The tasks that unmanned aircraft systems solve include the detection of objects and determining their state. This paper reports an analysis of image recognition methods in order to automate the specified process. Based on the analysis, an improved method for recognizing images of monitored objects by a convolutional neural network using a discrete wavelet transform has been devised. Underlying the method is the task of automating image processing in unmanned aircraft systems. The operability of the proposed method was tested using an example of processing an image (aircraft, tanks, helicopters) acquired by the optical system of an unmanned aerial vehicle. A discrete wavelet transform has been used to build a database of objects' wavelet images and train a convolutional neural network based on them. That has made it possible to improve the efficiency of recognition of monitored objects and automate a given process. The effectiveness of the improved method is achieved by preliminary decomposition and approximation of the digital image of the monitored object by a discrete wavelet transform. The stages of a given method include the construction of a database of the wavelet images of images and training a convolutional neural network. The effectiveness of recognizing the monitored objects' images by the improved method was tested on a convolutional neural network, which was trained with images of 300 monitored objects. In this case, the time to make a decision, based on the proposed method, decreased on average from 0.7 to 0.84 s compared with the artificial neural networks ResNet and ConvNets.
The method could be used in the information processing systems in unmanned aerial vehicles that monitor objects; in robotic complexes for various purposes; in the video surveillance systems of important objects
Detection and recognition of objects in images is the main problem to be solved by computer vision systems. As part of solving this problem, the model of object recognition in aerial photographs taken from unmanned aerial vehicles has been improved. A study of object recognition in aerial photographs using deep convolutional neural networks has been carried out. Analysis of possible implementations showed that the AlexNet 2012 model (Canada) trained on the ImageNet image set (China) is most suitable for this problem solution. This model was used as a basic one. The object recognition error for this model with the use of the ImageNet test set of images amounted to 15 %. To solve the problem of improving the effectiveness of object recognition in aerial photographs for 10 classes of images, the final fully connected layer was modified by rejection from 1,000 to 10 neurons and additional two-stage training of the resulting model. Additional training was carried out with a set of images prepared from aerial photographs at stage 1 and with a set of VisDrone 2021 (China) images at stage 2. Optimal training parameters were selected: speed (step) (0.0001), number of epochs (100). As a result, a new model under the proposed name of AlexVisDrone was obtained.
The effectiveness of the proposed model was checked with a test set of 100 images for each class (the total number of classes was 10). Accuracy and sensitivity were chosen as the main indicators of the model effectiveness. As a result, an increase in recognition accuracy from 7 % (for images from aerial photographs) to 9 % (for the VisDrone 2021 set) was obtained which has indicated that the choice of neural network architecture and training parameters was correct. The use of the proposed model makes it possible to automate the process of object recognition in aerial photographs.
In the future, it is advisable to use this model at ground stations of unmanned aerial vehicle complex control when processing aerial photographs taken from unmanned aerial vehicles, in robotic systems, in video surveillance complexes and when designing unmanned vehicle systems
In this paper the advanced technique of I/Q demodulation of the odd order synthesis for any dimension is presented. Calculation of coefficients for a signal filtration is based on the common solution of the redefined and undefined system of the homogeneous sedate equations concerning independent variables.
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