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Unsupervised deep learning methods have made significant progress in monocular visual odometry (VO) tasks. However, due to the complexity of the real-world scene, learning the camera ego-motion from the RGB information of monocular images in an unsupervised way is still challenging. Existing methods mainly learn motion from the original RGB information, lacking higher-level input from scene understanding. Hence, this paper proposes an unsupervised monocular VO framework that combines the instance and RGB information, named combined information based (CI-VO). The proposed method includes two stages. First is obtaining the instance maps of the monocular images, without finetuning on the VO dataset. Then we obtain the combined information from the two types of information, which is input into the proposed combined information based pose estimation network, named CI-PoseNet, to estimate the relative pose of the camera. To make better use of the two types of information, we propose a fusion feature extraction network to extract the fused features from the combined information. Experiments on the KITTI odometry and KITTI raw dataset show that the proposed method has good performance in the camera pose estimation task, which exceeds the existing mainstream methods.

Integrated circuit (IC) piracy and overproduction are serious issues that threaten the security and integrity of a system. Logic locking is a type of hardware obfuscation technique where additional key gates are inserted into the circuit. Only the correct key can unlock the functionality of that circuit; otherwise, the system produces the wrong output. In an effort to hinder these threats on ICs, we have developed a probability-based logic-locking technique to protect the design of a circuit. Our proposed technique, called "ProbLock", can be applied to both combinational and sequential circuits through a critical selection process. We used a filtering process to select the best location of key gates based on various constraints. Each step in the filtering process generates a subset of nodes for each constraint. We also analyzed the correlation between each constraint and adjusted the strength of the constraints before inserting key gates. We tested our algorithm on 40 benchmarks from the ISCAS '85 and ISCAS '89 suites. We evaluated ProbLock against a SAT attack and measured how long the attack took to successfully generate a key value. The SAT attack took longer for most benchmarks using ProbLock which proves viable security in hardware obfuscation.

To avoid crashes caused by driver error in avoiding obstacles, a driver-centered steering assist controller with an adaptive authority allocation system is proposed for cooperative control purposes. To begin with, a concept of space collision risk (SCR) is introduced creatively for assessing the vehicle's safety status in which the relative distance and the relative angle between the vehicle and the obstacle are taken into consideration. Meanwhile, the SCR-based authority allocation system is addressed to allocate steering authorities between the human driver and the assist controller adaptively to reduce SCR to zero as soon as possible. After that, an autonomous steering controller based on the model predictive control (MPC) technique and the artificial potential field (APF) method, considering not only the vehicle stability constraints but also roads and obstacles constraints, is developed to aid the human driver when necessary. In the end, the proposed algorithm is simulated in the CarSim-Simulink co-simulation platform under a series of typical scenarios, which shows the feasibility and effectiveness of the presented shared steering control method., (Copyright © 2021 Elsevier Ltd. All rights reserved.)

Liver cancer is a common type of malignant tumor in digestive system. At present, computed tomography (CT) plays an important role in the diagnosis and treatment of liver cancer. Segmentation of tumor lesions based on CT is thus critical in clinical diagnosis and treatment. Due to the limitations of manual segmentation, such as inefficiency and subjectivity, the automatic and accurate segmentation based on advanced computational techniques is becoming more and more popular. In this review, we summarize the research progress of automatic segmentation of liver cancer lesions based on CT scans. By comparing and analyzing the results of experiments, this review evaluate various methods objectively, so that researchers in related fields can better understand the current research progress of liver cancer segmentation based on CT scans.

Motivated by high-throughput profiling studies in biomedical research, variable selection methods have been a focus for biostatisticians. In this paper, we consider semiparametric varying-coefficient accelerated failure time models for right censored survival data with high-dimensional covariates. Instead of adopting the traditional regularization approaches, we offer a novel sparse boosting (SparseL 2 Boosting) algorithm to conduct model-based prediction and variable selection. One main advantage of this new method is that we do not need to perform the time-consuming selection of tuning parameters. Extensive simulations are conducted to examine the performance of our sparse boosting feature selection techniques. We further illustrate our methods using a lung cancer data analysis., (Copyright © 2017 John Wiley & Sons, Ltd.)

We propose a randomized version of the nonlocal means (NLM) algorithm for large-scale image filtering. The new algorithm, called Monte Carlo nonlocal means (MCNLM), speeds up the classical NLM by computing a small subset of image patch distances, which are randomly selected according to a designed sampling pattern. We make two contributions. First, we analyze the performance of the MCNLM algorithm and show that, for large images or large external image databases, the random outcomes of MCNLM are tightly concentrated around the deterministic full NLM result. In particular, our error probability bounds show that, at any given sampling ratio, the probability for MCNLM to have a large deviation from the original NLM solution decays exponentially as the size of the image or database grows. Second, we derive explicit formulas for optimal sampling patterns that minimize the error probability bound by exploiting partial knowledge of the pairwise similarity weights. Numerical experiments show that MCNLM is competitive with other state-of-the-art fast NLM algorithms for single-image denoising. When applied to denoising images using an external database containing ten billion patches, MCNLM returns a randomized solution that is within 0.2 dB of the full NLM solution while reducing the runtime by three orders of magnitude.

Color image demosaicking is a key process in the digital imaging pipeline. In this paper, we study a well-known and influential demosaicking algorithm based upon alternating projections (AP), proposed by Gunturk, Altunbasak and Mersereau in 2002. Since its publication, the AP algorithm has been widely cited and compared against in a series of more recent papers in the demosaicking literature. Despite good performances, a limitation of the AP algorithm is its high computational complexity. We provide three main contributions in this paper. First, we present a rigorous analysis of the convergence property of the AP demosaicking algorithm, showing that it is a contraction mapping, with a unique fixed point. Second, we show that this fixed point is in fact the solution to a constrained quadratic minimization problem, thus, establishing the optimality of the AP algorithm. Finally, using the tool of polyphase representation, we show how to obtain the results of the AP algorithm in a single step, implemented as linear filtering in the polyphase domain. Replacing the original iterative procedure by the proposed one-step solution leads to substantial computational savings, by about an order of magnitude in our experiments.

In 1992, Bamberger and Smith proposed the directional filter bank (DFB) for an efficient directional decomposition of 2-D signals. Due to the nonseparable nature of the system, extending the DFB to higher dimensions while still retaining its attractive features is a challenging and previously unsolved problem. We propose a new family of filter banks, named NDFB, that can achieve the directional decomposition of arbitrary N-dimensional (N > or =2) signals with a simple and efficient tree-structured construction. In 3-D, the ideal passbands of the proposed NDFB are rectangular-based pyramids radiating out from the origin at different orientations and tiling the entire frequency space. The proposed NDFB achieves perfect reconstruction via an iterated filter bank with a redundancy factor of N in N-D. The angular resolution of the proposed NDFB can be iteratively refined by invoking more levels of decomposition through a simple expansion rule. By combining the NDFB with a new multiscale pyramid, we propose the surfacelet transform, which can be used to efficiently capture and represent surface-like singularities in multidimensional data.

Sparse coding refers to the pursuit of the sparsest representation of a signal in a typically overcomplete dictionary. From a Bayesian perspective, sparse coding provides a maximum a posteriori estimate of the unknown vector under a sparse prior. In this paper, we suggest enhancing the performance of sparse coding algorithms by a deliberate and controlled contamination of the input with random noise, a phenomenon known as stochastic resonance. The proposed method adds controlled noise to the input and estimates a sparse representation from the perturbed signal. A set of such solutions is then obtained by projecting the original input signal onto the recovered set of supports. We present two variants of the described method, which differ in their final step. The first is a provably convergent approximation to the minimum mean square error (MMSE) estimator, relying on the generative model and applying a weighted average over the recovered solutions. The second is a relaxed variant of the former that simply applies an empirical mean. We show that both methods provide a computationally efficient approximation to the MMSE estimator, which is typically intractable to compute. We demonstrate our findings empirically and provide a theoretical analysis of our method under several different cases. [ABSTRACT FROM AUTHOR]

Many patch-based image denoising algorithms can be formulated as applying a smoothing filter to the noisy image. Expressed as matrices, the smoothing filters must be row normalized, so that each row sums to unity. Surprisingly, if we apply a column normalization before the row normalization, the performance of the smoothing filter can often be significantly improved. Prior works showed that such performance gain is related to the Sinkhorn–Knopp balancing algorithm, an iterative procedure that symmetrizes a row-stochastic matrix to a doubly stochastic matrix. However, a complete understanding of the performance gain phenomenon is still lacking. In this paper, we study the performance gain phenomenon from a statistical learning perspective. We show that Sinkhorn–Knopp is equivalent to an expectation-maximization (EM) algorithm of learning a Gaussian mixture model of the image patches. By establishing the correspondence between the steps of Sinkhorn–Knopp and the EM algorithm, we provide a geometrical interpretation of the symmetrization process. This observation allows us to develop a new denoising algorithm called Gaussian mixture model symmetric smoothing filter (GSF). GSF is an extension of the Sinkhorn–Knopp and is a generalization of the original smoothing filters. Despite its simple formulation, GSF outperforms many existing smoothing filters and has a similar performance compared with several state-of-the-art denoising algorithms. [ABSTRACT FROM PUBLISHER]

Standard convolution as a model of radiometric degradation is in majority of cases inaccurate as the blur varies in space and we are thus required to work with a computationally demanding space-variant model. Space-variant degradation can be approximately decomposed to a set of standard convolutions. We explain in detail the properties of the space-variant degradation operator and show two possible decomposition models and two approximation approaches. Our target application is space-variant image deconvolution, on which we illustrate theoretical differences between these models. We propose a computationally efficient restoration algorithm that belongs to a category of alternating direction methods of multipliers, which consists of four update steps with closed-form solutions. Depending on the used decomposition, two variations of the algorithm exist with distinct properties. We test the effectiveness of the decomposition models under different levels of approximation on synthetic and real examples, and conclude the letter by drawing several practical observations. [ABSTRACT FROM PUBLISHER]

Seismic surface waves can be measured by deploying an array of seismometers on the surface of the earth. The goal of such measurement surveys is, usually, to estimate the velocity of propagation and the direction of arrival of the seismic waves. In this paper, we address the issue of sensor placement for the analysis of seismic surface waves from ambient vibration wavefields. First, we explain in detail how the array geometry affects the mean-squared estimation error of parameters of interest, such as the velocity and direction of propagation, both at low and high signal-to-noise ratios (SNRs). Secondly, we propose a cost function suitable for the design of the array geometry with particular focus on the estimation of the wavenumber of both Love and Rayleigh waves. Thirdly, we present and compare several computational approaches to minimize the proposed cost function. Numerical experiments verify the effectiveness of our cost function and resulting array geometry designs, leading to greatly improved estimation performance in comparison to arbitrary array geometries, both at low and high SNR levels. [ABSTRACT FROM AUTHOR]

An adaptive control method is presented for a single-rod electrohydraulic system with a heavy load force acting on the cylinder piston. Previous adaptive control approaches always used adaptation law to estimate the system parametric uncertainties. However, in a practical hydraulic thrust system with a heavy resistant load force, the system parametric uncertainties can be neglected with respect to the greater load force. The objective of the paper is to present a non-linear adaptive controller with adaptation laws to track the changeable load force automatically. The main feature of the scheme is that an exponential-form function has been introduced to construct an invariable convergence rate of the adaptive controller, by which the conflicting system performances could be satisfied harmonically. The simulation results for an electrohydraulic actuator show that the non-linear control algorithm, together with the variable adaptation scheme, achieves a good synthetic performance in keeping the cylinder thrusting in a smooth and optimal energy-saving operating state. [ABSTRACT FROM AUTHOR]

A new dynamic model for a class of two-wheeled mobile robot (2WMR), whose mass centre locates below its wheel axis, is presented. The dynamic model considered as the motion of an underactuated vehicle body can represent the time-varying horizontal distance of the mass centre with respect to the configuration centre. This model can describe the dynamic behaviours of the robot more accurately. By the computed torque approach, a sliding mode controller based on the adaptive gain to overcome the disturbances of the system is proposed. Integrating with the velocity controller, the whole control system is made up of two closed-loop structures. The control algorithm efficiency is confirmed through simulation in the MATLAB environment. [ABSTRACT FROM AUTHOR]

We study the distributed sampling and centralized reconstruction of two correlated signals, modeled as the input and output of an unknown sparse filtering operation. This is akin to a Slepian-Wolf setup, but in the sampling rather than the lossless compression case. Two different scenarios are considered: In the case of universal reconstruction, we look for a sensing and recovery mechanism that works for all possible signals, whereas in what we call almost sure reconstruction, we allow to have a small set (with measure zero) of unrecoverable signals. We derive achievability bounds on the number of samples needed for both scenarios. Our results show that, only in the almost sure setup can we effectively exploit the signal correlations to achieve effective gains in sampling efficiency. In addition to the above theoretical analysis, we propose an efficient and robust distributed sampling and reconstruction algorithm based on annihilating filters.We evaluate the performance of our method in one synthetic scenario, and two practical applications, including the distributed audio sampling in binaural hearing aids and the efficient estimation of room impulse responses. The numerical results confirm the effectiveness and robustness of the proposed algorithm in both synthetic and practical setups. [ABSTRACT FROM AUTHOR]

We propose a Fourier analytical condition linking alias-free sampling with the Fourier transform of the indicator function defined on the given frequency support. Our discussions center around how to develop practical computation algorithms based on the proposed analytical condition. We address several is- sues along this line, including the derivation of simple closed-form expressions for the Fourier transforms of the indicator functions defined on arbitrary polygonal and polyhedral domains; a complete and nonredundant enumeration of all quantized sampling lattices via the Hermite normal forms of integer matrices; and a quantitative analysis of the approximation of the original infinite Fourier condition by using finite computations. Combining these results, we propose a computational testing procedure that can efficiently search for the optimal alias-free sampling lattices for a given polygonal or polyhedral shaped frequency domain. Several examples are presented to show the potential of the proposed algorithm in multidimensional filter bank design, as well as in applications involving the design of efficient sampling patterns for multidimensional band-limited signals. [ABSTRACT FROM AUTHOR]

One of the fundamental assumptions in traditional sampling theorems is that the signals to be sampled come from a single vector space (e.g., bandlimited functions). However, in many cases of practical interest the sampled signals actually live in a union of subspaces. Examples include piecewise polynomials, sparse representations, nonuniform splines, signals with unknown spectral support, overlapping echoes with unknown delay and amplitude, and so on. For these signals, traditional sampling schemes based on the single subspace assumption can be either inapplicable or highly inefficient. In this paper, we study a general sampling framework where sampled signals come from a known union of subspaces and the sampling operator is linear. Geometrically, the sampling operator can be viewed as projecting sampled signals into a lower dimensional space, while still preserving all the information. We derive necessary and sufficient conditions for invertible and stable sampling operators in this framework and show that these conditions are applicable in many cases. Furthermore, we find the minimum sampling requirements for several classes of signals, which indicates the power of the framework. The results in this paper can serve as a guideline for designing new algorithms for various applications in signal processing and inverse problems. [ABSTRACT FROM AUTHOR]