The Estimation of Image Jacobian Matrix with Time-Delay Compensation

Time delay exists in image-based visual servo system, which will have a certain impact on the system control. To solve the impact of time delay, the time delay compensation of the object feature point image and the image Jacobian matrix is discussed in this paper. Some work is done in this paper: The estimation of the object feature point image under time delay is based on a proposed robust decorrelation Kalman filtering model, for the measurement vectors which cannot be obtained during time delay in the robust Kalman filtering model, a polynomial fitting method is proposed in which the selection of the polynomial includes the position, velocity and acceleration of the object feature point which impact the feature point trajectory, then the more accurate object feature point image can be obtained. From the estimated object feature point image under time delay, the more accurate image Jacobian matrix under time delay can be obtained. Simulation and experimental results verify the feasibility and superiority of this paper method.

Spatial and Feature-selective Attention Have Distinct, Interacting Effects on Population-level Tuning

Attention can be deployed in different ways: When searching for a taxi in New York City, we can decide where to attend (e.g., to the street) and what to attend to (e.g., yellow cars). Although we use the same word to describe both processes, nonhuman primate data suggest that these produce distinct effects on neural tuning. This has been challenging to assess in humans, but here we used an opportunity afforded by multivariate decoding of MEG data. We found that attending to an object at a particular location and attending to a particular object feature produced effects that interacted multiplicatively. The two types of attention induced distinct patterns of enhancement in occipital cortex, with feature-selective attention producing relatively more enhancement of small feature differences and spatial attention producing relatively larger effects for larger feature differences. An information flow analysis further showed that stimulus representations in occipital cortex were Granger-caused by coding in frontal cortices earlier in time and that the timing of this feedback matched the onset of attention effects. The data suggest that spatial and feature-selective attention rely on distinct neural mechanisms that arise from frontal-occipital information exchange, interacting multiplicatively to selectively enhance task-relevant information.

Object-based selection in visual working memory

Attentional mechanisms in perception can operate over locations, features, or objects. However, people direct attention not only towards information in the external world, but also to information maintained in working memory. To what extent do perception and memory draw on similar selection properties? Here we examined whether principles of object-based attention can also hold true in visual working memory. Experiment 1 examined whether object structure guides selection independently of spatial distance. In a memory updating task, participants encoded two rectangular bars with colored ends before updating two colors during maintenance. Memory updates were faster for two equidistant colors on the same object than on different objects. Experiment 2 examined whether selection of a single object feature spreads to other features within the same object. Participants memorized two sequentially presented Gabors, and a retro-cue indicated which object and feature dimension (color or orientation) would be most relevant to the memory test. We found stronger effects of object selection than feature selection: accuracy was higher for the uncued feature in the same object than the cued feature in the other object. Together these findings demonstrate effects of object-based attention on visual working memory, at least when object-based representations are encouraged, and suggest shared attentional mechanisms across perception and memory.

Multi-Sensor Perception Strategy to Enhance Autonomy of Robotic Operation for Uncertain Peg-in-Hole Task

The peg-in-hole task with object feature uncertain is a typical case of robotic operation in the real-world unstructured environment. It is nontrivial to realize object perception and operational decisions autonomously, under the usual visual occlusion and real-time constraints of such tasks. In this paper, a Bayesian networks-based strategy is presented in order to seamlessly combine multiple heterogeneous senses data like humans. In the proposed strategy, an interactive exploration method implemented by hybrid Monte Carlo sampling algorithms and particle filtering is designed to identify the features' estimated starting value, and the memory adjustment method and the inertial thinking method are introduced to correct the target position and shape features of the object respectively. Based on the Dempster–Shafer evidence theory (D-S theory), a fusion decision strategy is designed using probabilistic models of forces and positions, which guided the robot motion after each acquisition of the estimated features of the object. It also enables the robot to judge whether the desired operation target is achieved or the feature estimate needs to be updated. Meanwhile, the pliability model is introduced into repeatedly perform exploration, planning and execution steps to reduce interaction forces, the number of exploration. The effectiveness of the strategy is validated in simulations and in a physical robot task.

Strong-Weak Feature Alignment for 3D Object Detection

Object detection in 3D point clouds is still a challenging task in autonomous driving. Due to the inherent occlusion and density changes of the point cloud, the data distribution of the same object will change dramatically. Especially, the incomplete data with sparsity or occlusion can not represent the complete characteristics of the object. In this paper, we proposed a novel strong–weak feature alignment algorithm between complete and incomplete objects for 3D object detection, which explores the correlations within the data. It is an end-to-end adaptive network that does not require additional data and can be easily applied to other object detection networks. Through a complete object feature extractor, we achieve a robust feature representation of the object. It serves as a guarding feature to help the incomplete object feature generator to generate effective features. The strong–weak feature alignment algorithm reduces the gap between different states of the same object and enhances the ability to represent the incomplete object. The proposed adaptation framework is validated on the KITTI object benchmark and gets about 6% improvement in detection average precision on 3D moderate difficulty compared to the basic model. The results show that our adaptation method improves the detection performance of incomplete 3D objects.

Lane Line Detection Based on Object Feature Distillation

In order to meet the real-time requirements of the autonomous driving system, the existing method directly up-samples the encoder’s output feature map to pixel-wise prediction, thus neglecting the importance of the decoder for the prediction of detail features. In order to solve this problem, this paper proposes a general lane detection framework based on object feature distillation. Firstly, a decoder with strong feature prediction ability is added to the network using direct up-sampling method. Then, in the network training stage, the prediction results generated by the decoder are regarded as soft targets through knowledge distillation technology, so that the directly up-samples branch can learn more detailed lane information and have a strong feature prediction ability for the decoder. Finally, in the stage of network inference, we only need to use the direct up-sampling branch instead of the forward calculation of the decoder, so compared with the existing model, it can improve the lane detection performance without additional cost. In order to verify the effectiveness of this framework, it is applied to many mainstream lane segmentation methods such as SCNN, DeepLabv1, ResNet, etc. Experimental results show that, under the condition of no additional complexity, the proposed method can obtain higher F1Measure on CuLane dataset.

Selective neural coding of object, feature, and geometry spatial cues in humans

SummaryOrienting in space requires the processing and encoding of visual spatial cues. The dominant hypothesis about the brain structures mediating the coding of spatial cues stipulates the existence of a hippocampal-dependent system for the representation of geometry and a striatal-dependent system for the representation of landmarks. However, this dual-system hypothesis is based on paradigms that presented spatial cues conveying either conflicting or ambiguous spatial information and that amalgamated the concept of landmark into both discrete 3D objects and wall features. These confounded designs introduce difficulties in interpreting the spatial learning process. Here, we test the hypothesis of a complex interaction between the hippocampus and the striatum during landmark and geometry visual coding in humans. We also postulate that object-based and feature-based navigation are not equivalent instances of landmark-based navigation as currently considered in human spatial cognition. We examined the neural networks associated with geometry-, object-, and feature-based spatial navigation in an unbiased, two-choice behavioral paradigm using fMRI. We showed evidence of a synergistic interaction between hippocampal and striatal coding underlying flexible navigation behavior. The hippocampus was involved in all three types of cue-based navigation, whereas the striatum was more strongly recruited in the presence of geometric cues than object or feature cues. We also found that unique, specific neural signatures were associated with each spatial cue. Critically, object-based navigation elicited a widespread pattern of activity in temporal and occipital regions relative to feature-based navigation. These findings challenge and extend the current view of a dual, juxtaposed hippocampal-striatal system for visual spatial coding in humans. They also provide novel insights into the neural networks mediating object vs. feature spatial coding, suggesting a need to distinguish these two types of landmarks in the context of human navigation.HighlightsComplex hippocampal-striatal interaction during visual spatial coding for flexible human navigation behavior.Distinct neural signatures associated with object-, feature-, and geometry-based navigation.Object- and feature-based navigation are not equivalent instances of landmark-based navigation.

Recognition of The Baby Footprint Characteristics Using Wavelet Method and K-Nearest Neighbor (K-NN)

Individual recognition using biometric technology can be utilized in creating security systems that are important in modern life. The individuals recognition in hospitals generally done by conventional system so it makes more time in taking identity. A newborn baby will proceed an identity tagging after birth process is complete. This identity using a bracelet filled with names and ink stamps on paper that will be prone to damage or crime. The solution is to store the baby's identity data digitally and carry out the baby's identification process. This system can increase safety and efficiency in storing a baby's footprint image. The implementation of baby's footprint image identification starting from the acquisition of baby's footprint image, preprocessing such as selecting ROI size baby's footprint object, feature extraction using wavelet method and classification process using K-Nearest Neighbor (K-NN) method because this method has been widely used in several studies of biometric identification systems. The test data came from 30 classes with 180 images test right and left baby's footprint. The identification results using 200x500 size ROI with level 4 wavelet decomposition get recognition results with an accuracy of 99.30%, 90.17% precision, and 89.44% recall with a test computation time of 8.0370 seconds.

Distinct neuron phenotypes may serve object feature sensing in the electrosensory lobe of Gymnotus omarorum

Early sensory relays circuits in the vertebrate medulla often adopt a cerebellum-like organization specialized for comparing primary afferent inputs with central expectations. These circuits usually have a dual output, carried by center ON and center OFF neurons responding in opposite ways to the same stimulus at the center of their receptive fields. Here we show in the electrosensory lateral line lobe of Gymnotiform weakly electric fish that basilar pyramidal neurons, representing ‘ON’ cells, and non-basilar pyramidal neurons, representing ‘OFF’ cells, have different intrinsic electrophysiological properties. We used classical anatomical techniques and electrophysiological in vitro recordings to compare these neurons. Basilar neurons are silent at rest, have a high threshold to intracellular stimulation, delayed responses to steady state depolarization and low pass responsiveness to membrane voltage variations. They respond to low intensity depolarizing stimuli with large, isolated spikes. As stimulus intensity increases the spikes are followed by a depolarizing after-potential from which phase-locked spikes often arise. Non-basilar neurons show a pacemaker-like spiking activity, smoothly modulated in frequency by slow variations of stimulus intensity. Spike frequency adaptation provides a memory of their recent firing, facilitating non-basilar response to stimulus transients. Considering anatomical and functional dimensions we conclude that basilar and non-basilar pyramidal neurons are clear-cut, different anatomo-functional phenotypes. We propose that, in addition to their role in contrast processing, basilar pyramidal neurons encode sustained global stimuli as those elicited by large or distant objects while non-basilar pyramidal neurons respond to transient stimuli due to movement textured nearby objects.