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2019 IEEE International Conference on Unmanned Systems (ICUS)最新文献

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Semi-Direct Visual Odometry Based on Monocular Depth Estimation 基于单目深度估计的半直接视觉里程计
2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8996049
Shuang Guo, Jifeng Guo, Chengchao Bai
{"title":"Semi-Direct Visual Odometry Based on Monocular Depth Estimation","authors":"Shuang Guo, Jifeng Guo, Chengchao Bai","doi":"10.1109/ICUS48101.2019.8996049","DOIUrl":"https://doi.org/10.1109/ICUS48101.2019.8996049","url":null,"abstract":"Among various visual sensors used in various visual odometry methods, monocular cameras are more suitable for small mobile platforms due to their low costs, light weights and low power consumptions. However, the depth of the scene cannot be measured by monocular camera so all kinds of monocular visual odometry or SLAM algorithms inevitably have the defect of scale ambiguity, which greatly limits their application in real world. To solve the above problems, a semi-direct visual odometry algorithm based on monocular depth estimation is proposed in this paper, we add a monocular depth estimation module into the semi-direct visual odometry, which provides good initial values to the depth filter. In this way, the inherent defect of scale ambiguity is overcome, and the accuracy and robustness of monocular visual odometry are improved.","PeriodicalId":344181,"journal":{"name":"2019 IEEE International Conference on Unmanned Systems (ICUS)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127642638","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Developing SHM Requirements for Aircraft Structures with System Engineering 用系统工程开发飞机结构的SHM要求
2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8995958
Qingyu Zhu, Jian Shen, Yanwei Li, Yan Zhou
{"title":"Developing SHM Requirements for Aircraft Structures with System Engineering","authors":"Qingyu Zhu, Jian Shen, Yanwei Li, Yan Zhou","doi":"10.1109/ICUS48101.2019.8995958","DOIUrl":"https://doi.org/10.1109/ICUS48101.2019.8995958","url":null,"abstract":"Structural Health Management (SHM) and its related technologies have been applied in aircraft structures for decades, which offer the combined benefits of reducing maintenance costs and improving structural design performance. It is generally known that requirements are the key to establishing SHM system correctly. However, there is lack of valid guidance for defining SHM system requirements using a systematic process. The unique challenge for SHM is that require designers to consider not only their own fields, but also the specifications and constraints of other interconnected systems. In this paper we identify activities specific to SHM design and development with system engineering (SE) method, provide some systematic guidance for designers in writing the SHM requirements to ensure that reasonable functions are considered in the process of SHM system development.","PeriodicalId":344181,"journal":{"name":"2019 IEEE International Conference on Unmanned Systems (ICUS)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126293754","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Balanced Circulant Binary Convolutional Networks 平衡循环二进制卷积网络
2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8996039
Yabo Zhang, Wenrui Ding, Chunlei Liu
{"title":"Balanced Circulant Binary Convolutional Networks","authors":"Yabo Zhang, Wenrui Ding, Chunlei Liu","doi":"10.1109/ICUS48101.2019.8996039","DOIUrl":"https://doi.org/10.1109/ICUS48101.2019.8996039","url":null,"abstract":"Binary convolutional neural networks (BCNNs) are widely used to improve memory and computation efficiency of deep convolutional neural networks (DCNNs) for mobile and AI chips based applications. However, current BCNNs are not able to fully explore their corresponding full-precision models, causing a significant performance gap between them. In this paper, we propose balanced circulant binary convolutional networks (BCBCNs), towards optimized BCNNs, by balancing the distribution of feature maps while enhancing the orientation ability of kernels. In particular, we adjust the architecture by introducing more batch normalization (BN) layers and circulant convolutional layers in an end-to-end framework, which significantly improve the performance of BCNNs. This combination can be easily exploited into existing DCNNs such as LeNet and ResNet. Extensive experiments demonstrate the superior performance of the proposed BCBCNs over most state-of-the-art BCNNs.","PeriodicalId":344181,"journal":{"name":"2019 IEEE International Conference on Unmanned Systems (ICUS)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126013686","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Optimal Design of Turning Law for Vertical Launch of Missile Based on Quaternion 基于四元数的导弹垂直发射转向律优化设计
2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8995926
Wei Gao, Zhenpeng Wang, Xiaoxu Rong, Xin Lu
{"title":"Optimal Design of Turning Law for Vertical Launch of Missile Based on Quaternion","authors":"Wei Gao, Zhenpeng Wang, Xiaoxu Rong, Xin Lu","doi":"10.1109/ICUS48101.2019.8995926","DOIUrl":"https://doi.org/10.1109/ICUS48101.2019.8995926","url":null,"abstract":"Aiming at the turning problem of missile after vertical launch, this paper takes the vector nozzle as thrust vector mechanism to study the optimal turning law with variable time. Firstly, based on quaternion, the missile vertical launch motion equation is established in the missile body coordinate system, and the linear perturbation model of longitudinal channel is analyzed; Then, based on the optimized method of combining particle swarm optimization and genetic algorithm, the attitude angle in the turning process is selected as the optimized variable, and the high-order one-variable function is used to approximate the optimal turning law; Finally, the expression of the turning law is obtained by optimized calculation. The optimized results satisfy the process and terminal constraints. The law of angle of attack and pitch is consistent with the engineering experience.","PeriodicalId":344181,"journal":{"name":"2019 IEEE International Conference on Unmanned Systems (ICUS)","volume":"149 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127960429","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Improved SINS/CNS Integrated Navigation System with Fault Detection Based on Statistical Distance 基于统计距离故障检测的改进SINS/CNS组合导航系统
2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8995916
Guangle Gao, Shesheng Gao, Xu Peng, Jiahao Zhang, Bingbing Gao, Zhaohui Gao
{"title":"Improved SINS/CNS Integrated Navigation System with Fault Detection Based on Statistical Distance","authors":"Guangle Gao, Shesheng Gao, Xu Peng, Jiahao Zhang, Bingbing Gao, Zhaohui Gao","doi":"10.1109/ICUS48101.2019.8995916","DOIUrl":"https://doi.org/10.1109/ICUS48101.2019.8995916","url":null,"abstract":"Celestial navigation system (CNS) is a completely autonomous navigation technology with strong anti-interference ability and high navigation accuracy, which has a great application prospect. Aim at defect of traditional integrated navigation system using attitude angle measurement celestial navigation system and strapdown inertial navigation system (SINS), which can only correct of strapdown inertial navigation system’s gyro drift. This paper proposes an improved integrated navigation system that add double-star positioning celestial navigation to traditional SINS/CNS integrated navigation system, meanwhile, introduces the fault detection technology based on statistical distance to solve the problem that inaccuracy of measurement information leads to the integrated navigation system’s performance degradation. By analyzing the simulation results, the improved navigation system can inhibit divergence of system and obtain high accurate and stable navigation information.","PeriodicalId":344181,"journal":{"name":"2019 IEEE International Conference on Unmanned Systems (ICUS)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131374272","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Adaptive Target Detection Algorithm Based on Correlation Filtering 基于相关滤波的自适应目标检测算法
2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8996036
Zexiao Xie, Yan Zhang, Shukai Chi, Lin Zhou, Ming Li
{"title":"Adaptive Target Detection Algorithm Based on Correlation Filtering","authors":"Zexiao Xie, Yan Zhang, Shukai Chi, Lin Zhou, Ming Li","doi":"10.1109/ICUS48101.2019.8996036","DOIUrl":"https://doi.org/10.1109/ICUS48101.2019.8996036","url":null,"abstract":"Correlation filtering is a fast and robust signal detection and processing algorithm. However, in the field of images processing, scale and rotation variation are important issues for correlation filtering algorithms. This paper proposes a detection method based on correlation filtering, which uses axis of symmetry and circumscribed rectangles to estimate the rotation and scale of the target. Firstly, using the HSV model to separate the colors to be found in the original image. Then, the axisymmetric shell intersection method is proposed to solve the symmetry axis and the circumscribed rectangle of the object. Finally, a correlation filter is used to solve all the areas that are likely to be objects. The response value, the position with the highest response value is the object position. The algorithm performs experiments on a set of artificially calibrated image sequences. Experiments show that this method can achieve better detection results when the number of training samples is small.","PeriodicalId":344181,"journal":{"name":"2019 IEEE International Conference on Unmanned Systems (ICUS)","volume":"64 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125230352","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Failure mode and effects analysis based on intuitionistic fuzzy sets and evidential correlation coefficient 基于直觉模糊集和证据相关系数的失效模式及影响分析
2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8995990
Hang Zhang, Chan Huang, Mingsheng Lu, Xiaofei Dong
{"title":"Failure mode and effects analysis based on intuitionistic fuzzy sets and evidential correlation coefficient","authors":"Hang Zhang, Chan Huang, Mingsheng Lu, Xiaofei Dong","doi":"10.1109/ICUS48101.2019.8995990","DOIUrl":"https://doi.org/10.1109/ICUS48101.2019.8995990","url":null,"abstract":"As an effective implement, failure mode and effects analysis (FMEA) is widely applied in the security of system for practical application. Nowadays, many methods determine the order of fault mode by a crisp risk priority number (RPN). However, these methods exist several shortcomings, for instance, the correlation of the assessments given by team members are not fully considered. In this article, a new method for risk assessment and sequence for failure modes in FMEA is proposed on account of the D-S evidence theory and the evidential correlation coefficient. By using the proposed approach, the weights of team members for each failure mode and risk factor is obtained. Then the weighted assessments are used to perform the aggregation process by Intuitionistic fuzzy weighted averaging (IFWA) operator. A classic application regarding risk assessment is used to verify the effectiveness of the proposed method.","PeriodicalId":344181,"journal":{"name":"2019 IEEE International Conference on Unmanned Systems (ICUS)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131025055","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Refined recognition and intelligent smart interference of radar signal 雷达信号的精细识别和智能智能干扰
2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8995952
Jianquan Yuan, Yunong Bu, Shuyuan Yang, Qingxi Chi
{"title":"Refined recognition and intelligent smart interference of radar signal","authors":"Jianquan Yuan, Yunong Bu, Shuyuan Yang, Qingxi Chi","doi":"10.1109/ICUS48101.2019.8995952","DOIUrl":"https://doi.org/10.1109/ICUS48101.2019.8995952","url":null,"abstract":"Facing the complex electromagnetic environment on the battlefield, how to effectively identify important radar signals by jammers and how to implement strong and effective electromagnetic interference to the enemy's huge radar detection system under the condition of limited jamming resources will be the difficult problems that need to be solved continuously in the electronic warfare field. The solution of these problems will be the premise of effective interference for wartime jammers. In this paper, the technical gap of traditional jammers is analyzed. For radar signal perception, a refined perception and recognition method is proposed, forming the algorithm idea of multi-scale feature extraction and recognition based on radar fingerprint and multi-channel integrated multi-label recognition and classification based on radar radiation source. For interference implementation, the idea of smart interference based on deep GAN is put forward, laying the ground for further research on cognitive electronic warfare.","PeriodicalId":344181,"journal":{"name":"2019 IEEE International Conference on Unmanned Systems (ICUS)","volume":"129 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127384963","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Measuring Accuracy Prediction-based Path Planning for UGVs with Visual Measurement Ability 基于测量精度预测的具有视觉测量能力的ugv路径规划
2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8995959
Weiran Yao, N. Qi, Qihang Zhou, Yongbei Liu, K. Sun
{"title":"Measuring Accuracy Prediction-based Path Planning for UGVs with Visual Measurement Ability","authors":"Weiran Yao, N. Qi, Qihang Zhou, Yongbei Liu, K. Sun","doi":"10.1109/ICUS48101.2019.8995959","DOIUrl":"https://doi.org/10.1109/ICUS48101.2019.8995959","url":null,"abstract":"Distributed unmanned ground vehicles (UGVs) with visual measurement cameras provide more flexibility and extendibility to measuring technology in industrial applications. This paper proposes an accuracy prediction-based path planning method for visual measurement system based on UGVs. A task planning framework for the visual measurement system is designed, in which task assignment, measuring position planning, and path planning are integrated. An accuracy prediction model is established using the geometric principle in visual measurement. The optimal measuring positions and paths are obtained for the UGVs based on the accuracy prediction model and virtual potential field method. Simulations and experimental results validate the effectiveness of the proposed method.","PeriodicalId":344181,"journal":{"name":"2019 IEEE International Conference on Unmanned Systems (ICUS)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114836908","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 1
Spatial Multi-object Recognition Based on Deep Learning 基于深度学习的空间多目标识别
2019 IEEE International Conference on Unmanned Systems (ICUS) Pub Date : 2019-10-01 DOI: 10.1109/ICUS48101.2019.8995980
Wang Liu, Hewen Xiao, Bai Chengchao
{"title":"Spatial Multi-object Recognition Based on Deep Learning","authors":"Wang Liu, Hewen Xiao, Bai Chengchao","doi":"10.1109/ICUS48101.2019.8995980","DOIUrl":"https://doi.org/10.1109/ICUS48101.2019.8995980","url":null,"abstract":"With the rapid development of spacecraft technology, spacecraft, which is mainly represented by satellites, has become an important military resource for the extraordinary success of space attack and defense in various countries. Accurately identifying the type of satellite and the components of the satellite’s windsurfing, nozzles, and star sensors is important prerequisites and safeguards for space attack and on-orbit maintenance. In this paper, the deep learning based convolutional neural network YOLO model is used to identify the space satellite and its components, and the three dimensional models and the physical models image set of the two satellite models are trained for close-range front view, long distance, occlusion, and motion blur. Satellites and satellite components are identified under different conditions. In some cases , the recognition accuracy of satellite and satellite components is more than 90%, it is of great significance in the field of on-orbit services, space attack and defense confrontation.","PeriodicalId":344181,"journal":{"name":"2019 IEEE International Conference on Unmanned Systems (ICUS)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129449223","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
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