Multi-resolution Visual Positioning and Navigation Technique for Unmanned Aerial System Landing Assistance

2017 ◽  
Vol 70 (6) ◽  
pp. 1276-1292
Author(s):  
Chong Yu ◽  
Jiyuan Cai ◽  
Qingyu Chen
Keyword(s):  
Real World ◽  
State Of The Art ◽  
Unmanned Aerial System ◽  
Detection Accuracy ◽  
Relative Positioning ◽  
Positioning Accuracy ◽  
Visual Positioning ◽  
Positioning Technique ◽  
Technique Comparison ◽  
Resolution Simulation

To achieve more accurate navigation performance in the landing process, a multi-resolution visual positioning technique is proposed for landing assistance of an Unmanned Aerial System (UAS). This technique uses a captured image of an artificial landmark (e.g. barcode) to provide relative positioning information in the X, Y and Z axes, and yaw, roll and pitch orientations. A multi-resolution coding algorithm is designed to ensure the UAS will not lose the detection of the landing target due to limited visual angles or camera resolution. Simulation and real world experiments prove the performance of the proposed technique in positioning accuracy, detection accuracy, and navigation effect. Two types of UAS are used to verify the generalisation of the proposed technique. Comparison experiments to state-of-the-art techniques are also included with the results analysis.

HC-COVID

2022 ◽  
Vol 6 (GROUP) ◽  
pp. 1-25
Author(s):  
Ziyi Kou ◽  
Lanyu Shang ◽  
Yang Zhang ◽  
Dong Wang
Keyword(s):  
Social Media ◽  
Real World ◽  
State Of The Art ◽  
Knowledge Graph ◽  
Detection Accuracy ◽  
Critical Problem ◽  
Real World Datasets ◽  
Collaborative Efforts ◽  
Different Levels

The proliferation of social media has promoted the spread of misinformation that raises many concerns in our society. This paper focuses on a critical problem of explainable COVID-19 misinformation detection that aims to accurately identify and explain misleading COVID-19 claims on social media. Motivated by the lack of COVID-19 relevant knowledge in existing solutions, we construct a novel crowdsource knowledge graph based approach to incorporate the COVID-19 knowledge facts by leveraging the collaborative efforts of expert and non-expert crowd workers. Two important challenges exist in developing our solution: i) how to effectively coordinate the crowd efforts from both expert and non-expert workers to generate the relevant knowledge facts for detecting COVID-19 misinformation; ii) How to leverage the knowledge facts from the constructed knowledge graph to accurately explain the detected COVID-19 misinformation. To address the above challenges, we develop HC-COVID, a hierarchical crowdsource knowledge graph based framework that explicitly models the COVID-19 knowledge facts contributed by crowd workers with different levels of expertise and accurately identifies the related knowledge facts to explain the detection results. We evaluate HC-COVID using two public real-world datasets on social media. Evaluation results demonstrate that HC-COVID significantly outperforms state-of-the-art baselines in terms of the detection accuracy of misleading COVID-19 claims and the quality of the explanations.

Detection of Malicious Spatial-Domain Steganography over Noisy Channels Using Convolutional Neural Networks

2020 ◽  
Vol 2020 (4) ◽  
pp. 76-1-76-7
Author(s):  
Swaroop Shankar Prasad ◽  
Ofer Hadar ◽  
Ilia Polian
Keyword(s):  
State Of The Art ◽  
Visual Quality ◽  
Channel Noise ◽  
Detection Accuracy ◽  
Noisy Channel ◽  
Noisy Channels ◽  
Reliable Transmission ◽  
Reliable Detection ◽  
Natural Noise ◽  
Will Force

Image steganography can have legitimate uses, for example, augmenting an image with a watermark for copyright reasons, but can also be utilized for malicious purposes. We investigate the detection of malicious steganography using neural networkbased classification when images are transmitted through a noisy channel. Noise makes detection harder because the classifier must not only detect perturbations in the image but also decide whether they are due to the malicious steganographic modifications or due to natural noise. Our results show that reliable detection is possible even for state-of-the-art steganographic algorithms that insert stego bits not affecting an image’s visual quality. The detection accuracy is high (above 85%) if the payload, or the amount of the steganographic content in an image, exceeds a certain threshold. At the same time, noise critically affects the steganographic information being transmitted, both through desynchronization (destruction of information which bits of the image contain steganographic information) and by flipping these bits themselves. This will force the adversary to use a redundant encoding with a substantial number of error-correction bits for reliable transmission, making detection feasible even for small payloads.

scholarly journals Smoke recognition network based on dynamic characteristics

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092566
Author(s):  
Dahan Wang ◽  
Sheng Luo ◽  
Li Zhao ◽  
Xiaoming Pan ◽  
Muchou Wang ◽  
...  
Keyword(s):  
Dynamic Characteristics ◽  
State Of The Art ◽  
The State ◽  
Detection Accuracy ◽  
Static Characteristics ◽  
Good Tool ◽  
Early Signal ◽  
Fuzzy Objects ◽  
The Difference ◽  
Smoke Recognition

Fire is a fierce disaster, and smoke is the early signal of fire. Since such features as chrominance, texture, and shape of smoke are very special, a lot of methods based on these features have been developed. But these static characteristics vary widely, so there are some exceptions leading to low detection accuracy. On the other side, the motion of smoke is much more discriminating than the aforementioned features, so a time-domain neural network is proposed to extract its dynamic characteristics. This smoke recognition network has these advantages:(1) extract the spatiotemporal with the 3D filters which work on dynamic and static characteristics synchronously; (2) high accuracy, 87.31% samples being classified rightly, which is the state of the art even in a chaotic environments, and the fuzzy objects for other methods, such as haze, fog, and climbing cars, are distinguished distinctly; (3) high sensitiveness, smoke being detected averagely at the 23rd frame, which is also the state of the art, which is meaningful to alarm early fire as soon as possible; and (4) it is not been based on any hypothesis, which guarantee the method compatible. Finally, a new metric, the difference between the first frame in which smoke is detected and the first frame in which smoke happens, is proposed to compare the algorithms sensitivity in videos. The experiments confirm that the dynamic characteristics are more discriminating than the aforementioned static characteristics, and smoke recognition network is a good tool to extract compound feature.

scholarly journals Transcription Alignment of Historical Vietnamese Manuscripts without Human-Annotated Learning Samples

2021 ◽  
Vol 11 (11) ◽  
pp. 4894
Author(s):  
Anna Scius-Bertrand ◽  
Michael Jungo ◽  
Beat Wolf ◽  
Andreas Fischer ◽  
Marc Bui
Keyword(s):  
Object Detection ◽  
State Of The Art ◽  
Positive Impact ◽  
Detection System ◽  
Training Data ◽  
Detection Accuracy ◽  
Current State ◽  
Alignment Task ◽  
Scanned Image ◽  
Automatic Transcription

The current state of the art for automatic transcription of historical manuscripts is typically limited by the requirement of human-annotated learning samples, which are are necessary to train specific machine learning models for specific languages and scripts. Transcription alignment is a simpler task that aims to find a correspondence between text in the scanned image and its existing Unicode counterpart, a correspondence which can then be used as training data. The alignment task can be approached with heuristic methods dedicated to certain types of manuscripts, or with weakly trained systems reducing the required amount of annotations. In this article, we propose a novel learning-based alignment method based on fully convolutional object detection that does not require any human annotation at all. Instead, the object detection system is initially trained on synthetic printed pages using a font and then adapted to the real manuscripts by means of self-training. On a dataset of historical Vietnamese handwriting, we demonstrate the feasibility of annotation-free alignment as well as the positive impact of self-training on the character detection accuracy, reaching a detection accuracy of 96.4% with a YOLOv5m model without using any human annotation.

scholarly journals Characterization of Carrier Phase-Based Positioning in Real-World Jamming Conditions

2021 ◽  
Vol 13 (14) ◽  
pp. 2680
Author(s):  
Søren Skaarup Larsen ◽  
Anna B. O. Jensen ◽  
Daniel H. Olesen
Keyword(s):  
Real World ◽  
Carrier Phase ◽  
Reference Station ◽  
Baseline Length ◽  
Dual Frequency ◽  
Positioning Accuracy ◽  
The Impact ◽  
Single Versus ◽  
Selection Of

GNSS signals arriving at receivers at the surface of the Earth are weak and easily susceptible to interference and jamming. In this paper, the impact of jamming on the reference station in carrier phase-based relative baseline solutions is examined. Several scenarios are investigated in order to assess the robustness of carrier phase-based positioning towards jamming. Among others, these scenarios include a varying baseline length, the use of single- versus dual-frequency observations, and the inclusion of the Galileo and GLONASS constellations to a GPS only solution. The investigations are based on observations recorded at physical reference stations in the Danish TAPAS network during actual jamming incidents, in order to realistically evaluate the impact of real-world jamming on carrier phase-based positioning accuracy. The analyses performed show that, while there are benefits of using observations from several frequencies and constellations in positioning solutions, special care must be taken in solution processing. The selection of which GNSS constellations and observations to include, as well as when they are included, is essential, as blindly adding more jamming-affected observations may lead to worse positioning accuracy.

scholarly journals Malaria parasite detection in thick blood smear microscopic images using modified YOLOV3 and YOLOV4 models

2021 ◽  
Vol 22 (1) ◽  
Author(s):  
Fetulhak Abdurahman ◽  
Kinde Anlay Fante ◽  
Mohammed Aliy
Keyword(s):  
Object Detection ◽  
Malaria Parasite ◽  
Blood Smear ◽  
Clustering Algorithm ◽  
State Of The Art ◽  
Detection Accuracy ◽  
Small Object ◽  
Thick Blood Smear ◽  
Malaria Parasites ◽  
Microscopic Images

Abstract Background Manual microscopic examination of Leishman/Giemsa stained thin and thick blood smear is still the “gold standard” for malaria diagnosis. One of the drawbacks of this method is that its accuracy, consistency, and diagnosis speed depend on microscopists’ diagnostic and technical skills. It is difficult to get highly skilled microscopists in remote areas of developing countries. To alleviate this problem, in this paper, we propose to investigate state-of-the-art one-stage and two-stage object detection algorithms for automated malaria parasite screening from microscopic image of thick blood slides. Results YOLOV3 and YOLOV4 models, which are state-of-the-art object detectors in accuracy and speed, are not optimized for detecting small objects such as malaria parasites in microscopic images. We modify these models by increasing feature scale and adding more detection layers to enhance their capability of detecting small objects without notably decreasing detection speed. We propose one modified YOLOV4 model, called YOLOV4-MOD and two modified models of YOLOV3, which are called YOLOV3-MOD1 and YOLOV3-MOD2. Besides, new anchor box sizes are generated using K-means clustering algorithm to exploit the potential of these models in small object detection. The performance of the modified YOLOV3 and YOLOV4 models were evaluated on a publicly available malaria dataset. These models have achieved state-of-the-art accuracy by exceeding performance of their original versions, Faster R-CNN, and SSD in terms of mean average precision (mAP), recall, precision, F1 score, and average IOU. YOLOV4-MOD has achieved the best detection accuracy among all the other models with a mAP of 96.32%. YOLOV3-MOD2 and YOLOV3-MOD1 have achieved mAP of 96.14% and 95.46%, respectively. Conclusions The experimental results of this study demonstrate that performance of modified YOLOV3 and YOLOV4 models are highly promising for detecting malaria parasites from images captured by a smartphone camera over the microscope eyepiece. The proposed system is suitable for deployment in low-resource setting areas.

scholarly journals Extrinsic Camera Calibration with Line-Laser Projection

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1091
Author(s):  
Izaak Van Crombrugge ◽  
Rudi Penne ◽  
Steve Vanlanduit
Keyword(s):  
Camera Calibration ◽  
Real World ◽  
Large Scale ◽  
State Of The Art ◽  
Bundle Adjustment ◽  
Field Of View ◽  
Extrinsic Calibration ◽  
Practical Procedure ◽  
Partial Overlap

Knowledge of precise camera poses is vital for multi-camera setups. Camera intrinsics can be obtained for each camera separately in lab conditions. For fixed multi-camera setups, the extrinsic calibration can only be done in situ. Usually, some markers are used, like checkerboards, requiring some level of overlap between cameras. In this work, we propose a method for cases with little or no overlap. Laser lines are projected on a plane (e.g., floor or wall) using a laser line projector. The pose of the plane and cameras is then optimized using bundle adjustment to match the lines seen by the cameras. To find the extrinsic calibration, only a partial overlap between the laser lines and the field of view of the cameras is needed. Real-world experiments were conducted both with and without overlapping fields of view, resulting in rotation errors below 0.5°. We show that the accuracy is comparable to other state-of-the-art methods while offering a more practical procedure. The method can also be used in large-scale applications and can be fully automated.

scholarly journals A Survey on Bias and Fairness in Machine Learning

2021 ◽  
Vol 54 (6) ◽  
pp. 1-35
Author(s):  
Ninareh Mehrabi ◽  
Fred Morstatter ◽  
Nripsuta Saxena ◽  
Kristina Lerman ◽  
Aram Galstyan
Keyword(s):  
Artificial Intelligence ◽  
Machine Learning ◽  
Deep Learning ◽  
Real World ◽  
State Of The Art ◽  
Future Directions ◽  
Discriminatory Behavior ◽  
Real World Applications ◽  
Near Future ◽  
Different Sources

With the widespread use of artificial intelligence (AI) systems and applications in our everyday lives, accounting for fairness has gained significant importance in designing and engineering of such systems. AI systems can be used in many sensitive environments to make important and life-changing decisions; thus, it is crucial to ensure that these decisions do not reflect discriminatory behavior toward certain groups or populations. More recently some work has been developed in traditional machine learning and deep learning that address such challenges in different subdomains. With the commercialization of these systems, researchers are becoming more aware of the biases that these applications can contain and are attempting to address them. In this survey, we investigated different real-world applications that have shown biases in various ways, and we listed different sources of biases that can affect AI applications. We then created a taxonomy for fairness definitions that machine learning researchers have defined to avoid the existing bias in AI systems. In addition to that, we examined different domains and subdomains in AI showing what researchers have observed with regard to unfair outcomes in the state-of-the-art methods and ways they have tried to address them. There are still many future directions and solutions that can be taken to mitigate the problem of bias in AI systems. We are hoping that this survey will motivate researchers to tackle these issues in the near future by observing existing work in their respective fields.

scholarly journals HyP-ABC: A Novel Automated Hyper-Parameter Tuning Algorithm Using Evolutionary Optimization

2021 ◽  
Author(s):  
Leila Zahedi ◽  
Farid Ghareh Mohammadi ◽  
M. Hadi Amini
Keyword(s):  
Parameter Optimization ◽  
Real World ◽  
Optimization Problems ◽  
State Of The Art ◽  
Parameter Tuning ◽  
Gradient Boosting ◽  
Support Vector ◽  
Wide Range ◽  
Extreme Gradient Boosting ◽  
Art Techniques

Machine learning techniques lend themselves as promising decision-making and analytic tools in a wide range of applications. Different ML algorithms have various hyper-parameters. In order to tailor an ML model towards a specific application, a large number of hyper-parameters should be tuned. Tuning the hyper-parameters directly affects the performance (accuracy and run-time). However, for large-scale search spaces, efficiently exploring the ample number of combinations of hyper-parameters is computationally challenging. Existing automated hyper-parameter tuning techniques suffer from high time complexity. In this paper, we propose HyP-ABC, an automatic innovative hybrid hyper-parameter optimization algorithm using the modified artificial bee colony approach, to measure the classification accuracy of three ML algorithms, namely random forest, extreme gradient boosting, and support vector machine. Compared to the state-of-the-art techniques, HyP-ABC is more efficient and has a limited number of parameters to be tuned, making it worthwhile for real-world hyper-parameter optimization problems. We further compare our proposed HyP-ABC algorithm with state-of-the-art techniques. In order to ensure the robustness of the proposed method, the algorithm takes a wide range of feasible hyper-parameter values, and is tested using a real-world educational dataset.

scholarly journals Random Forest Regressor-Based Approach for Detecting Fault Location and Duration in Power Systems

Sensors ◽  
2022 ◽  
Vol 22 (2) ◽  
pp. 458
Author(s):  
Zakaria El Mrabet ◽  
Niroop Sugunaraj ◽  
Prakash Ranganathan ◽  
Shrirang Abhyankar
Keyword(s):  
Neural Network ◽  
Random Forest ◽  
Power Systems ◽  
Real Time ◽  
Fault Location ◽  
State Of The Art ◽  
Economic Consequences ◽  
Support Vector ◽  
Detection Accuracy ◽  
Data Driven Approach

Power system failures or outages due to short-circuits or “faults” can result in long service interruptions leading to significant socio-economic consequences. It is critical for electrical utilities to quickly ascertain fault characteristics, including location, type, and duration, to reduce the service time of an outage. Existing fault detection mechanisms (relays and digital fault recorders) are slow to communicate the fault characteristics upstream to the substations and control centers for action to be taken quickly. Fortunately, due to availability of high-resolution phasor measurement units (PMUs), more event-driven solutions can be captured in real time. In this paper, we propose a data-driven approach for determining fault characteristics using samples of fault trajectories. A random forest regressor (RFR)-based model is used to detect real-time fault location and its duration simultaneously. This model is based on combining multiple uncorrelated trees with state-of-the-art boosting and aggregating techniques in order to obtain robust generalizations and greater accuracy without overfitting or underfitting. Four cases were studied to evaluate the performance of RFR: 1. Detecting fault location (case 1), 2. Predicting fault duration (case 2), 3. Handling missing data (case 3), and 4. Identifying fault location and length in a real-time streaming environment (case 4). A comparative analysis was conducted between the RFR algorithm and state-of-the-art models, including deep neural network, Hoeffding tree, neural network, support vector machine, decision tree, naive Bayesian, and K-nearest neighborhood. Experiments revealed that RFR consistently outperformed the other models in detection accuracy, prediction error, and processing time.

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