A CPU-GPU Hybrid System of Environment Perception and 3D Terrain Reconstruction for Unmanned Ground Vehicle

Wei Song,Shuanghui Zou,Yifei Tian,Su Sun,Simon Fong,조경은,Lvyang Qiu 한국정보처리학회 2018 Journal of information processing systems Vol.14 No.6

Environment perception and three-dimensional (3D) reconstruction tasks are used to provide unmannedground vehicle (UGV) with driving awareness interfaces. The speed of obstacle segmentation and surroundingterrain reconstruction crucially influences decision making in UGVs. To increase the processing speed ofenvironment information analysis, we develop a CPU-GPU hybrid system of automatic environmentperception and 3D terrain reconstruction based on the integration of multiple sensors. The system consists ofthree functional modules, namely, multi-sensor data collection and pre-processing, environment perception,and 3D reconstruction. To integrate individual datasets collected from different sensors, the pre-processingfunction registers the sensed LiDAR (light detection and ranging) point clouds, video sequences, and motioninformation into a global terrain model after filtering redundant and noise data according to the redundancyremoval principle. In the environment perception module, the registered discrete points are clustered intoground surface and individual objects by using a ground segmentation method and a connected componentlabeling algorithm. The estimated ground surface and non-ground objects indicate the terrain to be traversedand obstacles in the environment, thus creating driving awareness. The 3D reconstruction module calibratesthe projection matrix between the mounted LiDAR and cameras to map the local point clouds onto thecaptured video images. Texture meshes and color particle models are used to reconstruct the ground surfaceand objects of the 3D terrain model, respectively. To accelerate the proposed system, we apply the GPU parallelcomputation method to implement the applied computer graphics and image processing algorithms in parallel.

A CPU-GPU Hybrid System of Environment Perception and 3D Terrain Reconstruction for Unmanned Ground Vehicle

Song, Wei,Zou, Shuanghui,Tian, Yifei,Sun, Su,Fong, Simon,Cho, Kyungeun,Qiu, Lvyang Korea Information Processing Society 2018 Journal of information processing systems Vol.14 No.6

Environment perception and three-dimensional (3D) reconstruction tasks are used to provide unmanned ground vehicle (UGV) with driving awareness interfaces. The speed of obstacle segmentation and surrounding terrain reconstruction crucially influences decision making in UGVs. To increase the processing speed of environment information analysis, we develop a CPU-GPU hybrid system of automatic environment perception and 3D terrain reconstruction based on the integration of multiple sensors. The system consists of three functional modules, namely, multi-sensor data collection and pre-processing, environment perception, and 3D reconstruction. To integrate individual datasets collected from different sensors, the pre-processing function registers the sensed LiDAR (light detection and ranging) point clouds, video sequences, and motion information into a global terrain model after filtering redundant and noise data according to the redundancy removal principle. In the environment perception module, the registered discrete points are clustered into ground surface and individual objects by using a ground segmentation method and a connected component labeling algorithm. The estimated ground surface and non-ground objects indicate the terrain to be traversed and obstacles in the environment, thus creating driving awareness. The 3D reconstruction module calibrates the projection matrix between the mounted LiDAR and cameras to map the local point clouds onto the captured video images. Texture meshes and color particle models are used to reconstruct the ground surface and objects of the 3D terrain model, respectively. To accelerate the proposed system, we apply the GPU parallel computation method to implement the applied computer graphics and image processing algorithms in parallel.

Image Thresholding by Minimizing Tsallis Divergence Measure

Fangyan Nie,Xiaolin Wang,Shuanghui Yu,Zhifei Liao 보안공학연구지원센터 2015 International Journal of Signal Processing, Image Vol.8 No.8

This paper presents a novel image segmentation method that performs histogram thresholding based on the conception of Tsallis generalized divergence. Firstly, to fit the image segmentation task, the original formula of Tsallis divergence was simplified, and then the symmetrical version was constructed. After that, the criterion of divergence sum of the objective and background between original and thresholded image was set up based on the symmetrical version of the Tsallis divergence. The optimal threshold obtained by minimizing the criterion of divergence sum. Finally, the proposed method was tested on different gray level images, and the performance was evaluated using uniformity measure, shape measure, and CPU run time. Experimental results indicate the effectiveness of the proposed method.

Uncovering Microstructure Evolution and Dynamic Softening Mechanism of Spray-Deposited AlZnMgCu Alloy Under Thermal Deformation

Guoai He,Cunxiao He,Yu Liu,Chao Liu,Zhiqiang Fu,Shuanghui Xu,Xiaofei Sheng,Zhu Xiao,Qinghong Wen 대한금속·재료학회 2022 METALS AND MATERIALS International Vol.28 No.9

Dynamic softening behavior has been of great concern in the aluminum alloys, which served a vital role in affecting themicrostructure, deformation resistance and the final mechanical properties. In this paper, spray deposition was applied tomanufacture AlZnMgCu alloy to refine the casting microstructure and reduce segregation. The microstructure responses andcorresponding mechanism during the thermal compression with various temperatures and various strain rates were multiscalecharacterized and uncovered using high-resolution EBSD. The results revealed that many broken and fine grains wereobserved in the uneven and jagged grain boundaries under the low temperatures and high strain rates, which indicated theoccurrence of partial discontinuous dynamic recrystallization (DDRX). In addition, high density dislocations were formedat original grain boundaries, where great amount of low angle grain boundaries (LAGBs) were appeared. With temperatureincreased and strains rate decreased, the LAGBs would evolve to the high angle grain boundaries (HAGBs) owing to theconsiderable dislocations migrated to the grain boundaries then accumulated, which triggered the occurrence of continuousdynamic recrystallization (CDRX). Two different dynamic recrystallization types were observed and factors that influenceddifferent dynamic recrystallization behaviors were clearly elaborated, and the corresponding mechanism was indicateddetailly.

Establishment and application of a solid-phase blocking ELISA method for detection of antibodies against classical swine fever virus

Cao, Yuying,Yuan, Li,Yang, Shunli,Shang, Youjun,Yang, Bin,Jing, Zhizhong,Guo, Huichen,Yin, Shuanghui 대한수의학회 2022 Journal of Veterinary Science Vol.23 No.3

Background: Classical swine fever (CSF) is a severe infectious disease of pigs that causes significant economic losses to the swine industry. Objectives: This study developed a solid-phase blocking enzyme-linked immunosorbent assay (spbELISA) method for the specific detection of antibodies against the CSF virus (CSFV) in porcine serum samples. Methods: A spbELISA method was developed based on the recombinant E2 expressed in Escherichia coli. The specificity of this established spbELISA method was evaluated using reference serum samples positive for antibodies against other common infectious diseases. The stability and sensitivity were evaluated using an accelerated thermostability test. Results: The spbELISA successfully detected the antibody levels in swine vaccinated with the C-strain of CSFV. In addition, the detection ability of spbELISA for CSFV antibodies was compared with that of other commercial ELISA kits and validated using an indirect immunofluorescence assay. The results suggested that the spbELISA provides an alternative, stable, and rapid serological detection method suitable for the large-scale screening of CSFV serum antibodies. Conclusions: The spbELISA has practical applications in assessing the vaccination status of large pig herds.

Establishment and application of a solid-phase blocking ELISA method for detection of antibodies against classical swine fever virus

Yuying Cao,Li Yuan,Shunli Yang,Youjun Shang,Bin Yang,Zhizhong Jing,Hui-Chen Guo,Shuanghui Yin 대한수의학회 2022 Journal of Veterinary Science Vol.23 No.5

Background: Classical swine fever (CSF) is a severe infectious disease of pigs that causes significant economic losses to the swine industry. Objectives: This study developed a solid-phase blocking enzyme-linked immunosorbent assay (spbELISA) method for the specific detection of antibodies against the CSF virus (CSFV) in porcine serum samples. Methods: A spbELISA method was developed based on the recombinant E2 expressed in Escherichia coli. The specificity of this established spbELISA method was evaluated using reference serum samples positive for antibodies against other common infectious diseases. The stability and sensitivity were evaluated using an accelerated thermostability test. Results: The spbELISA successfully detected the antibody levels in swine vaccinated with the C-strain of CSFV. In addition, the detection ability of spbELISA for CSFV antibodies was compared with that of other commercial ELISA kits and validated using an indirect immunofluorescence assay. The results suggested that the spbELISA provides an alternative, stable, and rapid serological detection method suitable for the large-scale screening of CSFV serum antibodies. Conclusions: The spbELISA has practical applications in assessing the vaccination status of large pig herds.