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Qingzhen Zhu

Publications and source records attributed to Qingzhen Zhu.

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Quotient Network -- A Network Similar to ResNet but Learning Quotients

The emergence of ResNet provides a powerful tool for training extremely deep networks. The core idea behind it is to change the learning goals of the network. It no longer learns new features from scratch but learns the difference between the target and existing features. However, the difference between the two kinds of features does not have an independent and clear meaning, and the amount of learning is based on the absolute rather than the relative difference, which is sensitive to the size of existing features. We propose a new network that perfectly solves these two problems while still having the advantages of ResNet. Specifically, it chooses to learn the quotient of the target features with the existing features, so we call it the quotient network. In order to enable this network to learn successfully and achieve higher performance, we propose some design rules for this network so that it can be trained efficiently and achieve better performance than ResNet. Experiments on the CIFAR10, CIFAR100, and SVHN datasets prove that this network can stably achieve considerable improvements over ResNet by simply making tiny corresponding changes to the original ResNet network without adding new parameters.

cs.CV

Immersive Human-Machine Teleoperation Framework for Precision Agriculture: Integrating UAV-based Digital Mapping and Virtual Reality Control

In agricultural settings, the unstructured nature of certain production environments, along with the high complexity and inherent risks of production tasks, poses significant challenges to achieving full automation and effective on-site machine control. Remote control technology, which leverages human intelligence and precise machine movements, ensures operator safety and boosts productivity. Recently, virtual reality (VR) has shown promise in remote control applications by overcoming single-view limitations and providing three-dimensional information, yet most studies have not focused on agricultural settings. Therefore, to bridge the gap, this study proposes a large-scale digital mapping and immersive human-machine teleoperation framework specifically designed for precision agriculture. In this research, a DJI unmanned aerial vehicle (UAV) was utilized for data collection, and a novel video segmentation approach based on feature points was introduced. To accommodate the variability of complex textures, this method proposes an enhanced Structure from Motion (SfM) approach. It integrates the open Multiple View Geometry (OpenMVG) framework with Local Features from Transformers (LoFTR). The enhanced SfM produces a point cloud map, which is further processed through Multi-View Stereo (MVS) to generate a complete map model. For control, a closed-loop system utilizing TCP/IP for VR control and positioning of agricultural machinery was introduced. This system offers a fully visual-based method for immersive control, allowing operators to utilize VR technology for remote operations. The experimental results demonstrate that the user-friendly remote control method also showcases its advantages over traditional video streaming-based remote operations, providing operators with a more comprehensive and immersive experience and a higher level of situational awareness.

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