Stereo image sand removal is crucial to improve the perceptual quality for autonomous driving perception. Existing methods often fall short in accurately estimating the uncertainty inherent in degraded images, leading to suboptimal outcomes. To address this, we introduce a novel framework named Decoupling While Coupling(DWC). DWC pioneers the integration of inter-view uncertainty estimation, cross-view uncertainty-aware interaction and block-wise uncertainty representation for superior stereo image sand removal. For cross-view information interaction, we propose an Uncertainty-aware Cross-view Attentive Interaction module(UCAI) to cope with the lack of uncertainty estimation ability in the existing cross-view information interaction mechanism. For the uncertainty perception and information interaction within the inter-view, we propose a Distribution Modeling Coupling Block(DMCB), which transmits the representation of uncertainty between each backbone module. For block-wise uncertainty estimation, we use our proposed Uncertainty-aware Distribution Feature Modulator(UDFM) as the backbone of DWC to modulate the uncertainty inside the neural network itself. Extensive experimental validations on our proposed stereo image sand removal dataset SandST confirm the efficacy of DWC. Our method not only achieves higher PSNR and SSIM, but also exhibits enhanced robustness against various sand degrees and patterns.

The state and input constraints of nonlinear systems could greatly impede the realization of their optimal control when using reinforcement learning (RL)-based approaches since the commonly used quadratic utility functions cannot meet the requirements of solving constrained optimization problems. This article develops a novel optimal control approach for constrained discrete-time (DT) nonlinear systems based on safe RL. Specifically, a barrier function (BF) is introduced and incorporated with the value function to help transform a constrained optimization problem into an unconstrained one. Meanwhile, the minimum of such an optimization problem can be guaranteed to occur at the origin. Then a constrained policy iteration (PI) algorithm is developed to realize the optimal control of the nonlinear system and to enable the state and input constraints to be satisfied. The constrained optimal control policy and its corresponding value function are derived through the implementation of two neural networks (NNs). Performance analysis shows that the proposed control approach still retains the convergence and optimality properties of the traditional PI algorithm. Simulation results of three examples reveal its effectiveness.

Reconstruction-based approaches have achieved remarkable outcomes in anomaly detection. The exceptional image reconstruction capabilities of recently popular diffusion models have sparked research efforts to utilize them for enhanced reconstruction of anomalous images. Nonetheless, these methods might face challenges related to the preservation of image categories and pixel-wise structural integrity in the more practical multi-class setting. To solve the above problems, we propose a Difusion-based Anomaly Detection (DiAD) framework for multi-class anomaly detection, which consists of a pixel-space autoencoder, a latent-space Semantic-Guided (SG) network with a connection to the stable diffusion’s denoising network, and a feature-space pre-trained feature extractor. Firstly, The SG network is proposed for reconstructing anomalous regions while preserving the original image’s semantic information. Secondly, we introduce Spatial-aware Feature Fusion (SFF) block to maximize reconstruction accuracy when dealing with extensively reconstructed areas. Thirdly, the input and reconstructed images are processed by a pre-trained feature extractor to generate anomaly maps based on features extracted at different scales. Experiments on MVTec-AD and VisA datasets demonstrate the effectiveness of our approach which surpasses the state-of-the-art methods, e.g., achieving 96.8/52.6 and 97.2/99.0 (AUROC/AP) for localization and detection respectively on multi-class MVTec-AD dataset. Code will be available at https://lewandofskee.github.io/projects/diad.

Automatic detection of traffic signs is crucial for Advanced Driving Assistance Systems (ADAS). Current two-stage approaches consist of a preliminary object detection step, where the traffic signs are categorized within broader families (e.g., speed limits), and then sub-classes (e.g., speed limit 40). However, these cascading methods fail to achieve satisfying performance, especially in more realistic driving scenarios where images are acquired under more challenging conditions. Under such conditions, the first-stage detection step is likely to provide inaccurate predictions, making the subsequent classification step useless. In this paper, we propose a simple yet effective two-stage fusion framework for traffic sign detection. Different from the previous cascading method, our framework directly predicts categories in the first-stage detection and fuse the two-stage category predictions to improves overall robustness. Besides, in order to filter the false detection boxes under low-resolution inputs, we also propose an effective post-processing method called Surrounding-Aware Non-Maximum Suppression (SA-NMS) as an alternative technique for the first-stage detection. After combining the above proposed methods, our framework obtains good detection performance. Experimental results on the widely used Tsinghua-Tencent 100K (TT100K) traffic sign dataset, which contains images of traffic signs collected under a variety of challenging conditions, show that the proposed framework outperforms current approaches in both accuracy and inference speed, achieving 89.7 mAP and 65 FPS for${608\times608}$low resolution images.

With the development of modern communication technology, traditional Internet of Things systems could not provide sufficient support for large data flow, hardware resource, power consumption, and security during transmission. Especially when it comes to the Industrial Internet of Things (IIoT), where the limitations of hardware resource and power consumption are more strict; the requirements of network security and hardware security are much higher. This paper implements a User Datagram Protocol (UDP) communication system, which is encrypted with one of the Lightweight Cryptography, Xoodyak. We aim to design a lightweight encrypted communication platform. Compared with a public key encryption system, our implementation costs much less hardware resource and power consumption, while providing excellent side-channel attack (SCA) protection. Besides, when there is a large burst length of data flow, two asynchronous FIFO can restore those data respectively, so our design can maintain throughput and data integrity in extreme cases. Based on the above properties, our design is relatively ideal in IIoT encryption scenarios.

Due to the variety of categories and uneven distribution of available samples, automatic traffic sign detection and recognition is still a challenging task. For those categories with less training data, existing deep learning methods cannot achieve desirable performance, and the overall detection effect is not satisfactory as well. In this letter, we fully explore the relationship between different traffic signs with digital characters and transform the category objects into multi-level classes to alleviate the uneven distribution of samples. We design a lightweight two-stage object detection framework with high real-time performance. The first stage network is proposed to obtain the category groups of traffic signs, and then we construct another object detection network to identify the digital characters of the detected traffic signs. To make the prediction in the first stage more accurate, we put forward a boxes fusion algorithm in the post-processing process and a refine module to improve the recognition performance. Experimental results show that our approach possesses significantly improved performance compared with the latest object detection networks and other traffic sign detectors. Even some traffic signs that only exist in testset can also be recognized accurately by our method.

Transformer-based object detectors have shown competitive performance recently. Compared with convolutional neural networks limited by the relatively small receptive fields, the advantage of transformer for visual tasks is the capacity to perceive long-range dependencies among all image patches, while the deficiency is that the local fine-grained information is not fully excavated. In this paper, we introduce the Coarse-grained and Fine-grained crossing representations to build an efficient Detection Transformer (CFDT). Specifically, we propose a local-global cross fusion module to establish the connection between local fine-grained features and global coarse-grained features. Besides, we propose a coarse-fine aware neck which enables detection tokens to interact with both coarse-grained and fine-grained features. Furthermore, an efficient feature integration module is presented for fusing multi-scale representations from different stages. Experimental results on the COCO dataset demonstrate the effectiveness of the proposed method. For instance, our CFDT achieves 48.1 AP with 173G FLOPs, which possesses higher accuracy and less computation compared with the state-of-the-art transformer-based detector ViDT. Code will be available at https://gitee.com/mindspore/models/tree/master/research/cv/CFDT.

Various algorithms based on Convolutional Neural Network (CNN) have achieved great performance in the task of face anti-spoofing (FAS). However, the issue of most approaches is that the robustness in unknown scenes is not strong due to the different quality of attack images and environmental factors. In this letter, we propose a real-time face anti-spoofing method based on stereo matching. We input the left and right views of a pair of infrared face images into our proposed lightweight stereo matching network to get a disparity map. Then, we use the disparity map as input for the classification network to obtain face living information. Experimental results show that the proposed approach has significantly improved performance compared with the latest state-of-the-art face anti-spoofing methods. Considering the real-time requirement, our method is superior to most single-image-based models in inference time and far less than those based on other large scale stereo matching networks in computational complexity. The code is available athttps://github.com/lizhishan1997/StereoMatching_FAS.

An inevitable problem in the practice of object detection is the existence of false positive detection boxes. False detection boxes greatly reduce precision of object detection model and compromise the desired effect. In this paper, we propose a method named Prediction Box Density Evalution (PBDE). We summarize box density characteristics of true positive (TP) and false positive (FP) boxes to filter out a large number of FP boxes. After PBDE, we can obtain a significant improvement in precision with a low recall loss, and increase F1-score by up to 9 percentage when the confidence threshold is 0.1. The entire algorithm is carried out on the post-processing of object detection, and there is no need to change the original training method and network structure, which is of great practical importance.