Guohui Wang

Kun Xiao, Junqi Lu, Ying Nie et al.

A benchmark for multi-UAV task assignment is presented in order to evaluate different algorithms. An extended Team Orienteering Problem is modeled for a kind of multi-UAV task assignment problem. Three intelligent algorithms, i.e., Genetic Algorithm, Ant Colony Optimization and Particle Swarm Optimization are implemented to solve the problem. A series of experiments with different settings are conducted to evaluate three algorithms. The modeled problem and the evaluation results constitute a benchmark, which can be used to evaluate other algorithms used for multi-UAV task assignment problems.

Kun Xiao, Shaochang Tan, Guohui Wang et al.

A customizable multi-rotor UAVs simulation platform based on ROS, Gazebo and PX4 is presented. The platform, which is called XTDrone, integrates dynamic models, sensor models, control algorithm, state estimation algorithm, and 3D scenes. The platform supports multi UAVs and other robots. The platform is modular and each module can be modified, which means that users can test its own algorithm, such as SLAM, object detection, motion planning, attitude control, multi-UAV cooperation, and cooperation with other robots on the platform. The platform runs in lockstep, so the simulation speed can be adjusted according to the computer performance. In this paper, two cases, evaluating different visual SLAM algorithm and realizing UAV formation, are shown to demonstrate how the platform works.

Kekai Sheng, Weiming Dong, Menglei Chai et al.

Visual aesthetic assessment has been an active research field for decades. Although latest methods have achieved promising performance on benchmark datasets, they typically rely on a large number of manual annotations including both aesthetic labels and related image attributes. In this paper, we revisit the problem of image aesthetic assessment from the self-supervised feature learning perspective. Our motivation is that a suitable feature representation for image aesthetic assessment should be able to distinguish different expert-designed image manipulations, which have close relationships with negative aesthetic effects. To this end, we design two novel pretext tasks to identify the types and parameters of editing operations applied to synthetic instances. The features from our pretext tasks are then adapted for a one-layer linear classifier to evaluate the performance in terms of binary aesthetic classification. We conduct extensive quantitative experiments on three benchmark datasets and demonstrate that our approach can faithfully extract aesthetics-aware features and outperform alternative pretext schemes. Moreover, we achieve comparable results to state-of-the-art supervised methods that use 10 million labels from ImageNet.

Guohui Wang, Yingen Xiong, Jay Yun et al.

In this paper, we present an OpenCL-based heterogeneous implementation of a computer vision algorithm -- image inpainting-based object removal algorithm -- on mobile devices. To take advantage of the computation power of the mobile processor, the algorithm workflow is partitioned between the CPU and the GPU based on the profiling results on mobile devices, so that the computationally-intensive kernels are accelerated by the mobile GPGPU (general-purpose computing using graphics processing units). By exploring the implementation trade-offs and utilizing the proposed optimization strategies at different levels including algorithm optimization, parallelism optimization, and memory access optimization, we significantly speed up the algorithm with the CPU-GPU heterogeneous implementation, while preserving the quality of the output images. Experimental results show that heterogeneous computing based on GPGPU co-processing can significantly speed up the computer vision algorithms and makes them practical on real-world mobile devices.