Object detection in occluded environments remains a core challenge in computer vision(CV),especially in domains such as autonomous driving and robotics.While Convolutional Neural Network(CNN)-based twodimensional(2D)a...Object detection in occluded environments remains a core challenge in computer vision(CV),especially in domains such as autonomous driving and robotics.While Convolutional Neural Network(CNN)-based twodimensional(2D)and three-dimensional(3D)object detection methods havemade significant progress,they often fall short under severe occlusion due to depth ambiguities in 2D imagery and the high cost and deployment limitations of 3D sensors such as Light Detection and Ranging(LiDAR).This paper presents a comparative review of recent 2D and 3D detection models,focusing on their occlusion-handling capabilities and the impact of sensor modalities such as stereo vision,Time-of-Flight(ToF)cameras,and LiDAR.In this context,we introduce FuDensityNet,our multimodal occlusion-aware detection framework that combines Red-Green-Blue(RGB)images and LiDAR data to enhance detection performance.As a forward-looking direction,we propose a monocular depth-estimation extension to FuDensityNet,aimed at replacing expensive 3D sensors with a more scalable CNN-based pipeline.Although this enhancement is not experimentally evaluated in this manuscript,we describe its conceptual design and potential for future implementation.展开更多
Fifth generation(5G)cellular networks intend to overcome the challenging demands posed by dynamic service quality requirements,which are not achieved by single network technology.The future cellular networks require e...Fifth generation(5G)cellular networks intend to overcome the challenging demands posed by dynamic service quality requirements,which are not achieved by single network technology.The future cellular networks require efficient resource allocation and power control schemes that meet throughput and energy efficiency requirements when multiple technologies coexist and share network resources.In this paper,we optimize the throughput and energy efficiency(EE)performance for the coexistence of two technologies that have been identified for the future cellular networks,namely,massive multiple-input multiple-output(MIMO)and network-assisted device-to-device(D2D)communications.In such a hybrid network,the co/cross-tier interferences between cellular and D2D communications caused by spectrum sharing is a significant challenge.To this end,we formulate the average sum rate and EE optimization problem as mixed-integer non-linear programming(MINLP).We develop distributed resource allocation algorithms based on matching theory to alleviate interferences and optimize network performance.It is shown in this paper that the proposed algorithms converge to a stable matching and terminate after finite iterations.Matlab simulation results show that the proposed algorithms achieved more than 88%of the average transmission rate and 86%of the energy efficiency performance of the optimal matching with lower complexity.展开更多
文摘Object detection in occluded environments remains a core challenge in computer vision(CV),especially in domains such as autonomous driving and robotics.While Convolutional Neural Network(CNN)-based twodimensional(2D)and three-dimensional(3D)object detection methods havemade significant progress,they often fall short under severe occlusion due to depth ambiguities in 2D imagery and the high cost and deployment limitations of 3D sensors such as Light Detection and Ranging(LiDAR).This paper presents a comparative review of recent 2D and 3D detection models,focusing on their occlusion-handling capabilities and the impact of sensor modalities such as stereo vision,Time-of-Flight(ToF)cameras,and LiDAR.In this context,we introduce FuDensityNet,our multimodal occlusion-aware detection framework that combines Red-Green-Blue(RGB)images and LiDAR data to enhance detection performance.As a forward-looking direction,we propose a monocular depth-estimation extension to FuDensityNet,aimed at replacing expensive 3D sensors with a more scalable CNN-based pipeline.Although this enhancement is not experimentally evaluated in this manuscript,we describe its conceptual design and potential for future implementation.
文摘Fifth generation(5G)cellular networks intend to overcome the challenging demands posed by dynamic service quality requirements,which are not achieved by single network technology.The future cellular networks require efficient resource allocation and power control schemes that meet throughput and energy efficiency requirements when multiple technologies coexist and share network resources.In this paper,we optimize the throughput and energy efficiency(EE)performance for the coexistence of two technologies that have been identified for the future cellular networks,namely,massive multiple-input multiple-output(MIMO)and network-assisted device-to-device(D2D)communications.In such a hybrid network,the co/cross-tier interferences between cellular and D2D communications caused by spectrum sharing is a significant challenge.To this end,we formulate the average sum rate and EE optimization problem as mixed-integer non-linear programming(MINLP).We develop distributed resource allocation algorithms based on matching theory to alleviate interferences and optimize network performance.It is shown in this paper that the proposed algorithms converge to a stable matching and terminate after finite iterations.Matlab simulation results show that the proposed algorithms achieved more than 88%of the average transmission rate and 86%of the energy efficiency performance of the optimal matching with lower complexity.
