Rigid registration of 3D point clouds is the key technology in robotics and computer vision. Most commonly, the iterative closest point (ICP) and its variants are employed for this task. These methods assume that the closest point is the corresponding point and lead to sensitivity to the outlier and initial pose, while they have poor computational efficiency due to the closest point computation. Most implementations of the ICP algorithm attempt to deal with this issue by modifying correspondence or adding coarse registration. However, this leads to sacrificing the accuracy rate or adding the algorithm complexity. This paper proposes a hierarchical optimization approach that includes improved voxel filter and Multi-Scale Voxelized Generalized-ICP (MVGICP) for 3D point cloud registration. By combining traditional voxel sampling with point density, the outlier filtering and downsample are successfully realized. Through multi-scale iteration and avoiding closest point computation, MVGICP solves the local minimum problem and optimizes the operation efficiency. The experimental results demonstrate that the proposed algorithm is superior to the current algorithms in terms of outlier filtering and registration performance.

The rapid development of machine vision has prompted the continuous emergence of new detection systems and algorithms in surface defect detection. However, most of the existing methods establish their systems with few comparisons and verifications, and the methods described still have various problems. Thus, an original defect detection method: Segmented Embedded Rapid Defect Detection Method for Surface Defects (SERDD) is proposed in this paper. This method realizes the two-way fusion of image processing and defect detection, which can efficiently and accurately detect surface defects such as depression, scratches, notches, oil, shallow characters, abnormal dimensions, etc. Besides, the character recognition method based on Spatial Pyramid Character Proportion Matching (SPCPM) is used to identify the engraved characters on the bearing dust cover. Moreover, the problem of characters being cut in coordinate transformation is solved through Image Self-Stitching-and-Cropping (ISSC). This paper adopts adequate real image data to verify and compare the methods and proves the effectiveness and advancement through detection accuracy, missing alarm rate, and false alarm rate. This method can provide machine vision technical support for bearing surface defect detection in its real sense.

Recent years have witnessed the widespread research of the surface defect detection technology based on machine vision, which has spawned various effective detection methods. In particular, the rise of deep learning has allowed the surface defect detection technology to develop further. However, these methods based on deep learning still have some drawbacks. For example, the size of the sample data is not large enough to support deep learning; the location and recognition of surface defects are not accurate enough; the real-time performance of segmentation and classification is not satisfactory. In the context, this paper proposes an end-to-end convolutional neural network model: the pixel-wise segmentation and image-wise classification network (PSIC-Net). With the innovative design of a three-stage network structure, improved loss function and a two-step training mode, PSIC-Net can accurately and quickly segment and classify surface defects with a small dataset of training data. This model was evaluated with three public datasets, and compared with the most advanced defect detection methods. All the performance metrics prove the effectiveness and advancement of PSIC-Net.

This paper addresses the problem of instance-level 6DoF pose estimation from a single RGBD image in an indoor scene. Many recent works have shown that a two-stage network, which first detects the keypoints and then regresses the keypoints for 6d pose estimation, achieves remarkable performance. However, the previous methods concern little about channel-wise attention and the keypoints are not selected by comprehensive use of RGBD information, which limits the performance of the network. To enhance RGB feature representation ability, a modular Split-Attention block that enables attention across feature-map groups is proposed. In addition, by combining the Oriented FAST and Rotated BRIEF (ORB) keypoints and the Farthest Point Sample (FPS) algorithm, a simple but effective keypoint selection method named ORB-FPS is presented to avoid the keypoints appear on the non-salient regions. The proposed algorithm is tested on the Linemod and the YCB-Video dataset, the experimental results demonstrate that our method outperforms the current approaches, achieves ADD(S) accuracy of 94.5% on the Linemod dataset and 91.4% on the YCB-Video dataset.

Under the too short arc scenario, the evolutionary-based algorithm has more potential than traditional methods in initial orbit determination. However, the underlying multimodal phenomenon in initial orbit determination is ignored by current works. In this paper, we propose a new enhanced differential evolution (DE) algorithm with multimodal property to study the angle-only IOD problem. Specifically, a coarse-to-fine convergence detector is implemented, based on the Boltzmann Entropy, to determine the evolutionary phase of the population, which lays the basis of the balance between the exploration and exploitation ability. A two-layer niching technique clusters the individuals to form promising niches after each convergence detected. The candidate optima from resulting niches are saved as supporting individuals into an external archive for diversifying the population, and a local search within the archive is performed to refine the solutions. In terms of performance validation, the proposed multimodal differential evolution algorithm is evaluated on the CEC2013 multimodal benchmark problems, and it achieved competitive results compared to 11 state-of-the-art algorithms, which present its capability of multimodal optimization. Moreover, several IOD experiments and analyses are carried out on three simulated scenarios of space-based observation. The findings show that, compared to traditional IOD approaches and EA-based IOD algorithms, the proposed algorithm is more successful at finding plausible solutions while improving IOD accuracy.

Egocentric activity recognition in first-person video (FPV) requires fine-grained matching of the camera wearer’s action and the objects being operated. The traditional method used for third-person action recognition does not suffice because of (1) the background ego-noise introduced by the unstructured movement of the wearable devices caused by body movement; (2) the small-sized and fine-grained objects with single scale in FPV. Size compensation is performed to augment the data. It generates a multi-scale set of regions, including multi-size objects, leading to superior performance. We compensate for the optical flow to eliminate the camera noise in motion. We developed a novel two-stream convolutional neural network-recurrent attention neural network (CNN-RAN) architecture: spatial temporal attention on compensation information (STAC), able to generate generic descriptors under weak supervision and focus on the locations of activated objects and the capture of effective motion. We encode the RGB features using a spatial location-aware attention mechanism to guide the representation of visual features. Similar location-aware channel attention is applied to the temporal stream in the form of stacked optical flow to implicitly select the relevant frames and pay attention to where the action occurs. The two streams are complementary since one is object-centric and the other focuses on the motion. We conducted extensive ablation analysis to validate the complementarity and effectiveness of our STAC model qualitatively and quantitatively. It achieved state-of-the-art performance on two egocentric datasets.