We propose a deep learning-based method for object detection in UAV-borne thermal images that have the capability of observing scenes in both day and night. Compared with visible images, thermal images have lower requirements for illumination conditions, but they typically have blurred edges and low contrast. Using a boundary-aware salient object detection network, we extract the saliency maps of the thermal images to improve the distinguishability. Thermal images are augmented with the corresponding saliency maps through channel replacement and pixel-level weighted fusion methods. Considering the limited computing power of UAV platforms, a lightweight combinational neural network ComNet is used as the core object detection method. The YOLOv3 model trained on the original images is used as a benchmark and compared with the proposed method. In the experiments, we analyze the detection performances of the ComNet models with different image fusion schemes. The experimental results show that the average precisions (APs) for pedestrian and vehicle detection have been improved by 2%~5% compared with the benchmark without saliency map fusion and MobileNetv2. The detection speed is increased by over 50%, while the model size is reduced by 58%. The results demonstrate that the proposed method provides a compromise model, which has application potential in UAV-borne detection tasks.

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Divergence functions are the non-symmetric “distance” on the manifold, Μθ, of parametric probability density functions over a measure space, ( Χ,μ). Classical information geometry prescribes, on Μθ: (i) a Riemannian metric given by the Fisher information; (ii) a pair of dual connections (giving rise to the family of α-connections) that preserve the metric under parallel transport by their joint actions; and (iii) a family of divergence functions ( α-divergence) defined on Μθ x？ Μθ, which induce the metric and the dual connections. Here, we construct an extension of this differential geometric structure from Μθ (that of parametric probability density functions) to the manifold, Μ, of non-parametric functions on X, removing the positivity and normalization constraints. The generalized Fisher information and α-connections on M are induced by an α-parameterized family of divergence functions, reflecting the fundamental convex inequality associated with any smooth and strictly convex function. The infinite-dimensional manifold, M, has zero curvature for all these α-connections; hence, the generally non-zero curvature of M can be interpreted as arising from an embedding of Μθ into Μ. Furthermore, when a parametric model (after a monotonic scaling) forms an affine submanifold, its natural and expectation parameters form biorthogonal coordinates, and such a submanifold is dually flat for α？= ± 1, generalizing the results of Amari’s α-embedding. The present analysis illuminates two different types of duality in information geometry, one concerning the referential status of a point (measurable function) expressed in the divergence function (“referential duality”) and the other concerning its representation under an arbitrary monotone scaling (“representational duality”).

The transformed $l_1$ penalty (TL1) functions are a one parameter family of bilinear transformations composed with the absolute value function. When acting on vectors, the TL1 penalty interpolates $l_0$ and $l_1$ similar to $l_p$ norm, where $p$ is in $(0,1)$. In our companion paper, we showed that TL1 is a robust sparsity promoting penalty in compressed sensing (CS) problems for a broad range of incoherent and coherent sensing matrices. Here we develop an explicit fixed point representation for the TL1 regularized minimization problem. The TL1 thresholding functions are in closed form for all parameter values. In contrast, the $l_p$ thresholding functions ($p$ is in $[0,1]$) are in closed form only for $p=0;1;1=2;2=3$, known as hard, soft, half, and 2/3 thresholding respectively. The TL1 threshold values differ in subcritical (supercritical) parameter regime where the TL1 threshold functions are continuous (discontinuous) similar to soft-thresholding (half-thresholding) functions. We propose TL1 iterative thresholding algorithms and compare them with hard and half thresholding algorithms in CS test problems. For both incoherent and coherent sensing matrices, a proposed TL1 iterative thresholding algorithm with adaptive subcritical and supercritical thresholds (TL1IT-s1 for short), consistently performs the best in sparse signal recovery with and without measurement noise.

In this paper, we formulate the deep residual network (ResNet) as a control problem of transport equation. In ResNet, the transport equation is solved along the characteristics. Based on this observation, deep neural network is closely related to the control problem of PDEs on manifold. We propose several models based on transport equation, Hamilton-Jacobi equation and Fokker-Planck equation. The discretization of these PDEs on point cloud is also discussed.