Shadow detection for mobile robots: Features,evaluation, and datasets

ABSTRACT

Shadows have long been a challenging topic for computer vision. This challenge is made even harder when we assume that the camera is moving, as many existing shadow detection techniques require the creation and maintenance of a background model. This article explores the problem of shadow modelling from a moving viewpoint (assumed to be a robotic platform) through comparing shadow-variant and shadow-invariant image features — primarily color, texture and edge-based features. These features are then embedded in a segmentation pipeline that provides predictions on shadow status, using minimal temporal context. We also release a public dataset of shadow-related image sequences, to help other researchers further develop shadow detection methods and to enable benchmarking of techniques.     

Analytical expression for distant retrograde orbits around a small natural satellite

An analytical expression for distant retrograde orbits (DROs) is obtained in this study. Owing to the fact that a planar DRO is a closed orbit and can be expressed as an approximately elliptical orbit, respective geometries and periods of DROs are analytically calculated. A switching point, where various properties of planar DROs change abruptly with an increase in the orbital radius, is determined. The Mars–Deimos system is taken as a case study in this work. The proposed method can be applied to cases where the Hill’s approximation of the restricted three-body problem is valid. Numerical calculations are performed to validate the proposed method.     

The infra-red background generated by pregalactic stars and their remnants

We examine whether the IR background reported by Matsumoto (1983) could have been generated by stars or black holes in the pregalactic era, z=10100.     

Geometry and size optimization of stiffener layout for three-dimensional box structures with maximization of natural frequencies

Based on the growth mechanism of natural biological branching systems and inspiration from the morphology of plant root tips, a bionic design method called Improved Adaptive Growth Method (IAGM) has been proposed in the authors’ previous research and successfully applied to the reinforcement optimization of three-dimensional box structures with respect to natural frequencies. However, as a kind of ground structure methods, the final layout patterns of stiffeners obtained by using the IAGM are highly subjected to their ground structures, which restricts the optimization effect and freedom to further improve the dynamic performance of structures. To solve this problem, a novel post-processing geometry and size optimization approach is proposed in this article. This method takes the former layout optimization result as start, and iteratively finds the optimal layout angles, locations, and lengths of stiffeners with a few design variables by optimizing the positions of some specific node lines called active node lines. At the same time, thicknesses of stiffeners are also optimized to further improve natural frequencies of three-dimensional box structures. Using this method, stiffeners can be successfully separated from their ground structures and further effectively improve natural frequencies of three-dimensional box structures with less material consumption. Typical numerical examples are illustrated to validate the effectiveness and advantages of the suggested method.     

涡轮机匣热辐射-对流耦合换热特性数值计算与实验测试

开展了整环机匣的热辐射-对流耦合计算,获得了综合传热系数拟合关系式,并进行了实验测试验证。研究发现：封闭腔内,热辐射的存在大幅强化了壁面换热,辐射热流占总换热量比值可达90%以上。在3层机匣结构中,当发射率在0.3~0.8变化时,机匣沿径向方向上的温度梯度减小,主流区域的对流换热得到加强,半封闭区域对流强度降低。发射率为0.8时,外机匣流体侧壁面的辐射热流占总换热量的33.3%。     

3D Imaging of the OH mesospheric emissive layer

A new and original stereo imaging method is introduced to measure the altitude of the OH nightglow layer and provide a 3D perspective map of the altitude of the layer centroid. Near-IR photographs of the OH layer are taken at two sites separated by a 645 km distance. Each photograph is processed in order to provide a satellite view of the layer. When superposed, the two views present a common diamond-shaped area. Pairs of matched points that correspond to a physical emissive point in the common area are identified in calculating a normalized cross-correlation coefficient (NCC). This method is suitable for obtaining 3D representations in the case of low-contrast objects. An observational campaign was conducted in July 2006 in Peru. The images were taken simultaneously at Cerro Cosmos (12°09′08.2″ S, 75°33′49.3″ W, altitude 4630 m) close to Huancayo and Cerro Verde Tellolo (16°33′17.6″ S, 71°39′59.4″ W, altitude 2272 m) close to Arequipa. 3D maps of the layer surface were retrieved and compared with pseudo-relief intensity maps of the same region. The mean altitude of the emission barycenter is located at 86.3 km on July 26. Comparable relief wavy features appear in the 3D and intensity maps. It is shown that the vertical amplitude of the wave system varies as exp (Δz/2H) within the altitude range Δz = 83.5–88.0 km, H being the scale height. The oscillatory kinetic energy at the altitude of the OH layer is comprised between 3 × 10⁻⁴ and 5.4 × 10⁻⁴ J/m³, which is 2–3 times smaller than the values derived from partial radio wave at 52°N latitude.     

Primordial black holes and Holeums as progenitors of Galactic diffuse gamma-ray background

Diffuse Galactic gamma-ray flux resulting from the evaporation of primordial black holes has been the subject of intensive research work during the last few decades. Theoretical work addressing this issue started in the 1970s whereas data started pouring in only in the 1990s. We discuss in this paper a model of the potential contribution to the Galactic gamma-ray flux of primordial black holes in binary systems and extend the argument to include stable gravitational bound states called Holeums. The model has a predictive power and can be tested by looking for gamma-ray excess in the vicinity of violent events occurring in the Galaxy such as supernova explosions.     

基于混合集合规划的机位分配约束规划模型

为解决现有数学规划方法只能简单描述停机位分配问题而且不能全局搜索最优解的问题,应用混合集合规划方法进行数据建模和逻辑建模,并设计切实可行的求解策略,从而实现全局搜索最优解。对典型实例进行了计算及对比分析,混合集合规划方法能够得出全局最优解,并且最优分配结果的优化目标提升了2%。结果表明,基于混合集合规划的约束规划模型有效可行。     

基于增量学习的高光谱图像目标检测

高光谱图像目标检测是高光谱图像分析中的重要研究内容之一。本文从经典有效的约束能量最小化算法出发,提出了一种基于增量学习的高光谱目标检测方法。当获得新的样本时,不需要重新计算所有样本的自相关矩阵即可对检测器模型进行更新,减轻了星上有限计算资源的负担。实验结果表明:本文提出的目标检测算法在压制背景光谱的同时可以更好地适应目标光谱,提高了算法的检测性能。     

重庆都市经济圈土壤Cd元素含量分布特征与评价

通过重庆都市经济圈网格化深浅层土壤及评价样品的调查分析,阐述重金属Cd区域上的分布现状,并绘制土壤Cd元素环境质量分级图.研究区浅层土壤Cd背景平均值0.27μg/g,深层0.13μg/g.根据《土壤环境质量标准》对区内土壤进行统计分类,区内浅层土壤Cd元素Ⅱ类土及以上土类面积为83.97%.土壤Cd高含量值主要分布在金刀峡镇北、含谷—白市驿、木耳—王家和玉峰山镇等区域.含谷—白市驿、木耳—王家、西彭北等区域的高Cd含量受人类活动影响比较明显,其中含谷—白市驿区Cd主要来源于生活垃圾、排污底泥和降尘,而金刀峡镇北的高Cd含量属自然背景变化的范畴.