Sparse Semantic Map-Based Monocular Localization in Traffic Scenes Using Learned 2D-3D Point-Line Correspondences

Vision-based localization in a prior map is of crucial importance for autonomous vehicles. Given a query image, the goal is to estimate the camera pose corresponding to the prior map, and the key is the registration problem of camera images within the map. While autonomous vehicles drive on the road under occlusion (e.g., car, bus, truck) and changing environment appearance (e.g., illumination changes, seasonal variation), existing approaches rely heavily on dense point descriptors at the feature level to solve the registration problem, entangling features with appearance and occlusion. As a result, they often fail to estimate the correct poses. To address these issues, we propose a sparse semantic map-based monocular localization method, which solves 2D-3D registration via a well-designed deep neural network. Given a sparse semantic map that consists of simplified elements (e.g., pole lines, traffic sign midpoints) with multiple semantic labels, the camera pose is then estimated by learning the corresponding features between the 2D semantic elements from the image and the 3D elements from the sparse semantic map. The proposed sparse semantic map-based localization approach is robust against occlusion and long-term appearance changes in the environments. Extensive experimental results show that the proposed method outperforms the state-of-the-art approaches

A Self-adaptive Fireworks Algorithm for Classification Problems

his work was supported in part by the National Natural Science Foundation of China under Grants 61403206 and 61771258, in part by the Natural Science Foundation of Jiangsu Province under Grants BK20141005 and BK20160910, in part by the Natural Science Foundation of the Jiangsu Higher Education Institutions of China under Grant 14KJB520025, in part by the Priority Academic Program Development of Jiangsu Higher Education Institutions, in part by the Open Research Fund of Jiangsu Engineering Research Center of Communication and Network Technology, NJUPT, under Grant JSGCZX17001, and in part by the Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing, Xi’an University of Technology, under Contract SKL2017CP01.Peer reviewedPublisher PD

An Evolutionary Computation Based Feature Selection Method for Intrusion Detection

Data Availability: The data used to support the fndings of this study are available from the corresponding author upon request. This work was supported by the National Natural Science Foundation of China (61403206, 61771258, and 61876089), the Natural Science Foundation of Jiangsu Province (BK20141005 and BK20160910), the Natural Science Foundation of the Jiangsu Higher Education Institutions of China (14KJB520025), the Priority Academic Program Development of Jiangsu Higher Education Institutions, the Open Research Fund of Jiangsu Engineering Research Center of Communication and Network Technology, NJUPT (JSGCZX17001), and the Natural Science Foundation of Jiangsu Province of China under Grant BK20140883.Peer reviewedPublisher PD

Fuzzy automata system with application to target recognition based on image processing

AbstractIn order to get better image processing and target recognition, this paper presents a fuzzy automata system to target recognition. The system first performs image processing, and then accomplishes the target recognition. The system consists of four parts: image preprocessing, feature extraction, target matching and experiment. Compared with existing approaches, this paper uses both global features and local features of the target image, and carries out target recognition by using a fuzzy automata system. Simulation results show that the correct recognition rate based on the fuzzy automata system for target recognition is higher at 94.59%, an improvement on an average of 29.24%, compared to other existing approaches. Finally, some directions for future research are described

Self-adaptive parameter and strategy based particle swarm optimization for large-scale feature selection problems with multiple classifiers

This work was partially supported by the National Natural Science Foundation of China (61403206, 61876089,61876185), the Natural Science Foundation of Jiangsu Province (BK20141005), the Natural Science Foundation of the Jiangsu Higher Education Institutions of China (14KJB520025), the Engineering Research Center of Digital Forensics, Ministry of Education, and the Priority Academic Program Development of Jiangsu Higher Education Institutions.Peer reviewedPostprin

Array-based techniques for fingerprinting medicinal herbs

Poor quality control of medicinal herbs has led to instances of toxicity, poisoning and even deaths. The fundamental step in quality control of herbal medicine is accurate identification of herbs. Array-based techniques have recently been adapted to authenticate or identify herbal plants. This article reviews the current array-based techniques, eg oligonucleotides microarrays, gene-based probe microarrays, Suppression Subtractive Hybridization (SSH)-based arrays, Diversity Array Technology (DArT) and Subtracted Diversity Array (SDA). We further compare these techniques according to important parameters such as markers, polymorphism rates, restriction enzymes and sample type. The applicability of the array-based methods for fingerprinting depends on the availability of genomics and genetics of the species to be fingerprinted. For the species with few genome sequence information but high polymorphism rates, SDA techniques are particularly recommended because they require less labour and lower material cost

Hexa­kis­(4-acetyl­pyridinium) octa­deca­chloridotetra­anti­monate(III)

The title compound, (C7H8NO)6[Sb4Cl18], contains centrosymmetric hexa­anions built up from four vertex-sharing alternating SbCl5 square-based pyramids and highly distorted SbCl6 octa­hedra when long (<3.2 Å) ‘secondary’ Sb—Cl inter­actions are taken into account. The inter-polyhedral Sb—Cl bonds define a square-shape. In the crystal, the components are linked by N—H⋯Cl, C—H⋯Cl and C—H⋯O hydrogen bonds, generating a three-dimensional network