arXiv subjects

Qi Hao

Publications and source records attributed to Qi Hao.

At least 37 records · Page 2Linked to original sources

arXiv2025

Astronomical image denoising by self-supervised deep learning and restoration processes

Image denoising based on deep learning has witnessed significant advancements in recent years. However, existing deep learning methods lack quantitative control of the deviation or error on denoised images. The neural networks Self2Self is designed for denoising single-image, training on it and denoising itself, during which training is costly. In this work we explore training Self2Self on an astronomical image and denoising other images of the same kind, which is suitable for quickly denoising massive images in astronomy. To address the deviation issue, the abnormal pixels whose deviation exceeds a predefined threshold are restored to their initial values. The noise reduction includes training, denoising, restoring and named TDR-method, by which the noise level of the solar magnetograms is improved from about 8 G to 2 G. Furthermore, the TDR-method is applied to galaxy images from the Hubble Space Telescope and makes weak galaxy structures become much clearer. This capability of enhancing weak signals makes the TDR-method applicable in various disciplines.

astro-ph.IM↗

arXiv2025

SSF-PAN: Semantic Scene Flow-Based Perception for Autonomous Navigation in Traffic Scenarios

Vehicle detection and localization in complex traffic scenarios pose significant challenges due to the interference of moving objects. Traditional methods often rely on outlier exclusions or semantic segmentations, which suffer from low computational efficiency and accuracy. The proposed SSF-PAN can achieve the functionalities of LiDAR point cloud based object detection/localization and SLAM (Simultaneous Localization and Mapping) with high computational efficiency and accuracy, enabling map-free navigation frameworks. The novelty of this work is threefold: 1) developing a neural network which can achieve segmentation among static and dynamic objects within the scene flows with different motion features, that is, semantic scene flow (SSF); 2) developing an iterative framework which can further optimize the quality of input scene flows and output segmentation results; 3) developing a scene flow-based navigation platform which can test the performance of the SSF perception system in the simulation environment. The proposed SSF-PAN method is validated using the SUScape-CARLA and the KITTI datasets, as well as on the CARLA simulator. Experimental results demonstrate that the proposed approach outperforms traditional methods in terms of scene flow computation accuracy, moving object detection accuracy, computational efficiency, and autonomous navigation effectiveness.

cs.RO↗

arXiv2024

SUSTechGAN: Image Generation for Object Detection in Adverse Conditions of Autonomous Driving

Autonomous driving significantly benefits from data-driven deep neural networks. However, the data in autonomous driving typically fits the long-tailed distribution, in which the critical driving data in adverse conditions is hard to collect. Although generative adversarial networks (GANs) have been applied to augment data for autonomous driving, generating driving images in adverse conditions is still challenging. In this work, we propose a novel framework, SUSTechGAN, with customized dual attention modules, multi-scale generators, and a novel loss function to generate driving images for improving object detection of autonomous driving in adverse conditions. We test the SUSTechGAN and the well-known GANs to generate driving images in adverse conditions of rain and night and apply the generated images to retrain object detection networks. Specifically, we add generated images into the training datasets to retrain the well-known YOLOv5 and evaluate the improvement of the retrained YOLOv5 for object detection in adverse conditions. The experimental results show that the generated driving images by our SUSTechGAN significantly improved the performance of retrained YOLOv5 in rain and night conditions, which outperforms the well-known GANs. The open-source code, video description and datasets are available on the page 1 to facilitate image generation development in autonomous driving under adverse conditions.

cs.CV↗

arXiv2024

Is Precise Recovery Necessary? A Task-Oriented Imputation Approach for Time Series Forecasting on Variable Subset

Variable Subset Forecasting (VSF) refers to a unique scenario in multivariate time series forecasting, where available variables in the inference phase are only a subset of the variables in the training phase. VSF presents significant challenges as the entire time series may be missing, and neither inter- nor intra-variable correlations persist. Such conditions impede the effectiveness of traditional imputation methods, primarily focusing on filling in individual missing data points. Inspired by the principle of feature engineering that not all variables contribute positively to forecasting, we propose Task-Oriented Imputation for VSF (TOI-VSF), a novel framework shifts the focus from accurate data recovery to directly support the downstream forecasting task. TOI-VSF incorporates a self-supervised imputation module, agnostic to the forecasting model, designed to fill in missing variables while preserving the vital characteristics and temporal patterns of time series data. Additionally, we implement a joint learning strategy for imputation and forecasting, ensuring that the imputation process is directly aligned with and beneficial to the forecasting objective. Extensive experiments across four datasets demonstrate the superiority of TOI-VSF, outperforming baseline methods by $15\%$ on average.

cs.LG↗

arXiv2024

Enhancing the sensing power of bike-sharing system for urban environment

The development of smart cities requires innovative sensing solutions for efficient and low-cost urban environment monitoring. Bike-sharing systems, with their wide coverage, flexible mobility, and dense urban distribution, present a promising platform for pervasive sensing. At a relative early stage, research on bike-based sensing focuses on the application of data collected via passive sensing, without consideration of the optimization of data collection through sensor deployment or vehicle scheduling. To address this gap, this study integrates a binomial probability model with a mixed-integer linear programming model to optimize sensor allocation across bike stands. Additionally, an active scheduling strategy guides user bike selection to enhance the efficacy of data collection. A case study in Manhattan validates the proposed strategy, showing that equipping sensors on just 1\% of the bikes covers approximately 70\% of road segments in a day, highlighting the significant potential of bike-sharing systems for urban sensing.

math.OC↗

arXiv2024

CTS: Sim-to-Real Unsupervised Domain Adaptation on 3D Detection

Simulation data can be accurately labeled and have been expected to improve the performance of data-driven algorithms, including object detection. However, due to the various domain inconsistencies from simulation to reality (sim-to-real),cross-domain object detection algorithms usually suffer from dramatic performance drops. While numerous unsupervised domain adaptation (UDA) methods have been developed to address cross-domain tasks between real-world datasets, progress in sim-to-real remains limited. This paper presents a novel Complex-to-Simple (CTS) framework to transfer models from labeled simulation (source) to unlabeled reality (target) domains. Based on a two-stage detector, the novelty of this work is threefold: 1) developing fixed-size anchor heads and RoI augmentation to address size bias and feature diversity between two domains, thereby improving the quality of pseudo-label; 2) developing a novel corner-format representation of aleatoric uncertainty (AU) for the bounding box, to uniformly quantify pseudo-label quality; 3) developing a noise-aware mean teacher domain adaptation method based on AU, as well as object-level and frame-level sampling strategies, to migrate the impact of noisy labels. Experimental results demonstrate that our proposed approach significantly enhances the sim-to-real domain adaptation capability of 3D object detection models, outperforming state-of-the-art cross-domain algorithms, which are usually developed for real-to-real UDA tasks.

cs.CV↗

arXiv2024

ISPO: An Integrated Ontology of Symptom Phenotypes for Semantic Integration of Traditional Chinese Medical Data

Symptom phenotypes are one of the key types of manifestations for diagnosis and treatment of various disease conditions. However, the diversity of symptom terminologies is one of the major obstacles hindering the analysis and knowledge sharing of various types of symptom-related medical data particularly in the fields of Traditional Chinese Medicine (TCM). Objective: This study aimed to construct an Integrated Ontology of symptom phenotypes (ISPO) to support the data mining of Chinese EMRs and real-world study in TCM field. Methods: To construct an integrated ontology of symptom phenotypes (ISPO), we manually annotated classical TCM textbooks and large-scale Chinese electronic medical records (EMRs) to collect symptom terms with support from a medical text annotation system. Furthermore, to facilitate the semantic interoperability between different terminologies, we incorporated public available biomedical vocabularies by manual mapping between Chinese terms and English terms with cross-references to source vocabularies. In addition, we evaluated the ISPO using independent clinical EMRs to provide a high-usable medical ontology for clinical data analysis. Results: By integrating 78,696 inpatient cases of EMRs, 5 biomedical vocabularies, 21 TCM books and dictionaries, ISPO provides 3,147 concepts, 23,475 terms, and 55,552 definition or contextual texts. Adhering to the taxonomical structure of the related anatomical systems of symptom phenotypes, ISPO provides 12 top-level categories and 79 middle-level sub-categories. The validation of data analysis showed the ISPO has a coverage rate of 95.35%, 98.53% and 92.66% for symptom terms with occurrence rates of 0.5% in additional three independent curated clinical datasets, which can demonstrate the significant value of ISPO in mapping clinical terms to ontologies.

cs.CL↗

arXiv2024

DIR-BHRNet: A Lightweight Network for Real-time Vision-based Multi-person Pose Estimation on Smartphones

Human pose estimation (HPE), particularly multi-person pose estimation (MPPE), has been applied in many domains such as human-machine systems. However, the current MPPE methods generally run on powerful GPU systems and take a lot of computational costs. Real-time MPPE on mobile devices with low-performance computing is a challenging task. In this paper, we propose a lightweight neural network, DIR-BHRNet, for real-time MPPE on smartphones. In DIR-BHRNet, we design a novel lightweight convolutional module, Dense Inverted Residual (DIR), to improve accuracy by adding a depthwise convolution and a shortcut connection into the well-known Inverted Residual, and a novel efficient neural network structure, Balanced HRNet (BHRNet), to reduce computational costs by reconfiguring the proper number of convolutional blocks on each branch. We evaluate DIR-BHRNet on the well-known COCO and CrowdPose datasets. The results show that DIR-BHRNet outperforms the state-of-the-art methods in terms of accuracy with a real-time computational cost. Finally, we implement the DIR-BHRNet on the current mainstream Android smartphones, which perform more than 10 FPS. The free-used executable file (Android 10), source code, and a video description of this work are publicly available on the page 1 to facilitate the development of real-time MPPE on smartphones.

cs.CV↗

arXiv2024

Seamless Virtual Reality with Integrated Synchronizer and Synthesizer for Autonomous Driving

Virtual reality (VR) is a promising data engine for autonomous driving (AD). However, data fidelity in this paradigm is often degraded by VR inconsistency, for which the existing VR approaches become ineffective, as they ignore the inter-dependency between low-level VR synchronizer designs (i.e., data collector) and high-level VR synthesizer designs (i.e., data processor). This paper presents a seamless virtual reality SVR platform for AD, which mitigates such inconsistency, enabling VR agents to interact with each other in a shared symbiotic world. The crux to SVR is an integrated synchronizer and synthesizer IS2 design, which consists of a drift-aware lidar-inertial synchronizer for VR colocation and a motion-aware deep visual synthesis network for augmented reality image generation. We implement SVR on car-like robots in two sandbox platforms, achieving a cm-level VR colocalization accuracy and 3.2% VR image deviation, thereby avoiding missed collisions or model clippings. Experiments show that the proposed SVR reduces the intervention times, missed turns, and failure rates compared to other benchmarks. The SVR-trained neural network can handle unseen situations in real-world environments, by leveraging its knowledge learnt from the VR space.

cs.RO↗

arXiv2023

High Throughput Inter-Layer Connecting Strategy for Multi-Layer Ultra-Dense Satellite Networks

Multi-layer ultra-dense satellite networks (MLUDSNs) have soared this meteoric to provide vast throughputd for globally diverse services. Differing from traditional monolayer constellations, MLUDSNs emphasize the spatial integration among layers, and its throughput may not be simply the sum of throughput of each layer. The hop-count of cross-layer communication paths can be reduced by deploying inter-layer connections (ILCs), augmenting MLUDSN's throughput. Therefore, it remains an open issue how to deploy ILCs to optimize the dynamic MLUDSN topology to dramatically raise throughput gains under multi-layer collaboration. This paper designs an ILC deployment strategy to enhance throughput by revealing the impacts of ILC distribution on reducing hop-count. Since deploying ILCs burdens the satellite with extra communication resource consumption, we model the ILC deployment problem as minimizing the average hop with limited ILCs, to maximize throughput. The proposed problem is a typical integer linear programming (ILP) problem, of which computational complexity is exponential as the satellite scale expands and the time evolves. Based on the symmetrical topology of each layer, we propose a two-phase deployment scheme to halve the problem scale and prioritize stable ILCs to reduce handover-count, which decreases the exponential complexity to a polynomial one, with 1% estimation error: Simulation results based on realistic megaconstellation information confirm that the optimal number of ILCs is less than P.S/2, where P and S are orbits and satellites per orbit. Besides, these ILCs deploy uniformly in each layer, which raises over 1.55x throughput than isolated layers.

cs.NI↗

arXiv2023

A Virtual Reality Training System for Automotive Engines Assembly and Disassembly

Automotive engine assembly and disassembly are common and crucial programs in the automotive industry. Traditional education trains students to learn automotive engine assembly and disassembly in lecture courses and then to operate with physical engines, which are generally low effectiveness and high cost. In this work, we developed a multi-layer structured Virtual Reality (VR) system to provide students with training in automotive engine (Buick Verano) assembly and disassembly. We designed the VR training system with The VR training system is designed to have several major features, including replaceable engine parts and reusable tools, friendly user interfaces and guidance, and bottom-up designed multi-layer architecture, which can be extended to various engine models. The VR system is evaluated with controlled experiments of two groups of students. The results demonstrate that our VR training system provides remarkable usability in terms of effectiveness and efficiency. Currently, our VR system has been demonstrated and employed in the courses of Chinese colleges to train students in automotive engine assembly and disassembly. A free-to-use executable file (Microsoft Windows) and open-source code are available at https://github.com/LadissonLai/SUSTech_VREngine for facilitating the development of VR systems in the automotive industry. Finally, a video describing the operations in our VR training system is available at https://www.youtube.com/watch?v=yZe4YTwwAC4

cs.HC↗

arXiv2023

Can the Parker Solar Probe Detect a CME-flare Current Sheet?

A current sheet (CS) is the central structure in the disrupting magnetic configuration during solar eruptions. More than 90\% of the free magnetic energy (the difference between the energy in the non-potential magnetic field and that in the potential one) stored in the coronal magnetic field beforehand is converted into heating and kinetic energy of the plasma, as well as accelerating charged particles, by magnetic reconnection occurring in the CS. However, the detailed physical properties and fine structures of the CS are still unknown since there is no relevant information obtained via in situ detections. The Parker Solar Probe (PSP) may provide us such information should it traverse a CS in the eruption. The perihelion of PSP's final orbit is located at about 10 solar radii from the center of the Sun, so it can observe the CS at a very close distance, or even traverses the CS, which provides us a unique opportunity to look into fine properties and structures of the CS, helping reveal the detailed physics of large-scale reconnection that was impossible before. We evaluate the probability that PSP can traverse a CS, and examine the orbit of a PSP-like spacecraft that has the highest probability to traverse a CS.

astro-ph.SR↗

arXiv2023

Vision-Based Human Pose Estimation via Deep Learning: A Survey

Human pose estimation (HPE) has attracted a significant amount of attention from the computer vision community in the past decades. Moreover, HPE has been applied to various domains, such as human-computer interaction, sports analysis, and human tracking via images and videos. Recently, deep learning-based approaches have shown state-of-the-art performance in HPE-based applications. Although deep learning-based approaches have achieved remarkable performance in HPE, a comprehensive review of deep learning-based HPE methods remains lacking in the literature. In this article, we provide an up-to-date and in-depth overview of the deep learning approaches in vision-based HPE. We summarize these methods of 2-D and 3-D HPE, and their applications, discuss the challenges and the research trends through bibliometrics, and provide insightful recommendations for future research. This article provides a meaningful overview as introductory material for beginners to deep learning-based HPE, as well as supplementary material for advanced researchers.

cs.CV↗

arXiv2023

Thomsen-type parameters and attenuation coefficients for constant-Q transverse isotropy

Transversely isotropic (TI) media with the frequency-independent quality-factor elements (also called ``constant-$Q$'' transverse isotropy) are often used to describe attenuation anisotropy in sedimentary rocks. The attenuation coefficients in constant-$Q$ TI models can be conveniently defined in terms of the Thomsen-type attenuation-anisotropy parameters. Recent research indicates that not all those parameters for such constant-$Q$ media are frequency-independent. Here, we present concise analytic formulae for the Thomsen-type attenuation parameters for Kjartansson's constant-$Q$ TI model and show that one of them ($δ_{Q}$) varies with frequency. The analytic expression for $δ_{Q}$ helps evaluate the frequency dependence of the normalized attenuation coefficients of P- and SV-waves by introducing the newly defined ``dispersion factors''. Viscoacoustic constant-$Q$ transverse isotropy is also discussed as a special case, for which the elliptical condition and simplified expressions for the parameters $δ$ and $δ_{Q}$ are derived. Our results show that in the presence of significant absorption the attenuation coefficients of the ``constant-$Q$'' model vary with frequency for oblique propagation with respect to the symmetry axis. This variation needs to be taken into account when applying the spectral-ratio method and other attenuation-analysis techniques.

physics.geo-ph↗

arXiv2023

RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments

Autonomous motion planning is challenging in multi-obstacle environments due to nonconvex collision avoidance constraints. Directly applying numerical solvers to these nonconvex formulations fails to exploit the constraint structures, resulting in excessive computation time. In this paper, we present an accelerated collision-free motion planner, namely regularized dual alternating direction method of multipliers (RDADMM or RDA for short), for the model predictive control (MPC) based motion planning problem. The proposed RDA addresses nonconvex motion planning via solving a smooth biconvex reformulation via duality and allows the collision avoidance constraints to be computed in parallel for each obstacle to reduce computation time significantly. We validate the performance of the RDA planner through path-tracking experiments with car-like robots in both simulation and real-world settings. Experimental results show that the proposed method generates smooth collision-free trajectories with less computation time compared with other benchmarks and performs robustly in cluttered environments. The source code is available at https://github.com/hanruihua/RDA_planner.

cs.RO↗

arXiv2023

Self-Ensemling for 3D Point Cloud Domain Adaption

Recently 3D point cloud learning has been a hot topic in computer vision and autonomous driving. Due to the fact that it is difficult to manually annotate a qualitative large-scale 3D point cloud dataset, unsupervised domain adaptation (UDA) is popular in 3D point cloud learning which aims to transfer the learned knowledge from the labeled source domain to the unlabeled target domain. However, the generalization and reconstruction errors caused by domain shift with simply-learned model are inevitable which substantially hinder the model's capability from learning good representations. To address these issues, we propose an end-to-end self-ensembling network (SEN) for 3D point cloud domain adaption tasks. Generally, our SEN resorts to the advantages of Mean Teacher and semi-supervised learning, and introduces a soft classification loss and a consistency loss, aiming to achieve consistent generalization and accurate reconstruction. In SEN, a student network is kept in a collaborative manner with supervised learning and self-supervised learning, and a teacher network conducts temporal consistency to learn useful representations and ensure the quality of point clouds reconstruction. Extensive experiments on several 3D point cloud UDA benchmarks show that our SEN outperforms the state-of-the-art methods on both classification and segmentation tasks. Moreover, further analysis demonstrates that our SEN also achieves better reconstruction results.

cs.CV↗

arXiv2022

Dispersion relation and wave equation for attenuative elliptically anisotropic media

The P-wave slowness and group-velocity surfaces in elliptically anisotropic media are ellipsoids. Elliptical anisotropy is convenient to use as the reference medium in perturbation methods designed to solve P-wave wave-propagation problems for transverse isotropy (TI). Here, we make the elliptically anisotropic TI model attenuative and discuss the corresponding P-wave dispersion relation and the wave equation. Our analysis leads to two conditions in terms of the Thomsen-type parameters, which guarantee that the P-wave slowness surface and the dispersion relation satisfy elliptical equations. We also obtain the viscoacoustic wave equation for such elliptically anisotropic media and solve it for point-source radiation using the correspondence principle. Numerical examples validate the proposed elliptical conditions and illustrate the behavior of the P-wavefield in attenuative elliptical TI models.

physics.geo-ph↗

arXiv2022

Federated Deep Learning Meets Autonomous Vehicle Perception: Design and Verification

Realizing human-like perception is a challenge in open driving scenarios due to corner cases and visual occlusions. To gather knowledge of rare and occluded instances, federated learning assisted connected autonomous vehicle (FLCAV) has been proposed, which leverages vehicular networks to establish federated deep neural networks (DNNs) from distributed data captured by vehicles and road sensors. Without the need of data aggregation, FLCAV preserves privacy while reducing communication costs compared with conventional centralized learning. However, it is challenging to determine the network resources and road sensor placements for multi-stage training with multi-modal datasets in multi-variant scenarios. This article presents networking and training frameworks for FLCAV perception. Multi-layer graph resource allocation and vehicle-road contrastive sensor placement are proposed to address the network management and sensor deployment problems, respectively. We also develop CarlaFLCAV, a software platform that implements the above system and methods. Experimental results confirm the superiority of the proposed techniques compared with various benchmarks.

cs.RO↗