision techniques, the translation is only known up to a scale factor, and a single scale factor is assumed for the whole sequence of images if only one camera is used. If an extra camera is available, stereo vision based reconstruction can be obtained by binocular views. If the baseline of the stereo setup is known, the scale factor problem is solved. We found that direct application of classical bundle adjustment on the constraints inherent between the binocular views has not been tested. Our method incorporated this constraint into the conventional bundle adjustment method. This special binocular bundle adjustment has been performed on image sequences similar to planet terrain circumstances. Experimental results show that our special method enhances not only the localization accuracy, but also the terrain mapping quality.

关键词： 3D reconstruction Binocular bundle adjustment (BBA) Scale-invariant feature transform (SIFT) Re-projectionerror RANSAC

Constrained consensuses in disconnected topologies

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Chinese Physics B 2012年第2期21卷 581-590页

作者： Song Hai-Yu Yu Li Hu Hong-Xiang Zhang Wen-An College of information Engineering Zhejiang University of Technology and Zhejiang Provincial United Key Laboratory of Embedded SystemsHangzhou 310023China

This paper is concerned with the constrained consensuses problem for a group of agents in disconnected topologies. By dividing the communication topology into a combination of directed trees, some necessary and sufficient conditions are derived for all the agents to asymptotically reach a single consensus and multiple consensuses, respectively. The obtained results indicate that arbitrary anticipant consensuses can be achieved, if additional constrained controllers are added to those agents with specific indexes. Some illustrative examples are provided to demonstrate the effectiveness of the proposed theoretical results.

关键词： disconnected topologies single consensus multiple consensuses

Exploring the performance of large language models on hepatitis B infection-related questions:A comparative study

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World Journal of Gastroenterology 2025年第3期31卷 103-112页

作者： Yu Li Chen-Kai Huang Yi Hu Xiao-Dong Zhou Cong He Jia-Wei Zhong Department of Gastroenterology Jiangxi Provincial Key Laboratory of Digestive DiseasesJiangxi Clinical Research Center for GastroenterologyDigestive Disease HospitalThe First Affiliated HospitalJiangxi Medical CollegeNanchang UniversityNanchang 330006Jiangxi ProvinceChina HuanKui Academy Nanchang UniversityNanchang 330006Jiangxi ProvinceChina

BACKGROUND Patients with hepatitis B virus(HBV)infection require chronic and personalized care to improve *** language models(LLMs)can potentially provide medical information for *** To examine the performance of three LLMs,ChatGPT-3.5,ChatGPT-4.0,and Google Gemini,in answering HBV-related *** LLMs’responses to HBV-related questions were independently graded by two medical professionals using a four-point accuracy scale,and disagreements were resolved by a third *** question was run three times using three *** was assessed via the Gunning Fog index and Flesch-Kincaid grade *** Overall,all three LLM chatbots achieved high average accuracy scores for subjective questions(ChatGPT-3.5:3.50;ChatGPT-4.0:3.69;Google Gemini:3.53,out of a maximum score of 4).With respect to objective questions,ChatGPT-4.0 achieved an 80.8%accuracy rate,compared with 62.9%for ChatGPT-3.5 and 73.1%for Google *** the six domains,ChatGPT-4.0 performed better in terms of diagnosis,whereas Google Gemini demonstrated excellent clinical ***,in the readability analysis,the mean Gunning Fog index and Flesch-Kincaid grade level scores of the three LLM chatbots were significantly higher than the standard level eight,far exceeding the reading level of the normal *** Our results highlight the potential of LLMs,especially ChatGPT-4.0,for delivering responses to HBV-related *** may be an adjunctive informational tool for patients and physicians to improve ***,current LLMs should not replace personalized treatment recommendations from physicians in the management of HBV infection.

关键词： ChatGPT-3.5 ChatGPT-4.0 Google Gemini Hepatitis B infection Accuracy

Active transfer learning of matching query results across multiple sources

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Frontiers of Computer Science 2015年第4期9卷 595-607页

作者： Jie XIN Zhiming CUI Pengpeng ZHAO Tianxu HE The Institute of Intelligent information processing and Application Soochow University Suzhou 215006 China provincial key laboratory for Computer information processing Technology Soochow University Suzhou 215006 China

Entity resolution （ER） is the problem of identi- fying and grouping different manifestations of the same real world object. Algorithmic approaches have been developed where most tasks offer superior performance under super- vised learning. However, the prohibitive cost of labeling training data is still a huge obstacle for detecting duplicate query records from online sources. Furthermore, the unique combinations of noisy data with missing elements make ER tasks more challenging. To address this, transfer learning has been adopted to adaptively share learned common structures of similarity scoring problems between multiple sources. Al- though such techniques reduce the labeling cost so that it is linear with respect to the number of sources, its random sam- piing strategy is not successful enough to handle the ordinary sample imbalance problem. In this paper, we present a novel multi-source active transfer learning framework to jointly select fewer data instances from all sources to train classi- fiers with constant precision/recall. The intuition behind our approach is to actively label the most informative samples while adaptively transferring collective knowledge between sources. In this way, the classifiers that are learned can be both label-economical and flexible even for imbalanced or quality diverse sources. We compare our method with the state-of-the-art approaches on real-word datasets. Our exper- imental results demonstrate that our active transfer learning algorithm can achieve impressive performance with far fewerlabeled samples for record matching with numerous and var- ied sources.

关键词： entity resolution active learning transfer learn-ing convex optimization

Tip-Nanoparticle Near-Field Coupling in Scanning Near-Field Microscopy by Coupled Dipole Method

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Chinese Physics Letters 2018年第4期35卷 42-45页

作者： Yi Ruan Kan Li Qiang Lin Ting Zhang Collaborative Innovation Center for Bio-Med Physics information Technology College of Science Zhejiang University of Technology Hangzhou 310023 College of information Science ＆ Electronic Engineering Zhejiang Provincial Key Laboratory of Information Processing Communication and Networking （IPCN） Zhejiang University Hangzhou 310000

We use the couple dipole method to investigate the scanning near-field optical microscopy metallic tip-nanoparticle near-field interaction. Dependences of the local field intensity inside the nanoparticle on the nanosized tip shape,the tip open angle and the illumination angle are revealed. In combination with the previous results, we establish a complete model to understand the tip-nanoparticle near-field coupling mechanism.

关键词： Tip-Nanoparticle Near-Field Coupling in Scanning Near-Field Microscopy by Coupled Dipole Method

Effects of potential functions on stochastic resonance

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Chinese Physics B 2011年第1期20卷 181-185页

作者：李建龙曾令藻 Department of information Science and Electronic Engineering Zhejiang University and Zhejiang Provincial Key Laboratory of Information Network Technology Hangzhou 310027 China Institute of Soil and Water Resources and Environmental Science Zhejiang University and Zhejiang Provincial Key Laboratory of Subtropical Soil and Plant Nutrition Hangzhou 310029 China

In this paper, the effects of a bistable potential function U（x） = -ax2/2＋b｜x＋｜2y/（2y） on stochastic resonance （SR） is discussed. We investigate the effects of index y on the performance of the SR system with fixed parameters a and b, and with fixed potential barriers, respectively. To measure the performance of the SR system in the presence of an aperiodic input, the bit error rate is employed, as is commonly used in binary communications. The numerical simulations strongly support the theoretical results. The goal of this investigation is to explore the effects of the shape of potential functions on SR and give a guidance of nonlinear systems in the application of information processing.

关键词： stochastic resonance potential function aperiodic signal

Sampling strong tracking nonlinear unscented Kalman filter and its application in eye tracking

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Chinese Physics B 2010年第10期19卷 324-332页

作者：张祖涛张家树 School of Mechanical Engineering Southwest Jiaotong University Sichuan provincial key laboratory of Signal & information processing Southwest Jiaotong University

The unscented Kalman filter is a developed well-known method for nonlinear motion estimation and tracking. However, the standard unscented Kalman filter has the inherent drawbacks, such as numerical instability and much more time spent on calculation in practical applications. In this paper, we present a novel sampling strong tracking nonlinear unscented Kalman filter, aiming to overcome the difficulty in nonlinear eye tracking. In the above proposed filter, the simplified unscented transform sampling strategy with n＋ 2 sigma points leads to the computational efficiency, and suboptimal fading factor of strong tracking filtering is introduced to improve robustness and accuracy of eye tracking. Compared with the related unscented Kalman filter for eye tracking, the proposed filter has potential advantages in robustness, convergence speed, and tracking accuracy. The final experimental results show the validity of our method for eye tracking under realistic conditions.

关键词： unscented Kalman filter strong tracking filtering sampling strong tracking nonlinearunscented Kalman filter eye tracking

CPT: a pre-trained unbalanced transformer for both Chinese language understanding and generation

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Science China(information Sciences) 2024年第5期67卷 43-55页

作者： Yunfan SHAO Zhichao GENG Yitao LIU Junqi DAI Hang YAN Fei YANG Zhe LI Hujun BAO Xipeng QIU School of Computer Science Fudan University Shanghai key laboratory of Intelligent information processing Fudan University zhejiang Lab

In this paper, we take the advantage of previous pre-trained models(PTMs) and propose a novel Chinese pre-trained unbalanced transformer(CPT). Different from previous Chinese PTMs, CPT is designed to utilize the shared knowledge between natural language understanding(NLU) and natural language generation(NLG) to boost the performance. CPT consists of three parts: a shared encoder, an understanding decoder, and a generation decoder. Two specific decoders with a shared encoder are pretrained with masked language modeling(MLM) and denoising auto-encoding(DAE) tasks, *** the partially shared architecture and multi-task pre-training, CPT can(1) learn specific knowledge of both NLU or NLG tasks with two decoders and(2) be fine-tuned flexibly that fully exploits the potential of the model. Moreover, the unbalanced transformer saves the computational and storage cost, which makes CPT competitive and greatly accelerates the inference of text generation. Experimental results on a wide range of Chinese NLU and NLG tasks show the effectiveness of CPT.

关键词： pre-trained model transformer language model generation unified model

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Hash signature saving in distributed video coding

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Journal of zhejiang University-Science C(Computers and Electronics) 2011年第2期12卷 163-170页

作者： Xin-hao CHEN Institute of information and Communication Engineering Zhejiang University Hangzhou 310027 China zhejiang provincial key laboratory of information Network Technology Hangzhou 310027 China

In transform-domain distributed video coding (DVC), the correlation noises (denoted as N) between the source block and its temporal predictor can be modeled as Laplacian random variables. In this paper we propose that the noises (denoted as N′) between the source block and its co-located block in a reference frame can also be modeled as Laplacian random variables. Furthermore, it is possible to exploit the relationship between N and N′ to improve the performance of the DVC system. A practical scheme based on theoretical insights, the hash signature saving scheme, is proposed. Experimental results show that the proposed scheme saves on average 83.2% of hash signatures, 13.3% of bit-rate, and 3.9% of encoding time.

关键词： Distributed video coding (DVC) Hash Laplacian