Graph filtering,which is founded on the theory of graph signal processing,is proved as a useful tool for image denoising.Most graph filtering methods focus on learning an ideal lowpass filter to remove noise,where cle...Graph filtering,which is founded on the theory of graph signal processing,is proved as a useful tool for image denoising.Most graph filtering methods focus on learning an ideal lowpass filter to remove noise,where clean images are restored from noisy ones by retaining the image components in low graph frequency bands.However,this lowpass filter has limited ability to separate the low-frequency noise from clean images such that it makes the denoising procedure less effective.To address this issue,we propose an adaptive weighted graph filtering(AWGF)method to replace the design of traditional ideal lowpass filter.In detail,we reassess the existing low-rank denoising method with adaptive regularizer learning(ARLLR)from the view of graph filtering.A shrinkage approach subsequently is presented on the graph frequency domain,where the components of noisy image are adaptively decreased in each band by calculating their component significances.As a result,it makes the proposed graph filtering more explainable and suitable for denoising.Meanwhile,we demonstrate a graph filter under the constraint of subspace representation is employed in the ARLLR method.Therefore,ARLLR can be treated as a special form of graph filtering.It not only enriches the theory of graph filtering,but also builds a bridge from the low-rank methods to the graph filtering methods.In the experiments,we perform the AWGF method with a graph filter generated by the classical graph Laplacian matrix.The results show our method can achieve a comparable denoising performance with several state-of-the-art denoising methods.展开更多
Graph filtering is an important part of graph signal processing and a useful tool for image denoising.Existing graph filtering methods,such as adaptive weighted graph filtering(AWGF),focus on coefficient shrinkage str...Graph filtering is an important part of graph signal processing and a useful tool for image denoising.Existing graph filtering methods,such as adaptive weighted graph filtering(AWGF),focus on coefficient shrinkage strategies in a graph-frequency domain.However,they seldom consider the image attributes in their graph-filtering procedure.Consequently,the denoising performance of graph filtering is barely comparable with that of other state-of-the-art denoising methods.To fully exploit the image attributes,we propose a guided intra-patch smoothing AWGF(AWGF-GPS)method for single-image denoising.Unlike AWGF,which employs graph topology on patches,AWGF-GPS learns the topology of superpixels by introducing the pixel smoothing attribute of a patch.This operation forces the restored pixels to smoothly evolve in local areas,where both intra-and inter-patch relationships of the image are utilized during patch restoration.Meanwhile,a guided-patch regularizer is incorporated into AWGF-GPS.The guided patch is obtained in advance using a maximum-a-posteriori probability estimator.Because the guided patch is considered as a sketch of a denoised patch,AWGF-GPS can effectively supervise patch restoration during graph filtering to increase the reliability of the denoised patch.Experiments demonstrate that the AWGF-GPS method suitably rebuilds denoising images.It outperforms most state-of-the-art single-image denoising methods and is competitive with certain deep-learning methods.In particular,it has the advantage of managing images with significant noise.展开更多
地磁同步定位与构图(simultaneously localization and mapping,SLAM)无须先验地磁指纹库,即可实现基于智能手机的未知室内环境定位。然而,智能手机地磁SLAM仍受限于惯性定位精度差、因子图优化算法动态适应能力不足及大型场景SLAM应用...地磁同步定位与构图(simultaneously localization and mapping,SLAM)无须先验地磁指纹库,即可实现基于智能手机的未知室内环境定位。然而,智能手机地磁SLAM仍受限于惯性定位精度差、因子图优化算法动态适应能力不足及大型场景SLAM应用系统性能恶化等技术瓶颈。为解决此问题,本文通过设计方差时序递增机制和多源关键数据帧,提出一种面向大型室内场景的地磁SLAM增强优化算法。首先,为了提高惯性定位精度,本文挖掘行人运动过程中呈现出的特征规律构建观测方程,并融合地磁环境信息实现手机端地磁SLAM。然后,针对因子图优化算法动态适应能力不足,采用前端卡尔曼滤波与后端因子图优化相结合的定位框架提升时效性,同时设计方差时序递增机制,动态融合不同定位方法。最后,为了缓解大型场景地磁SLAM性能恶化,在时序维度上扩展关键帧概念和特征表达能力,有效缓解大型场景地磁误匹配问题;结合多源数据设计稳健回环探测与匹配算法,构建关键帧评分机制降低空间密度,从而提高算法效率。试验结果表明,本文实现了大型室内场景闭环情形下的地磁SLAM,相比惯性定位和经典地磁SLAM,本文提出的地磁SLAM增强优化方法的位置均方根误差降低了18%~67%;并且在仅利用标准方法22.6%的关键帧数量的前提下,本文方法仍能保持更高精度、更平滑的定位结果;通过试验探究了参数设置对定位精度和运行时间的影响,明确了地磁图构建首要因素基函数体素网格边长。展开更多
基金This work is supported by National Natural Science Foundation of China[61673108,41706103]The initials of authors who received these grants are LZ and YZ,respectively.It is also supported by Natural Science Foundation of Jiangsu Province,China[BK20170306]The initials of author who received this grant are YZ.
文摘Graph filtering,which is founded on the theory of graph signal processing,is proved as a useful tool for image denoising.Most graph filtering methods focus on learning an ideal lowpass filter to remove noise,where clean images are restored from noisy ones by retaining the image components in low graph frequency bands.However,this lowpass filter has limited ability to separate the low-frequency noise from clean images such that it makes the denoising procedure less effective.To address this issue,we propose an adaptive weighted graph filtering(AWGF)method to replace the design of traditional ideal lowpass filter.In detail,we reassess the existing low-rank denoising method with adaptive regularizer learning(ARLLR)from the view of graph filtering.A shrinkage approach subsequently is presented on the graph frequency domain,where the components of noisy image are adaptively decreased in each band by calculating their component significances.As a result,it makes the proposed graph filtering more explainable and suitable for denoising.Meanwhile,we demonstrate a graph filter under the constraint of subspace representation is employed in the ARLLR method.Therefore,ARLLR can be treated as a special form of graph filtering.It not only enriches the theory of graph filtering,but also builds a bridge from the low-rank methods to the graph filtering methods.In the experiments,we perform the AWGF method with a graph filter generated by the classical graph Laplacian matrix.The results show our method can achieve a comparable denoising performance with several state-of-the-art denoising methods.
基金This work is supported by Natural Science Foundation of Jiangsu Province,China[BK20170306]National Key R&D Program,China[2017YFC0306100].The initials of authors who received these grants are YZ and JL,respectively.It is also supported by Fundamental Research Funds for Central Universities,China[B200202217]Changzhou Science and Technology Program,China[CJ20200065].The initials of author who received these grants are YT.
文摘Graph filtering is an important part of graph signal processing and a useful tool for image denoising.Existing graph filtering methods,such as adaptive weighted graph filtering(AWGF),focus on coefficient shrinkage strategies in a graph-frequency domain.However,they seldom consider the image attributes in their graph-filtering procedure.Consequently,the denoising performance of graph filtering is barely comparable with that of other state-of-the-art denoising methods.To fully exploit the image attributes,we propose a guided intra-patch smoothing AWGF(AWGF-GPS)method for single-image denoising.Unlike AWGF,which employs graph topology on patches,AWGF-GPS learns the topology of superpixels by introducing the pixel smoothing attribute of a patch.This operation forces the restored pixels to smoothly evolve in local areas,where both intra-and inter-patch relationships of the image are utilized during patch restoration.Meanwhile,a guided-patch regularizer is incorporated into AWGF-GPS.The guided patch is obtained in advance using a maximum-a-posteriori probability estimator.Because the guided patch is considered as a sketch of a denoised patch,AWGF-GPS can effectively supervise patch restoration during graph filtering to increase the reliability of the denoised patch.Experiments demonstrate that the AWGF-GPS method suitably rebuilds denoising images.It outperforms most state-of-the-art single-image denoising methods and is competitive with certain deep-learning methods.In particular,it has the advantage of managing images with significant noise.
文摘地磁同步定位与构图(simultaneously localization and mapping,SLAM)无须先验地磁指纹库,即可实现基于智能手机的未知室内环境定位。然而,智能手机地磁SLAM仍受限于惯性定位精度差、因子图优化算法动态适应能力不足及大型场景SLAM应用系统性能恶化等技术瓶颈。为解决此问题,本文通过设计方差时序递增机制和多源关键数据帧,提出一种面向大型室内场景的地磁SLAM增强优化算法。首先,为了提高惯性定位精度,本文挖掘行人运动过程中呈现出的特征规律构建观测方程,并融合地磁环境信息实现手机端地磁SLAM。然后,针对因子图优化算法动态适应能力不足,采用前端卡尔曼滤波与后端因子图优化相结合的定位框架提升时效性,同时设计方差时序递增机制,动态融合不同定位方法。最后,为了缓解大型场景地磁SLAM性能恶化,在时序维度上扩展关键帧概念和特征表达能力,有效缓解大型场景地磁误匹配问题;结合多源数据设计稳健回环探测与匹配算法,构建关键帧评分机制降低空间密度,从而提高算法效率。试验结果表明,本文实现了大型室内场景闭环情形下的地磁SLAM,相比惯性定位和经典地磁SLAM,本文提出的地磁SLAM增强优化方法的位置均方根误差降低了18%~67%;并且在仅利用标准方法22.6%的关键帧数量的前提下,本文方法仍能保持更高精度、更平滑的定位结果;通过试验探究了参数设置对定位精度和运行时间的影响,明确了地磁图构建首要因素基函数体素网格边长。
