The reconnaissance mode with the cooperation of two unmanned aerial vehicles (UAVs) equipped with airborne visual tracking platforms is a common practice for localizing a target. Apart from the random noises from sensors, the localization performance is much dependent on their cooperative trajectories. In our previous work, we have proposed a cooperative trajectory generating method that proves better than EKF based method. In this letter, an improved online trajectory generating method is proposed to enhance the previous one. First, the least square estimation method has been replaced with a geometric-optimization based estimation method, which can obtain a better estimation performance than the least square method proposed in our previous work; second, in the trajectory optimization phase, the position error caused by estimation method is also considered, which can further improve the optimization performance of the next way points of the two UAVs. The improved method can well be applied to the two-UAV trajectory planning for corporative target localization, and the simulation results confirm that the improved method achieves an obviously better localization performance than our previous method and the EKF-based method.

In this paper, we propose a salient region detection method with multi-feature fusion and edge constraint. First, an image feature extraction and fusion network based on dense connection structure and multi-channel convolution channel is designed. Then, a multi-scale atrous convolution block is applied to enlarge reception field. Finally, to increase accuracy, a combined loss function including classified loss and edge loss is built for multi-task training. Experimental results verify the effectiveness of the proposed method.

In the neck part of a two-stage object detection network, feature fusion is generally carried out in either a top-down or bottom-up manner. However, two types of imbalance may exist: feature imbalance in the neck of the model and gradient imbalance in the region of interest extraction layer due to the scale changes of objects. The deeper the network is, the more abstract the learned features are, that is to say, more semantic information can be extracted. However, the extracted image background, spatial location, and other resolution information are less. In contrast, the shallow part can learn little semantic information, but a lot of spatial location information. We propose the Both Ends to Centre to Multiple Layers (BEtM) feature fusion method to solve the feature imbalance problem in the neck and a Multi-level Region of Interest Feature Extraction (MRoIE) layer to solve the gradient imbalance problem. In combination with the Region-based Convolutional Neural Network (R-CNN) framework, our Balanced Feature Fusion (BFF) method offers significantly improved network performance compared with the Faster R-CNN architecture. On the MS COCO 2017 dataset, it achieves an average precision (AP) that is 1.9 points and 3.2 points higher than those of the Feature Pyramid Network (FPN) Faster R-CNN framework and the Generic Region of Interest Extractor (GRoIE) framework, respectively.

Service composition optimization is a classic NP-hard problem. How to quickly select high-quality services that meet user needs from a large number of candidate services is a hot topic in cloud service composition research. An efficient second-order beetle swarm optimization is proposed with a global search ability to solve the problem of cloud service composition optimization in this study. First, the beetle antennae search algorithm is introduced into the modified particle swarm optimization algorithm, initialize the population bying using a chaotic sequence, and the modified nonlinear dynamic trigonometric learning factors are adopted to control the expanding capacity of particles and global convergence capability. Second, modified secondary oscillation factors are incorporated, increasing the search precision of the algorithm and global searching ability. An adaptive step adjustment is utilized to improve the stability of the algorithm. Experimental results founded on a real data set indicated that the proposed global optimization algorithm can solve web service composition optimization problems in a cloud environment. It exhibits excellent global searching ability, has comparatively fast convergence speed, favorable stability, and requires less time cost.