The Perception and Content of Cast Shadows: An Interdisciplinary Review

Abstract

Recently, psychologists have turned their attention to the study of cast shadows and demonstrated that the human perceptual system values information from shadows very highly in the perception of spatial qualities, sometimes to the detriment of other cues. However with some notable and recent exceptions, computer vision systems treat cast shadows not as signal but as noise. This paper provides a concise yet comprehensive review of the literature on cast shadow perception from across the cognitive sciences, including the theoretical information available, the perception of shadows in human and machine vision, and the ways in which shadows can be used.     

行星车视觉导航与自主控制进展与展望

以视觉为主的行星车自主地形感知、导航、规划与控制系统是其安全高效探测的重要保障。本文通过对已成功开展和计划中的系列行星车任务导航与控制系统进行汇总，重点梳理了行星车多源地形感知、自主全局和局部导航、自主路径规划与控制等若干关键问题的进展情况，展望了未来自主化、智能化的发展趋势，并结合任务需求构建了行星车视觉导航与自主控制研究框架设想。     

Mission-driven autonomous perception and fusion based on UAV swarm

Distributed autonomous situational awareness is one of the most important foundation for Unmanned Aerial Vehicle (UAV) swarm to implement various missions. Considering the application environment being usually characterized by strong confrontation, high dynamics, and deep uncertainty, the distributed situational awareness system based on UAV swarm needs to be driven by the mission requirements, while each node in the network can autonomously avoid collisions and perform detection mission through limited resource sharing as well as complementarity of respective advantages. By efficiently solving the problems of self-avoidance, autonomous flocking and splitting, joint estimation and control, etc., perception data from multi-platform multi-source should be extracted and fused reasonably, to generate refined, tailored target information and provide reliable support for decision-making.     

空间机械臂技术综述及展望

介绍了国外空间机械臂在轨技术验证与工程应用的概况,从任务类型、构型配置、末端执行器与操作方式方面分析了空间机械臂技术的发展趋势。综述了空间机械臂的任务规划、系统控制、路径规划、视觉感知、末端执行器、遥操作控制及地面试验验证7项关键技术。介绍了中国试验七号与天宫二号空间机械臂在轨验证情况,重点介绍了正在研制的中国空间站机械臂基本方案。最后,总结了目前空间机械臂技术存在的问题,并对中国未来空间机械臂技术发展提出了建议。     

基于翼面压力的飞行器气动力感知技术与自由飞验证

飞行器在大迎角飞行状态下其复杂绕流流动会导致非指令运动出现,严重影响了飞行器的操纵性与飞行安全。现有以惯性元件为核心的机载设备无法直接提供非定常气动力参数,而如何实时感知飞行器大迎角状态的非定常气动力/力矩,是抑制非指令运动现象的核心所在,将是未来战机设计中亟待解决的空气动力学和飞行控制的关键问题之一。针对上述问题,提出基于翼面压力信息获取特征截面滚转力矩系数C_lsec,估算飞行器全机在大迎角状态下的非定常气动力矩,进而判断飞行器的滚转运动的设想。风洞和飞行试验研究结果表明：对于80°/48°双三角翼,0.8c特征截面滚转力矩系数C_lsec与模型滚转力矩存在相关性;在飞行器进行大迎角平飞动作时,非指令滚转运动下的滚转力矩系数C_lsec大幅增加;C_lsec能够比惯性传感器提前预测模型的滚转运动趋势,可为飞行器大迎角状态的非指令运动抑制提供一定数据依据。     

Study of values and interpersonal perception in cosmonauts on board of international space station

The increased heterogeneity of International Space Station (ISS) crews′ composition (in terms of nationality, profession and gender) together with stressful situations, due to space flight, can have a significant impact on group interaction and cohesion, as well as on communications with Mission Control Center (MCC) and the success of the mission as a whole. Culturally related differences in values, goals, and behavioral norms could influence mutual perception and, thus, cohesive group formation. The purpose of onboard “Interaction-Attitudes” experiment is to study the patterns of small group (space crew) behavior in extended space flight. Onboard studies were performed in the course of ISS Missions 19–30 with participation of twelve Russian crewmembers. Experimental schedule included 3 phases: preflight training and Baseline Data Collection; inflight activities once in two weeks; post-flight measurement. We used Personal Self-Perception and Attitudes (PSPA) software for analyzing subjects′ attitudes toward social environment (crewmembers and MCC). It is based on the semantic differential and the repertory grid technique. To study the content of interpersonal perception we used content-analysis with participation of the experts, independently attributing each construct to the 17 semantic categories, which were described in our previous study. The data obtained demonstrated that the system of values and personal attitudes in the majority of participated cosmonauts remained mostly stable under stress-factors of extended space flight. Content-analysis of the important criteria elaborated by the subjects for evaluation of their social environment, showed that the most valuable personal traits for cosmonauts were those that provided the successful fulfillment of professional activity (motivation, intellectual level, knowledge, and self-discipline) and good social relationships (sociability, friendship, and tolerance), as well. Post-flight study of changes in perceptions, related to Real Self-image, did not reveal significant differences between the images of Russian crew-members and representatives from foreign space agencies. A certain difference in perceptions was found in cosmonauts with more integrated system of evaluations: after space flight they perceived foreign participants as “closer” to their Ideal, while Russian crew-members were perceived mostly as “distant” from Ideal Self of these subjects. Perceptions of people from Earth were also more critical. These differences are likely to be manifestations of interpersonal perception stereotypes. Described patterns of changes in perceptions of cosmonauts, who have performed space flight as a part of ISS multinational crew, allow us to suggest the recommendations for development of ISS crew training, in particular, it seems useful to increase the time of joint training for deepening of intercultural interaction.     

基于支持向量机的无参考遥感图像质量评价方法

针对遥感图像主观评价方法的低效率以及常用客观评价方法无法充分考虑人眼对图像的感知特性的问题,文章提出了一种基于支持向量机的无参考遥感图像质量（quality）评价方法。首先建立遥感图像主观评价库,然后在不需要图像失真信息的基础上,利用支持向量机（SVM）将图像的失真类型分为三类,并对每类进行单项评价,再通过加权得到遥感图像的总评分,最后将本文方法、信噪比与信息熵的评价结果回归到主观评价空间并进行对比。实验证明,文章所提方法能客观地评价遥感图像的质量,且优于信噪比和信息熵两种质量评价方法,其结果与人眼视觉感受相符。     

地面无人平台视觉导航定位技术研究

地面无人平台实现自动驾驶等功能的核心难题在于如何感知其所处环境并获得自身在环境中的实时状态。机器视觉作为地面无人平台在复杂环境下实现自主导航及定位的重要手段,近年来得到了快速发展。系统性地分析了视觉定位与地图构建系统的基本架构,并对该架构包含的图像信息预处理、视觉里程计、回环检测、全局优化和地图构建模块分别进行了详细介绍。针对各模块所涉及的关键技术,总结了近些年来国内外主流的研究成果,对比分析了各个关键技术中主流方法的性能,并展望了地面无人平台视觉导航定位技术的发展方向。     

基于相关滤波器的嵌入式动态目标跟踪系统设计

针对空间非合作运动目标监控,提出了一种基于嵌入式技术的动态目标实时检测与跟踪方法,并完成了跟踪系统的研制设计和测试。该视觉目标跟踪系统以嵌入式处理器为控制器,通过相机模组获取实时视频图像,图像经过视觉检测与跟踪算法程序分析,得到目标的位置信息后,控制伺服运动系统调整相机姿态实现对动态目标跟踪。提出了基于相关滤波原理的跟踪算法,搭建了树莓派嵌入式测试系统,完成实时检测与跟踪的实验评估。实验结果表明,嵌入式处理器中检测与跟踪程序的平均运行帧率达到25FPS,伺服机构在水平360°和俯仰±60°范围内实现了对移动速度90°/s的目标的实时、稳定监控与跟踪。