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A HEVC Video Steganalysis Method Using the Optimality of Motion Vector Prediction
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作者 Jun Li Minqing Zhang +2 位作者 Ke Niu Yingnan Zhang Xiaoyuan Yang 《Computers, Materials & Continua》 SCIE EI 2024年第5期2085-2103,共19页
Among steganalysis techniques,detection against MV(motion vector)domain-based video steganography in the HEVC(High Efficiency Video Coding)standard remains a challenging issue.For the purpose of improving the detectio... Among steganalysis techniques,detection against MV(motion vector)domain-based video steganography in the HEVC(High Efficiency Video Coding)standard remains a challenging issue.For the purpose of improving the detection performance,this paper proposes a steganalysis method that can perfectly detectMV-based steganography in HEVC.Firstly,we define the local optimality of MVP(Motion Vector Prediction)based on the technology of AMVP(Advanced Motion Vector Prediction).Secondly,we analyze that in HEVC video,message embedding either usingMVP index orMVD(Motion Vector Difference)may destroy the above optimality of MVP.And then,we define the optimal rate of MVP as a steganalysis feature.Finally,we conduct steganalysis detection experiments on two general datasets for three popular steganographymethods and compare the performance with four state-ofthe-art steganalysis methods.The experimental results demonstrate the effectiveness of the proposed feature set.Furthermore,our method stands out for its practical applicability,requiring no model training and exhibiting low computational complexity,making it a viable solution for real-world scenarios. 展开更多
关键词 Video steganography video steganalysis motion vector prediction motion vector difference advanced motion vector prediction local optimality
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Secure Transmission of Compressed Medical Image Sequences on Communication Networks Using Motion Vector Watermarking
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作者 Rafi Ullah Mohd Hilmi bin Hasan +1 位作者 Sultan Daud Khan Mussadiq Abdul Rahim 《Computers, Materials & Continua》 SCIE EI 2024年第3期3283-3301,共19页
Medical imaging plays a key role within modern hospital management systems for diagnostic purposes.Compression methodologies are extensively employed to mitigate storage demands and enhance transmission speed,all whil... Medical imaging plays a key role within modern hospital management systems for diagnostic purposes.Compression methodologies are extensively employed to mitigate storage demands and enhance transmission speed,all while upholding image quality.Moreover,an increasing number of hospitals are embracing cloud computing for patient data storage,necessitating meticulous scrutiny of server security and privacy protocols.Nevertheless,considering the widespread availability of multimedia tools,the preservation of digital data integrity surpasses the significance of compression alone.In response to this concern,we propose a secure storage and transmission solution for compressed medical image sequences,such as ultrasound images,utilizing a motion vector watermarking scheme.The watermark is generated employing an error-correcting code known as Bose-Chaudhuri-Hocquenghem(BCH)and is subsequently embedded into the compressed sequence via block-based motion vectors.In the process of watermark embedding,motion vectors are selected based on their magnitude and phase angle.When embedding watermarks,no specific spatial area,such as a region of interest(ROI),is used in the images.The embedding of watermark bits is dependent on motion vectors.Although reversible watermarking allows the restoration of the original image sequences,we use the irreversible watermarking method.The reason for this is that the use of reversible watermarks may impede the claims of ownership and legal rights.The restoration of original data or images may call into question ownership or other legal claims.The peak signal-to-noise ratio(PSNR)and structural similarity index(SSIM)serve as metrics for evaluating the watermarked image quality.Across all images,the PSNR value exceeds 46 dB,and the SSIM value exceeds 0.92.Experimental results substantiate the efficacy of the proposed technique in preserving data integrity. 展开更多
关键词 Block matching algorithm(BMA) compression full-search algorithm motion vectors ultrasound image sequence WATERMARKING
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Derivation of Cloud-Free-Region Atmospheric Motion Vectors from FY-2E Thermal Infrared Imagery 被引量:3
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作者 Zhenhui WANG Xinxiu SUI +5 位作者 Qing ZHANG Lu YANG Hang ZHAO Min TANG Yizhe ZHAN Zhiguo ZHANG 《Advances in Atmospheric Sciences》 SCIE CAS CSCD 2017年第2期272-282,共11页
The operational cloud-motion tracking technique fails to retrieve atmospheric motion vectors (AMVs) in areas lacking cloud; and while water vapor shown in water vapor imagery can be used, the heights assigned to the... The operational cloud-motion tracking technique fails to retrieve atmospheric motion vectors (AMVs) in areas lacking cloud; and while water vapor shown in water vapor imagery can be used, the heights assigned to the retrieved AMVs are mostly in the upper troposphere. As the noise-equivalent temperature difference (NEdT) performance of FY-2E split win- dow (10.3-11.5 μm, 11.6-12.8 μm) channels has been improved, the weak signals representing the spatial texture of water vapor and aerosols in cloud-free areas can be strengthened with algorithms based on the difference principle, and applied in calculating AMVs in the lower troposphere. This paper is a preliminary summary for this purpose, in which the principles and algorithm schemes for the temporal difference, split window difference and second-order difference (SD) methods are introduced. Results from simulation and cases experiments are reported in order to verify and evaluate the methods, based on comparison among retrievals and the "truth". The results show that all three algorithms, though not perfect in some cases, generally work well. Moreover, the SD method appears to be the best in suppressing the surface temperature influence and clarifying the spatial texture of water vapor and aerosols. The accuracy with respect to NCEP 800 hPa reanalysis data was found to be acceptable, as compared with the accuracy of the cloud motion vectors. 展开更多
关键词 atmospheric motion vector cloud-free area FY-2E IR split window imagery difference method
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An efficient compressed domain moving object segmentation algorithm based on motion vector field 被引量:4
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作者 刘志 沈礼权 张兆杨 《Journal of Shanghai University(English Edition)》 CAS 2008年第3期221-227,共7页
In this paper an efficient compressed domain moving object segmentation algorithm is proposed, in which the motion vector (MV) field parsed from the compressed video is the only cue used for moving object segmentati... In this paper an efficient compressed domain moving object segmentation algorithm is proposed, in which the motion vector (MV) field parsed from the compressed video is the only cue used for moving object segmentation. First the MV field is temporally and spatially normalized, and then accumulated by an iterative backward projection to enhance salient motions and alleviate noisy MVs. The accumulated MV field is then segmented into motion-homogenous regions using a modified statistical region growing approach. Finally, moving object regions are extracted in turn based on minimization of the joint prediction error using the estimated motion models of two region sets containing the candidate object region and other remaining regions, respectively. Experimental results on several H.264 compressed video sequences demonstrate good segmentation performance. 展开更多
关键词 moving object segmentation compressed domain segmentation motion vector (MV) field
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Characteristics of Fengyun-4A Satellite Atmospheric Motion Vectors and Their Impacts on Data Assimilation 被引量:3
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作者 Yaodeng CHEN Jie SHEN +2 位作者 Shuiyong FAN Deming MENG Cheng WANG 《Advances in Atmospheric Sciences》 SCIE CAS CSCD 2020年第11期1222-1238,共17页
The high observation efficiency,scanning speed and observation frequency of the Fengyun-4A(FY-4A)satellite indicates the progress of Chinese geostationary meteorological satellites.The characteristics of FY-4A atmosph... The high observation efficiency,scanning speed and observation frequency of the Fengyun-4A(FY-4A)satellite indicates the progress of Chinese geostationary meteorological satellites.The characteristics of FY-4A atmospheric motion vectors(AMVs)derived from the high-level water vapor(WV-High)channel,mid-level water vapor(WV-Mid)channel,and infrared(IR)channel of FY-4A are analyzed,and their corresponding observation errors estimated.Then,the impacts of single-channel and multi-channel FY-4A AMVs on RMAPS-ST(the Rapid-refresh Multi-scale Analysis and Prediction System-Short Term)are evaluated based on one-month data assimilation cycling and forecasting experiments.Results show that the observation errors of FY-4A AMVs from the three channels have an explicit vertical structure.Results from the cycling experiments indicate that the assimilation of AMVs from WV-High produces more apparent improvement of the wind in the upper layer,while a more positive effect in the lower layer is achieved by the assimilation of AMVs from IR.Furthermore,the assimilation of AMVs from IR is more skillful for medium and moderate precipitation than from other channels owing to the good quality of data in the lower layer in the AMVs from IR.Assimilation of FY-4A AMVs from the three channels could combine the advantages of assimilation from each individual channel to improve the wind in the upper,middle and lower layers simultaneously. 展开更多
关键词 data assimilation FY-4A satellite atmospheric motion vector observation error
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虚拟场景中基于Motion Vector的人群图像绘制算法
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作者 霍奕 王喜年 +3 位作者 张瑜 陈敬利 马海滨 张鹏飞 《计算机工程与应用》 CSCD 北大核心 2009年第23期173-175,199,共4页
针对虚拟场景中大规模人群图像绘制时由于采集图像数量有限,在视点连续变化时出现跳变的问题,提出了一种基于Motion Vector的图像绘制算法,该算法通过移动原始图像的像素位置生成相邻视点位置的图像,使得各个离散采样之间能够连续过渡,... 针对虚拟场景中大规模人群图像绘制时由于采集图像数量有限,在视点连续变化时出现跳变的问题,提出了一种基于Motion Vector的图像绘制算法,该算法通过移动原始图像的像素位置生成相邻视点位置的图像,使得各个离散采样之间能够连续过渡,很好地解决了由于采样不足而引起的跳变问题,同时保证了绘制系统的实时性,实验结果验证了该算法的有效性。 展开更多
关键词 虚拟现实 人群仿真 基于图像的绘制 运动矢量
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MOTION VECTOR RECOVERY METHOD BASED ON MEAN SHIFT PROCEDURE
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作者 Zhan Xuefeng Zhu Xiuchang 《Journal of Electronics(China)》 2010年第6期830-837,共8页
This letter presents a novel Motion Vector (MV) recovery method which is based on Mean Shift (MS) procedure. According to motion continuity, MVs in local area should be similar. If projecting MV into 2-D feature space... This letter presents a novel Motion Vector (MV) recovery method which is based on Mean Shift (MS) procedure. According to motion continuity, MVs in local area should be similar. If projecting MV into 2-D feature space, local MVs in the feature space tend to cluster closely. To estimate the lost MVs in local area, recovery of lost MVs is modeled as clustering operation. MS procedure is applied to enforce each lost MV in the feature space to shift to the position where dominant MVs are gathered. Meanwhile, bandwidth estimation is statistically characterized by the variation of local standard de-viations; weighted value calculation is determined by estimation of overall standard deviation. Simu-lation results demonstrate their better performance when compared with other MV recovery ap-proaches and low computation cost. 展开更多
关键词 Error concealment motion vector (MV) recovery Mean shift K-MEANS Bandwidth estimation
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Real-time traffic information extraction based on compressed video with interframe motion vector
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作者 黄庆明 王聪 《Journal of Harbin Institute of Technology(New Series)》 EI CAS 2003年第3期284-289,共6页
Extraction of traffic information from image or video sequence is a hot research topic in intelligenttransportation system and computer vision. A real-time traffic information extraction method based on com-pressed vi... Extraction of traffic information from image or video sequence is a hot research topic in intelligenttransportation system and computer vision. A real-time traffic information extraction method based on com-pressed video with interframe motion vectors for speed, density and flow detection, has been proposed for ex-traction of traffic information under fixed camera setting and well-defined environment. The motion vectors arefirst separated from the compressed video streams, and then filtered to eliminate incorrect and noisy vectors u-sing the well-defined environmental knowledge. By applying the projective transform and using the filtered mo-tion vectors, speed can be calculated from motion vector statistics, density can be estimated using the motionvector occupancy, and flow can be detected using the combination of speed and density. The embodiment of aprototype system for sky camera traffic monitoring using the MPEG video has been implemented, and experi-mental results proved the effectiveness of the method proposed. 展开更多
关键词 extraction of traffic information Interframe motion vector compressed video stream
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Frame interpolation with pixel-level motion vector field and mesh based hole filling
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作者 Chuanxin Tang Ronggang Wang +2 位作者 Zhu Li Wenmin Wang Wen Gao 《CAAI Transactions on Intelligence Technology》 2016年第1期72-78,共7页
Most of the traditional methods are based on block motion compensation tending to involve heavy blocking artifacts in the interpolated frames. In this paper, a new frame interpolation method with pixel-level motion ve... Most of the traditional methods are based on block motion compensation tending to involve heavy blocking artifacts in the interpolated frames. In this paper, a new frame interpolation method with pixel-level motion vector field (MVF) is proposed. Our method consists of the following four steps: (i) applying the pixel-level motion vectors (MVs) estimated by optical flow algorithm to eliminate blocking artifacts (ii) motion post-processing and super-sampling anti-aliasing to solve the problems caused by pixel-level MVs (iii) robust warping method to address collisions and holes caused by occlusions (iv) a new holes filling method using triangular mesh (HFTM) to reduce the artifacts caused by holes. Experimental results show that the proposed method can effectively alleviate the holes and blocking artifacts in interpolated frames, and outperforms existing methods both in terms of objective and subjective performances, especially for sequences with complex motions. 展开更多
关键词 Frame interpolation motion estimation motion vector field Frame rate up-conversion Triangular mesh
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High-Security HEVC Video Steganography Method Using the Motion Vector Prediction Index and Motion Vector Difference
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作者 Jun Li Minqing Zhang +3 位作者 Ke Niu Yingnan Zhang Yan Ke Xiaoyuan Yang 《Tsinghua Science and Technology》 2025年第2期813-829,共17页
Recently proposed steganalysis methods based on the local optimality of motion vector prediction(MVP)indicate that the existing HEVC(high efficiency video coding)motion vector(MV)domain video steganography algorithms ... Recently proposed steganalysis methods based on the local optimality of motion vector prediction(MVP)indicate that the existing HEVC(high efficiency video coding)motion vector(MV)domain video steganography algorithms can disturb the optimality of MVP in advanced motion vector prediction(AMVP)technology.In order to improve the security of steganography algorithm,this paper proposes an MV domain steganography method in HEVC based on MVP’s index and motion vector difference(MVD).First,we analyze the conditions that need to be met for steganography to resist attacks from MVP’s optimality features and other traditional steganalysis features.Then,a distortion function for minimizing embedding distortion is designed,and an algorithm for secret message embedding and extraction in units of inter-frame is proposed.Experimental results show that the proposed algorithm can resist attacks based on the optimality of MVP and also has high security against other traditional steganalysis methods.In addition,the proposed algorithm has excellent performance in visual quality and coding efficiency,and can be applied to practical scenarios of video covert communication. 展开更多
关键词 HEVC video steganography motion vector prediction(MVP) advanced motion vector prediction(AMVP) local optimality video steganalysis
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A Novel Video Reversible Data Hiding Algorithm Using Motion Vector for H.264/AVC 被引量:7
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作者 Ke Niu Xiaoyuan Yang Yingnan Zhang 《Tsinghua Science and Technology》 SCIE EI CAS CSCD 2017年第5期489-498,共10页
A novel reversible data hiding algorithm for H.264/AVC videos is proposed. Histogram Shifting (HS) of motion vector values is used efficiently in reversible data hiding to embed data. By designating a specific decod... A novel reversible data hiding algorithm for H.264/AVC videos is proposed. Histogram Shifting (HS) of motion vector values is used efficiently in reversible data hiding to embed data. By designating a specific decoded reference frame, the distortion accumulation effects due to modification of the motion vectors is overcome. All the extracted information can be recovered without loss of the original compressed video carrier. The experimental results show that the proposed algorithm is simple, has higher capacity and invisibility than other existing schemes, and can adjust the relationship between capacity and invisibility according to embedded load. 展开更多
关键词 reversible video data hiding H.264/AVC motion vector histogram modification modified referenceframe
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Digital Watermarking Applied To MEPG-2 Coded Video Sequences Exploiting Motion Vector 被引量:6
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作者 DAIYuan-jun ZHANGLi-he YANGYi-xian 《The Journal of China Universities of Posts and Telecommunications》 EI CSCD 2004年第2期35-39,共5页
This paper proposes a video watermarking technology to hide copyright information by a slight modification of the motion vector in MPEG-2 video bitstream. In this method, the watermark is embedded in the motion residu... This paper proposes a video watermarking technology to hide copyright information by a slight modification of the motion vector in MPEG-2 video bitstream. In this method, the watermark is embedded in the motion residual of the large value motion vector, then the motion residual is regularized into a modified bitstream, from which the watermark information can be retrieved easily and exactly. From the experimental results, this technology has the advantage of little influence on the MPEG decoding speed, degrading the perceptive effect little, and the capability to embed watermark in a short video sequence, and can be used to watermark directly on the compressed and uncompressed video sequence. 展开更多
关键词 video watermark MPEG motion vector multimedia security
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Pre-Processing,Quality Assurance,and Use of Global Atmospheric Motion Vector Observations in CRA 被引量:1
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作者 Minyan WANG Shuang YAO +3 位作者 Lipeng JIANG Tao ZHANG Chunxiang SHI Ting ZHU 《Journal of Meteorological Research》 SCIE CSCD 2022年第6期947-962,共16页
Assimilation of atmospheric motion vectors(AMVs)is important in the initialization of the atmospheric state in numerical weather prediction models,especially over oceans and at high latitudes where conventional data a... Assimilation of atmospheric motion vectors(AMVs)is important in the initialization of the atmospheric state in numerical weather prediction models,especially over oceans and at high latitudes where conventional data are sparse.This paper presents a detailed description of the pre-processing,quality assurance,and use of global AMVs in China’s first generation of the 40-yr(1979-2018)CRA global atmospheric reanalysis product.A new AMV archive is integrated from near real-time operational Global Telecommunication System data and reprocessed AMV datasets released or produced mainly during 2014-2016 according to a priority principle.To avoid the misuse of data with systematic quality problems,the observations of all 18 types of AMVs from 54 satellites are pre-evaluated over the whole time series.The pre-evaluation system developed by the CRA team is based on the NCEP Gridpoint Statistical Interpolation(GSI)three-dimensional variational assimilation system and the ERA-Interim reanalysis product.The AMVs in the new AMV archive are denser than the AMVs prepared for the Climate Forecast System Reanalysis product,the bias and root-mean-square values are smaller,and the time series are steadier.The new AMV archive is assimilated in the CRA product based on the NCEP GSI assimilation procedure and quality control configuration with reference to the pre-evaluation results.This is the first time that the reprocessed AMVs from Fengyun-2 satellites from June 2005 to July 2017 are assimilated in a reanalysis product.The assimilation features inspire confidence in the accuracy and stability of these data.The mean root-mean-square values of the observation minus analysis infrared,water vapor,and visible AMV were 1.5-3.4,2.7-3.6,and 1.3-2.1 m s-1,respectively.This experience of integrating,pre-evaluating,and assimilating AMV observations is valuable for the next generation of reanalysis products. 展开更多
关键词 REANALYSIS CRA(China’s first generation of 40-yr global atmospheric ReAnalysis product) atmospheric motion vector integration ASSIMILATION reprocessed data
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Propagating adaptive-weighted vector median filter for motion-field smoothing 被引量:2
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作者 LinMengdong YuSongyu 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2004年第2期205-210,共6页
In the field of predictive video coding and format conversion, there is an increasing attention towards estimation of the true inter-frame motion. The restoration of motion vector field computed by 3-D RS is addressed... In the field of predictive video coding and format conversion, there is an increasing attention towards estimation of the true inter-frame motion. The restoration of motion vector field computed by 3-D RS is addressed and a propagating adaptive-weighted vector median (PAWVM) post-filter is proposed. This approach decomposes blocks to make a better estimation on object borders and propagates good vectors in the scanning direction. Furthermore, a hard-thresholding method is introduced into calculating vector weights to improve the propagating. By exploiting both the spatial correlation of the vector field and the matching error of candidate vectors, PAWVM makes a good balance between the smoothness of vector field and the prediction error, and the output vector field is more valid to reflect the true motion. 展开更多
关键词 motion estimation block effect true motion vector median flat zone.
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Cooperative Navigation for Autonomous Underwater Vehicles Based on Estimation of Motion Radius Vectors 被引量:1
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作者 李闻白 刘明雍 +1 位作者 刘富樯 徐飞 《Defence Technology(防务技术)》 SCIE EI CAS 2011年第1期9-14,共6页
A cooperative navigation algorithm for a group of autonomous underwater vehicles is proposed on the basis of motion radius vector estimation.Combined the dead reckoning data with the mutual range data through an acous... A cooperative navigation algorithm for a group of autonomous underwater vehicles is proposed on the basis of motion radius vector estimation.Combined the dead reckoning data with the mutual range data through an acoustic communication network among the group members, the relative positioning problem can be solved. A novel approach for solving the relative positioning is presented by using a recursive trigonometry technique and extended Kalman filter(EKF). Simulation results verify the correctness and effectiveness of this navigation method. 展开更多
关键词 automatic control technology cooperative navigation autonomous underwater vehicle motion radius vector extended Kalman filter
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Dynamics of Quantum State and Effective Hamiltonian with Vector Differential Form of Motion Method
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作者 Long Xiong Wei-Feng Zhuang Ming Gong 《Chinese Physics Letters》 SCIE EI CAS CSCD 2022年第7期36-40,共5页
Effective Hamiltonians in periodically driven systems have received widespread attention for realization of novel quantum phases, non-equilibrium phase transition, and Majorana mode. Recently, the study of effective H... Effective Hamiltonians in periodically driven systems have received widespread attention for realization of novel quantum phases, non-equilibrium phase transition, and Majorana mode. Recently, the study of effective Hamiltonian using various methods has gained great interest. We consider a vector differential equation of motion to derive the effective Hamiltonian for any periodically driven two-level system, and the dynamics of the spin vector are an evolution under the Bloch sphere. Here, we investigate the properties of this equation and show that a sudden change of the effective Hamiltonian is expected. Furthermore, we present several exact relations, whose expressions are independent of the different starting points. Moreover, we deduce the effective Hamiltonian from the high-frequency limit, which approximately equals the results in previous studies. Our results show that the vector differential equation of motion is not affected by a convergence problem, and thus, can be used to numerically investigate the effective models in any periodic modulating system. Finally, we anticipate that the proposed method can be applied to experimental platforms that require time-periodic modulation, such as ultracold atoms and optical lattices. 展开更多
关键词 Dynamics of Quantum State and Effective Hamiltonian with vector Differential Form of motion Method HAMILTONIAN vector QUANTUM
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Side Information Generation Based on Hierarchical Motion Estimation in Distributed Video Coding 被引量:4
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作者 刘荣科 岳志 陈长汶 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2009年第2期167-173,共7页
The side information quality has an immense effect on the compression efficiency of the distributed video coding (DVC) sys- tem. This article, based on the hierarchical motion estimation (HME), proposes a new side inf... The side information quality has an immense effect on the compression efficiency of the distributed video coding (DVC) sys- tem. This article, based on the hierarchical motion estimation (HME), proposes a new side information generation algorithm which is integrated into DVC system. First, forward motion estimation (FME) and bidirectional motion estimation (BME) on the basis of variable block size HME algorithm are used to acquire relatively accurate motion vectors. Second, a motion vector filter (MVF) is i... 展开更多
关键词 communication technology video signal processing hierarchical motion estimation side information motion vector filter frame interpolation
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人体运动姿态图像不规则单帧特征识别方法
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作者 康建 董峰 《计算机仿真》 2025年第6期506-510,共5页
不规则单帧图像中人体运动姿态具有复杂和不规则性,传统方法难以直接对其中的人体姿态进行分割,从而无法精准捕捉人体运动姿态特征,增加了姿态识别的难度。因此为了实现对人体运动的自动化监测、分析和控制,提高个人训练效果,展开了不... 不规则单帧图像中人体运动姿态具有复杂和不规则性,传统方法难以直接对其中的人体姿态进行分割,从而无法精准捕捉人体运动姿态特征,增加了姿态识别的难度。因此为了实现对人体运动的自动化监测、分析和控制,提高个人训练效果,展开了不规则单帧图像中人体运动姿态识别方法研究。根据人体各部位的比例关系,求出整体大矩形参数,分割人体目标,以减少后续处理的复杂度,提高后续识别的准确性;基于运动方向与人体部位位置信息组成特征矩阵,精准捕捉到人体运动姿态特征,再利用拉普拉斯分值降维运动矢量,提高了特征提取的效率。然后通过计算近邻图相邻节点相似性,获得关键不规则单帧图像人体姿势运动特征向量;凭借模板匹配法求解人体运动姿态序列的类别,设定相似性阈值,完成人体运动姿态识别。仿真分析结果表明,所提方法能够实现人体运动姿态识别,提高训练效果。 展开更多
关键词 不规则单帧图像 人体运动 图像分割 姿态识别 运动向量
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基于改进麻雀搜索算法的AUV路径规划方法 被引量:1
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作者 唐李军 范云霞 +1 位作者 周星宇 孙骞 《中国舰船研究》 北大核心 2025年第3期275-287,共13页
[目的]针对复杂水下环境中自主水下航行器(AUV)三维路径规划算法存在的规划效果不理想、路径搜索不稳定等问题,提出一种基于改进麻雀搜索算法的AUV路径规划方法。[方法]推导评价区间响应的矢量分析方法公式,引入分段学习和量子计算机制... [目的]针对复杂水下环境中自主水下航行器(AUV)三维路径规划算法存在的规划效果不理想、路径搜索不稳定等问题,提出一种基于改进麻雀搜索算法的AUV路径规划方法。[方法]推导评价区间响应的矢量分析方法公式,引入分段学习和量子计算机制,改进经典麻雀搜索算法的更新公式。通过汤普森采样策略动态更新种群数量。在复杂洋流环境中进行仿真测试,验证改进算法的有效性。[结果]测试结果表明,改进算法的平均最长航行时间较改进前缩短49.88%,在极端突变的洋流环境下,路径规划失败率降低10.6%。[结论]研究成果揭示了该方法具有较强的全局搜索能力和寻优性能、算法收敛性能较好,具备高效的路径规划能力,对AUV以及其他领域的路径规划问题有借鉴意义。 展开更多
关键词 自主水下航行器 三维路径规划 麻雀搜索算法 区间优化 矢量分析法 运动规划
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计及碰撞瞬态拓扑特征识别的落体系统运动机理完整性分析方法研究
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作者 杨玉维 李照童 +4 位作者 陈鹏宇 龚健超 王浩宇 刘祺 马跃 《机械工程学报》 北大核心 2025年第5期214-227,共14页
准确识别涵盖法向嵌入深度、切向侧滑阻尼、碰撞相对位姿及相对速度、接触轮廓几何非线性等要素的正/斜碰撞瞬态拓扑特征,对冲击碰撞影响下系统的局部与整体运动响应分析具有重要意义。鉴于此,基于多体力学建模方法的系统性与普适性,首... 准确识别涵盖法向嵌入深度、切向侧滑阻尼、碰撞相对位姿及相对速度、接触轮廓几何非线性等要素的正/斜碰撞瞬态拓扑特征,对冲击碰撞影响下系统的局部与整体运动响应分析具有重要意义。鉴于此,基于多体力学建模方法的系统性与普适性,首先提出一种关于落体正/斜碰撞时变性瞬态拓扑特征识别的有效方法,进而提出一种集合法向碰撞与切向侧滑于一体的单/双侧冲击碰撞广义力模型的通用性构建方法;其次针对落体碰撞事件后期系统的纯滚动运动状态需由落体转角与路面轮廓曲线上其接触点切线斜率共同决定的复杂性运动几何特征,通过向系统引入新型增广构型矢量,提出一种将上述纯滚动非完整运动约束转化为滚动体轮廓上一等效动点对路面轮廓轨迹实施跟踪的完整运动约束的研究方法;再次针对落体与路面形成的碰撞多体系统,提出一种涵盖碰撞前、中、后3个子事件的系统动力学综合模型的构建方法;最后通过圆环-谐波路面落体运动的数值仿真,有效揭示落体碰撞系统事件完整性运动机理及规律,同时验证分析方法的正确性与有效性。研究成果对冲击碰撞动力学与多体运动学的理论丰富与应用,具有重要的学术与应用价值。 展开更多
关键词 落体碰撞系统 碰撞瞬态拓扑特征 增广构型变量 运动机理 完整性
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