arXiv subjects

Qi Wei

Publications and source records attributed to Qi Wei.

At least 55 records · Page 3Linked to original sources

arXiv2018

DS-SLAM: A Semantic Visual SLAM towards Dynamic Environments

Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain circumstances. However, some problems are still not well solved, for example, how to tackle the moving objects in the dynamic environments, how to make the robots truly understand the surroundings and accomplish advanced tasks. In this paper, a robust semantic visual SLAM towards dynamic environments named DS-SLAM is proposed. Five threads run in parallel in DS-SLAM: tracking, semantic segmentation, local mapping, loop closing, and dense semantic map creation. DS-SLAM combines semantic segmentation network with moving consistency check method to reduce the impact of dynamic objects, and thus the localization accuracy is highly improved in dynamic environments. Meanwhile, a dense semantic octo-tree map is produced, which could be employed for high-level tasks. We conduct experiments both on TUM RGB-D dataset and in the real-world environment. The results demonstrate the absolute trajectory accuracy in DS-SLAM can be improved by one order of magnitude compared with ORB-SLAM2. It is one of the state-of-the-art SLAM systems in high-dynamic environments. Now the code is available at our github: https://github.com/ivipsourcecode/DS-SLAM

cs.RO↗

arXiv2018

Symmetry Breaking of Kramers-Henneberger Atoms by Ponderomotive Force

It was believed that Kramers-Henneberger atoms in superintense laser field exhibit structure of "dichotomy". However this is not true for focused laser field. Because in focused laser, KH state electrons experience ponderomotive force, which will break the dichotomous structure.

physics.optics↗

arXiv2017

InverseNet: Solving Inverse Problems with Splitting Networks

We propose a new method that uses deep learning techniques to solve the inverse problems. The inverse problem is cast in the form of learning an end-to-end mapping from observed data to the ground-truth. Inspired by the splitting strategy widely used in regularized iterative algorithm to tackle inverse problems, the mapping is decomposed into two networks, with one handling the inversion of the physical forward model associated with the data term and one handling the denoising of the output from the former network, i.e., the inverted version, associated with the prior/regularization term. The two networks are trained jointly to learn the end-to-end mapping, getting rid of a two-step training. The training is annealing as the intermediate variable between these two networks bridges the gap between the input (the degraded version of output) and output and progressively approaches to the ground-truth. The proposed network, referred to as InverseNet, is flexible in the sense that most of the existing end-to-end network structure can be leveraged in the first network and most of the existing denoising network structure can be used in the second one. Extensive experiments on both synthetic data and real datasets on the tasks, motion deblurring, super-resolution, and colorization, demonstrate the efficiency and accuracy of the proposed method compared with other image processing algorithms.

cs.CV↗

arXiv2017

An inner-loop free solution to inverse problems using deep neural networks

We propose a new method that uses deep learning techniques to accelerate the popular alternating direction method of multipliers (ADMM) solution for inverse problems. The ADMM updates consist of a proximity operator, a least squares regression that includes a big matrix inversion, and an explicit solution for updating the dual variables. Typically, inner loops are required to solve the first two sub-minimization problems due to the intractability of the prior and the matrix inversion. To avoid such drawbacks or limitations, we propose an inner-loop free update rule with two pre-trained deep convolutional architectures. More specifically, we learn a conditional denoising auto-encoder which imposes an implicit data-dependent prior/regularization on ground-truth in the first sub-minimization problem. This design follows an empirical Bayesian strategy, leading to so-called amortized inference. For matrix inversion in the second sub-problem, we learn a convolutional neural network to approximate the matrix inversion, i.e., the inverse mapping is learned by feeding the input through the learned forward network. Note that training this neural network does not require ground-truth or measurements, i.e., it is data-independent. Extensive experiments on both synthetic data and real datasets demonstrate the efficiency and accuracy of the proposed method compared with the conventional ADMM solution using inner loops for solving inverse problems.

cs.CV↗

arXiv2017

A Fast Algorithm Based on a Sylvester-like Equation for LS Regression with GMRF Prior

This paper presents a fast approach for penalized least squares (LS) regression problems using a 2D Gaussian Markov random field (GMRF) prior. More precisely, the computation of the proximity operator of the LS criterion regularized by different GMRF potentials is formulated as solving a Sylvester-like matrix equation. By exploiting the structural properties of GMRFs, this matrix equation is solved columnwise in an analytical way. The proposed algorithm can be embedded into a wide range of proximal algorithms to solve LS regression problems including a convex penalty. Experiments carried out in the case of a constrained LS regression problem arising in a multichannel image processing application, provide evidence that an alternating direction method of multipliers performs quite efficiently in this context.

cs.CV↗

arXiv2016

Detecting Changes Between Optical Images of Different Spatial and Spectral Resolutions: a Fusion-Based Approach

Change detection is one of the most challenging issues when analyzing remotely sensed images. Comparing several multi-date images acquired through the same kind of sensor is the most common scenario. Conversely, designing robust, flexible and scalable algorithms for change detection becomes even more challenging when the images have been acquired by two different kinds of sensors. This situation arises in case of emergency under critical constraints. This paper presents, to the best of authors' knowledge, the first strategy to deal with optical images characterized by dissimilar spatial and spectral resolutions. Typical considered scenarios include change detection between panchromatic or multispectral and hyperspectral images. The proposed strategy consists of a 3-step procedure: i) inferring a high spatial and spectral resolution image by fusion of the two observed images characterized one by a low spatial resolution and the other by a low spectral resolution, ii) predicting two images with respectively the same spatial and spectral resolutions as the observed images by degradation of the fused one and iii) implementing a decision rule to each pair of observed and predicted images characterized by the same spatial and spectral resolutions to identify changes. The performance of the proposed framework is evaluated on real images with simulated realistic changes.

cs.CV↗

arXiv2016

Robust Fusion of Multi-Band Images with Different Spatial and Spectral Resolutions for Change Detection

Archetypal scenarios for change detection generally consider two images acquired through sensors of the same modality. However, in some specific cases such as emergency situations, the only images available may be those acquired through different kinds of sensors. More precisely, this paper addresses the problem of detecting changes between two multi-band optical images characterized by different spatial and spectral resolutions. This sensor dissimilarity introduces additional issues in the context of operational change detection. To alleviate these issues, classical change detection methods are applied after independent preprocessing steps (e.g., resampling) used to get the same spatial and spectral resolutions for the pair of observed images. Nevertheless, these preprocessing steps tend to throw away relevant information. Conversely, in this paper, we propose a method that more effectively uses the available information by modeling the two observed images as spatial and spectral versions of two (unobserved) latent images characterized by the same high spatial and high spectral resolutions. As they cover the same scene, these latent images are expected to be globally similar except for possible changes in sparse spatial locations. Thus, the change detection task is envisioned through a robust multi-band image fusion method which enforces the differences between the estimated latent images to be spatially sparse. This robust fusion problem is formulated as an inverse problem which is iteratively solved using an efficient block-coordinate descent algorithm. The proposed method is applied to real panchormatic/multispectral and hyperspectral images with simulated realistic changes. A comparison with state-of-the-art change detection methods evidences the accuracy of the proposed strategy.

cs.CV↗

arXiv2016

Confirmation of Kramers-Henneberger Atoms

In a remarkable experiment, Eichmann et al. attained unprecedented acceleration of neutral atoms by strong short-pulse IR laser fields. The driving mechanism was identified as the ponderomotive force on excited electrons bound in Rydberg orbits that survive long enough to enable the atoms to reach the detector. However, the observed velocities lie somewhat above the theoretical prediction. The systematic discrepancy was attributed to "absolute laser intensity uncertainties or a slightly non-Gaussian intensity distribution". Here, we examine the process by transforming to the Kramers-Henneberger (KH) reference frame. We find that in addition to the ponderomotive potential there exists a smaller but significant term that comes from the binding energy of the KH atom. Including this KH term brings the calculated maximum velocities to a close match with experimental results over the full range of laser pulse durations.

physics.optics↗

arXiv2016

Quantum computation using arrays of N polar molecules in pendular states

We investigate several aspects of realizing quantum computation using entangled polar molecules in pendular states. Quantum algorithms typically start from a product state |00...0> and we show that up to a negligible error, the ground states of polar molecule arrays can be considered as the unentangled qubit basis state |00...0>. This state can be prepared by simply allowing the system to reach thermal equilibrium at low temperature (<1 mK). We also evaluate entanglement, characterized by the concurrence of pendular state qubits in dipole arrays as governed by the external electric field, dipole-dipole coupling and number N of molecules in the array. In the parameter regime that we consider for quantum computing, we find that qubit entanglement is modest, typically no greater than 0.0001, confirming the negligible entanglement in the ground state. We discuss methods for realizing quantum computation in the gate model, measurement based model, instantaneous quantum polynomial time circuits and the adiabatic model using polar molecules in pendular states.

quant-ph↗

arXiv2016

Fast Single Image Super-Resolution

This paper addresses the problem of single image super-resolution (SR), which consists of recovering a high resolution image from its blurred, decimated and noisy version. The existing algorithms for single image SR use different strategies to handle the decimation and blurring operators. In addition to the traditional first-order gradient methods, recent techniques investigate splitting-based methods dividing the SR problem into up-sampling and deconvolution steps that can be easily solved. Instead of following this splitting strategy, we propose to deal with the decimation and blurring operators simultaneously by taking advantage of their particular properties in the frequency domain, leading to a new fast SR approach. Specifically, an analytical solution can be obtained and implemented efficiently for the Gaussian prior or any other regularization that can be formulated into an $\ell_2$-regularized quadratic model, i.e., an $\ell_2$-$\ell_2$ optimization problem. Furthermore, the flexibility of the proposed SR scheme is shown through the use of various priors/regularizations, ranging from generic image priors to learning-based approaches. In the case of non-Gaussian priors, we show how the analytical solution derived from the Gaussian case can be embedded intotraditional splitting frameworks, allowing the computation cost of existing algorithms to be decreased significantly. Simulation results conducted on several images with different priors illustrate the effectiveness of our fast SR approach compared with the existing techniques.

cs.CV↗

arXiv2016

Unsupervised Nonlinear Spectral Unmixing based on a Multilinear Mixing Model

In the community of remote sensing, nonlinear mixing models have recently received particular attention in hyperspectral image processing. In this paper, we present a novel nonlinear spectral unmixing method following the recent multilinear mixing model of [1], which includes an infinite number of terms related to interactions between different endmembers. The proposed unmixing method is unsupervised in the sense that the endmembers are estimated jointly with the abundances and other parameters of interest, i.e., the transition probability of undergoing further interactions. Non-negativity and sum-to one constraints are imposed on abundances while only nonnegativity is considered for endmembers. The resulting unmixing problem is formulated as a constrained nonlinear optimization problem, which is solved by a block coordinate descent strategy, consisting of updating the endmembers, abundances and transition probability iteratively. The proposed method is evaluated and compared with linear unmixing methods for synthetic and real hyperspectral datasets acquired by the AVIRIS sensor. The advantage of using non-linear unmixing as opposed to linear unmixing is clearly shown in these examples.

cs.CV↗

arXiv2016

R-FUSE: Robust Fast Fusion of Multi-Band Images Based on Solving a Sylvester Equation

This paper proposes a robust fast multi-band image fusion method to merge a high-spatial low-spectral resolution image and a low-spatial high-spectral resolution image. Following the method recently developed in [1], the generalized Sylvester matrix equation associated with the multi-band image fusion problem is solved in a more robust and efficient way by exploiting the Woodbury formula, avoiding any permutation operation in the frequency domain as well as the blurring kernel invertibility assumption required in [1]. Thanks to this improvement, the proposed algorithm requires fewer computational operations and is also more robust with respect to the blurring kernel compared with the one in [1]. The proposed new algorithm is tested with different priors considered in [1]. Our conclusion is that the proposed fusion algorithm is more robust than the one in [1] with a reduced computational cost.

cs.CV↗

arXiv2016

Multi-Band Image Fusion Based on Spectral Unmixing

This paper presents a multi-band image fusion algorithm based on unsupervised spectral unmixing for combining a high-spatial low-spectral resolution image and a low-spatial high-spectral resolution image. The widely used linear observation model (with additive Gaussian noise) is combined with the linear spectral mixture model to form the likelihoods of the observations. The non-negativity and sum-to-one constraints resulting from the intrinsic physical properties of the abundances are introduced as prior information to regularize this ill-posed problem. The joint fusion and unmixing problem is then formulated as maximizing the joint posterior distribution with respect to the endmember signatures and abundance maps, This optimization problem is attacked with an alternating optimization strategy. The two resulting sub-problems are convex and are solved efficiently using the alternating direction method of multipliers. Experiments are conducted for both synthetic and semi-real data. Simulation results show that the proposed unmixing based fusion scheme improves both the abundance and endmember estimation comparing with the state-of-the-art joint fusion and unmixing algorithms.

cs.CV↗

arXiv2016

A Real-Time and Energy-Efficient Implementation of Difference-of-Gaussian with Flexible Thin-Film Transistors

With many advantageous features, softness and better biocompatibility, flexible electronic devices have developed rapidly and increasingly attracted attention. Many currently applications with flexible devices are sensors and drivers, while there is nearly no utilization aiming at complex computation since flexible devices have lower electron mobility, simple structure and large process variation. In this paper, we proposed an innovative method that enabled flexible devices to implement real-time and energy-efficient Difference-of-Gaussian, which illustrated feasibility and potentials for them to achieve complicated real-time computation in future generation products.

cs.ET↗

arXiv2015

Fast Spectral Unmixing based on Dykstra's Alternating Projection

This paper presents a fast spectral unmixing algorithm based on Dykstra's alternating projection. The proposed algorithm formulates the fully constrained least squares optimization problem associated with the spectral unmixing task as an unconstrained regression problem followed by a projection onto the intersection of several closed convex sets. This projection is achieved by iteratively projecting onto each of the convex sets individually, following Dyktra's scheme. The sequence thus obtained is guaranteed to converge to the sought projection. Thanks to the preliminary matrix decomposition and variable substitution, the projection is implemented intrinsically in a subspace, whose dimension is very often much lower than the number of bands. A benefit of this strategy is that the order of the computational complexity for each projection is decreased from quadratic to linear time. Numerical experiments considering diverse spectral unmixing scenarios provide evidence that the proposed algorithm competes with the state-of-the-art, namely when the number of endmembers is relatively small, a circumstance often observed in real hyperspectral applications.

cs.CV↗

arXiv2015

Hyperspectral pansharpening: a review

Pansharpening aims at fusing a panchromatic image with a multispectral one, to generate an image with the high spatial resolution of the former and the high spectral resolution of the latter. In the last decade, many algorithms have been presented in the literature for pansharpening using multispectral data. With the increasing availability of hyperspectral systems, these methods are now being adapted to hyperspectral images. In this work, we compare new pansharpening techniques designed for hyperspectral data with some of the state of the art methods for multispectral pansharpening, which have been adapted for hyperspectral data. Eleven methods from different classes (component substitution, multiresolution analysis, hybrid, Bayesian and matrix factorization) are analyzed. These methods are applied to three datasets and their effectiveness and robustness are evaluated with widely used performance indicators. In addition, all the pansharpening techniques considered in this paper have been implemented in a MATLAB toolbox that is made available to the community.

cs.CV↗

arXiv2015

A General Scheme for Noise-Tolerant Logic Design Based on Probabilistic and DCVS Approaches

In this paper, a general circuit scheme for noise-tolerant logic design based on Markov Random Field theory and differential Cascade Voltage Switch technique has been proposed, which is an extension of the work in [1-3], [4]. A block with only four transistors has been successfully inserted to the original circuit scheme from [3] and extensive simulation results show that our proposed design can operate correctly with the input signal of 1 dB signal-noise-ratio. When using the evaluation parameter from [5], the output value of our design decreases by 76.5% on average than [3] which means that superior noise-immunity could be obtained through our work.

cs.AR↗

arXiv2015

Fast Fusion of Multi-Band Images Based on Solving a Sylvester Equation

This paper proposes a fast multi-band image fusion algorithm, which combines a high-spatial low-spectral resolution image and a low-spatial high-spectral resolution image. The well admitted forward model is explored to form the likelihoods of the observations. Maximizing the likelihoods leads to solving a Sylvester equation. By exploiting the properties of the circulant and downsampling matrices associated with the fusion problem, a closed-form solution for the corresponding Sylvester equation is obtained explicitly, getting rid of any iterative update step. Coupled with the alternating direction method of multipliers and the block coordinate descent method, the proposed algorithm can be easily generalized to incorporate prior information for the fusion problem, allowing a Bayesian estimator. Simulation results show that the proposed algorithm achieves the same performance as existing algorithms with the advantage of significantly decreasing the computational complexity of these algorithms.

cs.CV↗