Local histogram based geometric invariant image watermarking

Compared with other existing methods, the feature point-based image watermarking schemes can resist to global geometric attacks and local geometric attacks, especially cropping and random bending attacks (RBAs), by binding watermark synchronization with salient image characteristics. However, the watermark detection rate remains low in the current feature point-based watermarking schemes. The main reason is that both of feature point extraction and watermark embedding are more or less related to the pixel position, which is seriously distorted by the interpolation error and the shift problem during geometric attacks. In view of these facts, this paper proposes a geometrically robust image watermarking scheme based on local histogram. Our scheme mainly consists of three components: (1) feature points extraction and local circular regions (LCRs) construction are conducted by using Harris-Laplace detector; (2) a mechanism of grapy theoretical clustering-based feature selection is used to choose a set of non-overlapped LCRs, then geometrically invariant LCRs are completely formed through dominant orientation normalization; and (3) the histogram and mean statistically independent of the pixel position are calculated over the selected LCRs and utilized to embed watermarks. Experimental results demonstrate that the proposed scheme can provide sufficient robustness against geometric attacks as well as common image processing operations. (C) 2010 Elsevier B.V. All rights reserved.

A linkage map of common carp (Cyprinus carpio) based on AFLP and microsatellite markers

P>Common carp (Cyprinus carpio) is an important fish for aquaculture, but genomics of this species is still in its infancy. In this study, a linkage map of common carp based on Amplified Fragment Length Polymorphism (AFLP) and microsatellite (SSR) markers has been generated using gynogenetic haploids. Of 926 markers genotyped, 151 (149 AFLPs, two SSRs) were distorted and eliminated from the linkage analyses. A total of 699 AFLP and 20 microsatellite (SSR) markers were assigned to the map, which comprised 64 linkage groups and covered 5506.9 cM Kosambi, with an average interval distance of 7.66 cM Kosambi. The normality tests on interval map distances showed a non-normal marker distribution. Visual inspection of the map distance distribution histogram showed a cluster of interval map distances on the left side of the chart, which suggested the occurrence of AFLP marker clusters. On the other hand, the lack of an obvious cluster on the right side showed that there were a few big gaps which need more markers to bridge. The correlation analysis showed a highly significant relatedness between the length of linkage group and the number of markers, indicating that the AFLP markers in this map were randomly distributed among different linkage groups. This study is helpful for research into the common carp genome and for further studies of genetics and marker-assisted breeding in this species.

Characteristic rainfall for warning of debris flows

A characteristic rainfall is introduced to overcome the difficulties encountered in determining a critical rainfall value for triggering debris flow. The characteristic value is defined as the rainfall at which debris-flow occurrence probability shows a rapid increase, and can be used as a warning rainfall threshold for debris flows. Investigation of recorded debris flows and 24-hour rainfall data at Jiangjia basin, Yunnan Province, in southwestern China, demonstrates the existence of such a characteristic rainfall. It was found that the characteristic rainfall corresponds to the daily rainfall of 90% cumulative probability by analyzing the basin's daily rainfall histogram. The result provides a simple and useful method for estimating a debris-flow warning rainfall threshold from the daily rainfall distribution. It was applied to estimate the debris-flow warning rainfall threshold for the Subaohe basin, a watershed in the 2008 Wenchuan earthquake zone with many physical characteristics similar to those of the Jiangjia basin.

基于直方图插值的均值移动小尺寸目标跟踪算法

小尺寸目标跟踪是视觉跟踪中的难题。该文首先指出了均值移动小尺寸目标跟踪算法中的两个主要问题:算法跟踪中断和丢失跟踪目标。然后,论文给出了相应的解决方法。对传统Parzen窗密度估计法加以改进,并用于对候选目标区域的直方图进行插值处理,较好地解决了算法跟踪中断问题。论文采用Kullback-Leibler距离作为目标模型和候选目标之间的新型相似性度量函数,并推导了其相应的权值和新位置计算公式,提高了算法的跟踪精度。多段视频序列的跟踪实验表明,该文提出的算法可以有效地跟踪小尺寸目标,能够成功跟踪只有6×12个像素的小目标,跟踪精度也有一定提高。

基于直方图处理和新型相似性度量函数的小尺寸目标跟踪算法

小尺寸目标跟踪是视觉跟踪中的难题。本文使用均值移动算法跟踪小尺寸目标。论文首先分析了基于均值移动的小尺寸目标跟踪算法的两个主要问题:跟踪算法中断和跟踪目标丢失。然后,论文在这两个方面对小尺寸目标跟踪算法进行改进。给出了一种新的直方图单元编号方法,使包含目标颜色分量的直方图单元分布得更为集中紧凑。当候选目标与目标模型不匹配时,给出一种平滑算法来处理候选目标的直方图。论文提出一种新的相似性度量函数,推导了相应的权值计算公式,在此基础上建立了基于均值移动的目标跟踪算法。多段真实场景视频序列的跟踪实验表明,本文提出的算法可以有效地跟踪小尺寸目标,跟踪精度也有一定提高。

用于移动机器人自定位的视觉路标设计

为了实现室内移动机器人的自定位,提出了一种简易美观的新型视觉人工路标以及基于对数极坐标系投影直方图的路标识别方法,并用基于共面四点的位姿估计算法计算机器人位姿。实验结果说明,路标检测具有很高的鲁棒性;路标识别方法抗噪声和形变的能力强;位姿精度足够满足室内移动机器人自定位的需要。

基于改进角度直方图和最小二乘法的移动机器人地图构建

本文主要研究完全未知结构化环境下的移动机器人二维几何地图构建及其不确定性描述问题。在考虑测量噪声干扰的基础上，基于改进的角度直方图算法进行环境线段特征提取和参数初始估计，然后利用加权最小二乘法对线段特征参数及其方差进行精确估计，并同时给出了多位姿地图合并的处理方法.文章最后给出了在SmartROB2机器人平台上进行的实验结果，证明了算法的有效性和实用性。

一种基于多特征融合的汽车变速箱螺栓在线视觉检测系统

本文根据汽车变速箱装配线螺栓检测的要求,结合检测现场的实际图像特点,采用融合灰度投影与颜色直方图两种特征的方法,利用相似性测度的计算方法,设计了一种变速箱螺栓在线装配质量检测系统,该系统用于实现螺栓的的缺失及漏拧检测,试验结果表明,方法具有良好的实用性,取得了比较理想的效果。

龙滩工程左岸边坡监测资料分析与稳定性评价研究

On the basis of the geological analysis and rock mass toppling deformation and failure mechanism analysis of Longtan engineering left bank slope, the synthetic space-time analysis and influence factors analysis on the surface monitoring data and deep rock mass monitoring data of B-zone of left bank slope are carried on. At the same time, based on the monitoring data analysis in conjunction with the predecessor's mechanics analysis results, the deformation state of B-zone of the left bank slope is discussed and its stability is synthetically evaluated. The detailed research contents and results are as following: According to the monitoring drill histogram analysis of Longtan engineering left bank slope, numerical simulation analysis and model experimentation analysis of bedded counter-inclined steep slope, a new type of toppling deformation and failure mode is proposed, that is "up-slope warping". Then the deformation and failure mode of bedded counter-inclined steep slope is summarized as "down-slope toppling" type, "up-slope warping" type and "complex fold" type. On the basis of synthetic space-time analysis to surface monitoring data and deep rock mass deformation monitoring data of B-zone of Longtan left bank slope;, we can get the conclusion that there exists potential instability rock mass over 520m altitude, especially over 560m altitude of slope B, and the rock mass of around strong-weathering line or creep rock mass breaking band controls the deformation of the whole slope. 1. According to the synthetic space-time analysis and influence factors analysis to the surface monitoring data of B-zone of Longtan left bank slope, a dynamical index, accumulative total acceleration index, which is used to analyze the influence factors of slope surface deformation, is raised. The principle and method of accumulative acceleration index are explained, and the index can be used for the influence factors analysis of the similar slope. 2. Summarize the results of geologic analysis, monitoring analysis and mechanics analysis, the following conclusion can be gotten: the stability of B-zone of the slope is basically good. However, on the condition of drainage and slope toe loading engineering, there is still some creep deformation in the rock mass over 520m altitude, especially over 560m altitude. So, better measures of the monitoring and timely maintenance of the drainage system are suggested in the paper.