论文标题
部分可观测时空混沌系统的无模型预测
BALF: Simple and Efficient Blur Aware Local Feature Detector
论文作者
论文摘要
储层计算是预测湍流的有力工具,其简单的架构具有处理大型系统的计算效率。然而,其实现通常需要完整的状态向量测量和系统非线性知识。我们使用非线性投影函数将系统测量扩展到高维空间,然后将其输入到储层中以获得预测。我们展示了这种储层计算网络在时空混沌系统上的应用,该系统模拟了湍流的若干特征。我们表明,使用径向基函数作为非线性投影器,即使只有部分观测并且不知道控制方程,也能稳健地捕捉复杂的系统非线性。最后,我们表明,当测量稀疏、不完整且带有噪声,甚至控制方程变得不准确时,我们的网络仍然可以产生相当准确的预测,从而为实际湍流系统的无模型预测铺平了道路。
Local feature detection is a key ingredient of many image processing and computer vision applications, such as visual odometry and localization. Most existing algorithms focus on feature detection from a sharp image. They would thus have degraded performance once the image is blurred, which could happen easily under low-lighting conditions. To address this issue, we propose a simple yet both efficient and effective keypoint detection method that is able to accurately localize the salient keypoints in a blurred image. Our method takes advantages of a novel multi-layer perceptron (MLP) based architecture that significantly improve the detection repeatability for a blurred image. The network is also light-weight and able to run in real-time, which enables its deployment for time-constrained applications. Extensive experimental results demonstrate that our detector is able to improve the detection repeatability with blurred images, while keeping comparable performance as existing state-of-the-art detectors for sharp images.