Structured Modeling of Joint Deep Feature and Prediction Refinement for Salient Object Detection
University of Oulu(奥卢大学);University of Oxford(牛津大学);Xi’an Jiaotong University(西安交通大学);The University of Sydney(悉尼大学);Xiamen University(厦门大学);University of Technology Sydney(悉尼科技大学)
Yingyue Xu, Dan Xu, Xiaopeng Hong, Wanli Ouyang, Rongrong Ji, Min Xu, Guoying Zhao
Recent saliency models extensively explore to incorporate multi-scale contextual information from Convolutional Neural Networks (CNNs). Besides direct fusion strategies, many approaches introduce message-passing to enhance CNN features or predictions. However, the messages are mainly transmitted in two ways, by feature-to-feature passing, and by prediction-to-prediction passing. In this paper, we add message-passing between features and predictions and propose a deep unified CRF saliency model . We design a novel cascade CRFs architecture with CNN to jointly refine deep features and predictions at each scale and progressively compute a final refined saliency map. We formulate the CRF graphical model that involves message-passing of feature-feature, feature-prediction, and prediction-prediction, from the coarse scale to the finer scale, to update the features and the corresponding predictions. Also, we formulate the mean-field updates for joint end-to-end model training with CNN through back propagation. The proposed deep unified CRF saliency model is evaluated over six datasets and shows highly competitive performance among the state of the arts.
China University of Petroleum, Beijing Campus (CUP)(中国石油大学(北京))
The extensive research leveraging RGB-D information has been exploited in salient object detection. However, salient visual cues appear in various scales and resolutions of RGB images due to semantic gaps at different feature levels. Meanwhile, similar salient patterns are available in cross-modal depth images as well as multi-scale versions. Cross-modal fusion and multi-scale refinement are still an open problem in RGB-D salient object detection task. In this paper, we begin by introducing top-down and bottom-up iterative refinement architecture to leverage multi-scale features, and then devi…
The Chinese University of Hong Kong(香港中文大学);John Hopkins University(约翰·霍普金斯大学);Tencent(腾讯)
Albeit intensively studied, false prediction and unclear boundaries are still major issues of salient object detection. In this paper, we propose a Region Refinement Network (RRN), which recurrently filters redundant information and explicitly models boundary information for saliency detection. Different from existing refinement methods, we propose a Region Refinement Module (RRM) that optimizes salient region prediction by incorporating supervised attention masks in the intermediate refinement stages. The module only brings a minor increase in model size and yet significantly reduces false pr…
Recent deep learning based salient object detection methods which utilize both saliency and boundary features have achieved remarkable performance. However, most of them ignore the complementarity between saliency features and boundary features, thus get worse predictions in scenes with low contrast between foreground and background. To address this issue, we propose a novel Recurrent Two-Stream Guided Refinement Network (RTGRNet) that consists of iterating Two-Stream Guided Refinement Modules (TGRMs). TGRM consists of a Guide Block and two feature streams: saliency and boundary, the Guide Blo…
In this paper, we aim to develop an efficient and compact deep network for RGB-D salient object detection, where the depth image provides complementary information to boost performance in complex scenarios. Starting from a coarse initial prediction by a multi-scale residual block, we propose a progressively guided alternate refinement network to refine it. Instead of using ImageNet pre-trained backbone network, we first construct a lightweight depth stream by learning from scratch, which can extract complementary features more efficiently with less redundancy. Then, different from the existing…
Beijing Jiaotong University(北京交通大学);Nanyang Technological University(南洋理工大学);Sun Yat-sen University(中山大学);University of Chinese Academy of Sciences(中国科学院大学);Institute of Computing Technology, Chinese Academy of Sciences(中国科学院计算技术研究所);Peng Cheng Laboratory(鹏城实验室)
Focusing on the issue of how to effectively capture and utilize cross-modality information in RGB-D salient object detection (SOD) task, we present a convolutional neural network (CNN) model, named CIR-Net, based on the novel cross-modality interaction and refinement. For the cross-modality interaction, 1) a progressive attention guided integration unit is proposed to sufficiently integrate RGB-D feature representations in the encoder stage, and 2) a convergence aggregation structure is proposed, which flows the RGB and depth decoding features into the corresponding RGB-D decoding streams via …
The Chinese University of Hong Kong(香港中文大学);Shenzhen University(深圳大学)
Video salient object detection (VSOD) is an important task in many vision applications. Reliable VSOD requires to simultaneously exploit the information from both the spatial domain and the temporal domain. Most of the existing algorithms merely utilize simple fusion strategies, such as addition and concatenation, to merge the information from different domains. Despite their simplicity, such fusion strategies may introduce feature redundancy, and also fail to fully exploit the relationship between multi-level features extracted from both spatial and temporal domains. In this paper, we suggest…
Salient object detection (SOD) aims to determine the most visually attractive objects in an image. With the development of virtual reality technology, 360° omnidirectional image has been widely used, but the SOD task in 360° omnidirectional image is seldom studied due to its severe distortions and complex scenes. In this paper, we propose a Multi-Projection Fusion and Refinement Network (MPFR-Net) to detect the salient objects in 360° omnidirectional image. Different from the existing methods, the equirectangular projection image and four corresponding cube-unfolding images are embedded into t…
Point-aware Interaction and CNN-induced Refinement Network for RGB-D Salient Object Detection
Beijing Jiaotong University(北京交通大学);Shandong University(山东大学);Institute of Information Science, Beijing Jiaotong University(北京交通大学信息科学研究所);Southern University of Science and Technology(南方科技大学);City University of Hong Kong(香港城市大学)
The real human attention is an interactive activity between our visual system and our brain, using both low-level visual stimulus and high-level semantic information. Previous image salient object detection (SOD) works conduct their saliency predictions in a multi-task manner, i.e., performing pixel-wise saliency regression and segmentation-like saliency refinement at the same time, which degenerates their feature backbones in revealing semantic information. However, given an image, we tend to pay more attention to those regions which are semantically salient even in the case that these region…
Nanjing University of Aeronautics and Astronautics(南京航空航天大学);University of Leicester(莱斯特大学)
Due to the extreme complexity of scale and shape as well as the uncertainty of the predicted location, salient object detection in optical remote sensing images (RSI-SOD) is a very difficult task. The existing SOD methods can satisfy the detection performance for natural scene images, but they are not well adapted to RSI-SOD due to the above-mentioned image characteristics in remote sensing images. In this paper, we propose a novel Attention Guided Network (AGNet) for SOD in optical RSIs, including position enhancement stage and detail refinement stage. Specifically, the position enhancement s…
Depth can provide useful geographical cues for salient object detection (SOD), and has been proven helpful in recent RGB-D SOD methods. However, existing video salient object detection (VSOD) methods only utilize spatiotemporal information and seldom exploit depth information for detection. In this paper, we propose a depth-cooperated trimodal network, called DCTNet for VSOD, which is a pioneering work to incorporate depth information to assist VSOD. To this end, we first generate depth from RGB frames, and then propose an approach to treat the three modalities unequally. Specifically, a multi…
Sun Yat-sen University(中山大学);DarkMatter AI Research(暗物质人工智能研究院);Shenzhen Research Institute of Big Data, the Chinese University of Hong Kong (Shenzhen)(香港中文大学(深圳)深圳大数据研究院);Megvii Technology(旷视科技)
Deep learning-based video salient object detection has recently achieved great success with its performance significantly outperforming any other unsupervised methods. However, existing data-driven approaches heavily rely on a large quantity of pixel-wise annotated video frames to deliver such promising results. In this paper, we address the semi-supervised video salient object detection task using pseudo-labels. Specifically, we present an effective video saliency detector that consists of a spatial refinement network and a spatiotemporal module. Based on the same refinement network and motio…
Aiming at discovering and locating most distinctive objects from visual scenes, salient object detection (SOD) plays an essential role in various computer vision systems. Coming to the era of high resolution, SOD methods are facing new challenges. The major limitation of previous methods is that they try to identify the salient regions and estimate the accurate objects boundaries simultaneously with a single regression task at low-resolution. This practice ignores the inherent difference between the two difficult problems, resulting in poor detection quality. In this paper, we propose a novel …
University of Manitoba(曼尼托巴大学);Ryerson University(瑞尔森大学)
Salient object detection is a problem that has been considered in detail and many solutions proposed. In this paper, we argue that work to date has addressed a problem that is relatively ill-posed. Specifically, there is not universal agreement about what constitutes a salient object when multiple observers are queried. This implies that some objects are more likely to be judged salient than others, and implies a relative rank exists on salient objects. The solution presented in this paper solves this more general problem that considers relative rank, and we propose data and metrics suitable t…
Sun Yat-sen University(中山大学);The University of Hong Kong(香港大学)
Image saliency detection has recently witnessed rapid progress due to deep convolutional neural networks. However, none of the existing methods is able to identify object instances in the detected salient regions. In this paper, we present a salient instance segmentation method that produces a saliency mask with distinct object instance labels for an input image. Our method consists of three steps, estimating saliency map, detecting salient object contours and identifying salient object instances. For the first two steps, we propose a multiscale saliency refinement network, which generates hig…
Imperial College London(伦敦帝国学院);University of Liverpool(利物浦大学)
Salient object detection(SOD) aims at locating the most significant object within a given image. In recent years, great progress has been made in applying SOD on many vision tasks. The depth map could provide additional spatial prior and boundary cues to boost the performance. Combining the depth information with image data obtained from standard visual cameras has been widely used in recent SOD works, however, introducing depth information in a suboptimal fusion strategy may have negative influence in the performance of SOD. In this paper, we discuss about the advantages of the so-called prog…
Assisted Refinement Network Based on Channel Information Interaction for Camouflaged and Salient Object Detection
Department of Physics, J.K. Institute of Science(物理系,J.K.科学研究院);World Scientific University(世界科学大学);University of Intelligent Studies(智能研究大学);School of Computer Science and Technology, Xinjiang University(计算机科学与技术学院,新疆大学);Department of Electronic Engineering, Tsinghua University(电子工程系,清华大学)
Spectral-Spatial Synergistic Guided Network for Hyperspectral Salient Object Detection
Chongqing Innovation Center, Beijing Institute of Technology(重庆创新中心,北京理工大学);School of Optics and Photonics, Beijing Institute of Technology(北京理工大学光电学院);Key Laboratory of Photoelectronic Imaging Technology and System, Ministry of Education of China(中国教育部光电成像技术与系统重点实验室)
Benefit from the quick development of deep learning techniques, salient object detection has achieved remarkable progresses recently. However, there still exists following two major challenges that hinder its application in embedded devices, low resolution output and heavy model weight. To this end, this paper presents an accurate yet compact deep network for efficient salient object detection. More specifically, given a coarse saliency prediction in the deepest layer, we first employ residual learning to learn side-output residual features for saliency refinement, which can be achieved with v…
Zhejiang University(浙江大学);University of California, Merced(加州大学默塞德分校);Temple University(天普大学);Microsoft Research Asia(微软亚洲研究院)
A key problem in salient object detection is how to effectively model the semantic properties of salient objects in a data-driven manner. In this paper, we propose a multi-task deep saliency model based on a fully convolutional neural network (FCNN) with global input (whole raw images) and global output (whole saliency maps). In principle, the proposed saliency model takes a data-driven strategy for encoding the underlying saliency prior information, and then sets up a multi-task learning scheme for exploring the intrinsic correlations between saliency detection and semantic image segmentation…
South China University of Technology(华南理工大学);Dalian University of Technology(大连理工大学)
In this paper, we propose a simple yet effective approach, named Triple Excitation Network, to reinforce the training of video salient object detection (VSOD) from three aspects, spatial, temporal, and online excitations. These excitation mechanisms are designed following the spirit of curriculum learning and aim to reduce learning ambiguities at the beginning of training by selectively exciting feature activations using ground truth. Then we gradually reduce the weight of ground truth excitations by a curriculum rate and replace it by a curriculum complementary map for better and faster conve…
Shanghai Institute for Advanced Communication and Data Science(上海先进通信与数据科学研究院);Shanghai University(上海大学);Nanyang Technological University(南洋理工大学);Stony Brook University(石溪大学)
Salient object detection in optical remote sensing images (ORSI-SOD) has been widely explored for understanding ORSIs. However, previous methods focus mainly on improving the detection accuracy while neglecting the cost in memory and computation, which may hinder their real-world applications. In this paper, we propose a novel lightweight ORSI-SOD solution, named CorrNet, to address these issues. In CorrNet, we first lighten the backbone (VGG-16) and build a lightweight subnet for feature extraction. Then, following the coarse-to-fine strategy, we generate an initial coarse saliency map from h…
Peking University Shenzhen Graduate School(北京大学深圳研究生院)
Almost all previous works on saliency detection have been dedicated to conventional images, however, with the outbreak of panoramic images due to the rapid development of VR or AR technology, it is becoming more challenging, meanwhile valuable for extracting salient contents in panoramic images. In this paper, we propose a novel bottom-up salient object detection framework for panoramic images. First, we employ a spatial density estimation method to roughly extract object proposal regions, with the help of region growing algorithm. Meanwhile, an eye fixation model is utilized to predict visual…
Most existing RGB-D salient object detection (SOD) methods focus on the foreground region when utilizing the depth images. However, the background also provides important information in traditional SOD methods for promising performance. To better explore salient information in both foreground and background regions, this paper proposes a Bilateral Attention Network (BiANet) for the RGB-D SOD task. Specifically, we introduce a Bilateral Attention Module (BAM) with a complementary attention mechanism: foreground-first (FF) attention and background-first (BF) attention. The FF attention focuses o…
This paper presents a co-salient object detection method to find common salient regions in a set of images. We utilize deep saliency networks to transfer co-saliency prior knowledge and better capture high-level semantic information, and the resulting initial co-saliency maps are enhanced by seed propagation steps over an integrated graph. The deep saliency networks are trained in a supervised manner to avoid online weakly supervised learning and exploit them not only to extract high-level features but also to produce both intra- and inter-image saliency maps. Through a refinement step, the in…
Department of Electronic Engineering, Tsinghua University(清华大学电子工程系);Data61, CSIRO(澳大利亚联邦科学与工业研究组织 Data61);Australian National University(澳大利亚国立大学)
In this paper, we propose a novel edge preserving and multi-scale contextual neural network for salient object detection. The proposed framework is aiming to address two limits of the existing CNN based methods. First, region-based CNN methods lack sufficient context to accurately locate salient object since they deal with each region independently. Second, pixel-based CNN methods suffer from blurry boundaries due to the presence of convolutional and pooling layers. Motivated by these, we first propose an end-to-end edge-preserved neural network based on Fast R-CNN framework (named RegionNet) …
Nankai University(南开大学);University of Adelaide(阿德莱德大学)
The high computational cost of neural networks has prevented recent successes in RGB-D salient object detection (SOD) from benefiting real-world applications. Hence, this paper introduces a novel network, MobileSal, which focuses on efficient RGB-D SOD using mobile networks for deep feature extraction. However, mobile networks are less powerful in feature representation than cumbersome networks. To this end, we observe that the depth information of color images can strengthen the feature representation related to SOD if leveraged properly. Therefore, we propose an implicit depth restoration (I…
Automatic Salient object detection has received tremendous attention from research community and has been an increasingly important tool in many computer vision tasks. This paper proposes a novel bottom-up salient object detection framework which considers both foreground and background cues. First, A series of background and foreground seeds are selected from an image reliably, and then used for calculation of saliency map separately. Next, a combination of foreground and background saliency map is performed. Last, a refinement step based on geodesic distance is utilized to enhance salient re…
Dalian University of Technology(大连理工大学);Adobe Research(奥多比研究院)
Deep neural network based methods have made a significant breakthrough in salient object detection. However, they are typically limited to input images with low resolutions ($400\times400$ pixels or less). Little effort has been made to train deep neural networks to directly handle salient object detection in very high-resolution images. This paper pushes forward high-resolution saliency detection, and contributes a new dataset, named High-Resolution Salient Object Detection (HRSOD). To our best knowledge, HRSOD is the first high-resolution saliency detection dataset to date. As another contri…
In this paper, we propose a novel deep neural network framework embedded with low-level features (LCNN) for salient object detection in complex images. We utilise the advantage of convolutional neural networks to automatically learn the high-level features that capture the structured information and semantic context in the image. In order to better adapt a CNN model into the saliency task, we redesign the network architecture based on the small-scale datasets. Several low-level features are extracted, which can effectively capture contrast and spatial information in the salient regions, and in…
Dalian University of Technology(大连理工大学);Pengcheng Lab(鹏城实验室);Key Lab for Ubiquitous Network and Service Software of Liaoning Province(辽宁省泛在网络与服务软件重点实验室)
Weakly supervised salient object detection (WSOD) targets to train a CNNs-based saliency network using only low-cost annotations. Existing WSOD methods take various techniques to pursue single "high-quality" pseudo label from low-cost annotations and then develop their saliency networks. Though these methods have achieved good performance, the generated single label is inevitably affected by adopted refinement algorithms and shows prejudiced characteristics which further influence the saliency networks. In this work, we introduce a new multiple-pseudo-label framework to integrate more comprehe…
Discriminative Co-Saliency and Background Mining Transformer for Co-Salient Object Detection
Northwestern Polytechnical University(西北工业大学);Mohamed bin Zayed University of Artificial Intelligence(穆罕默德·本·扎耶德人工智能大学);Australian National University(澳大利亚国立大学);Linköping University(林雪平大学)
University of Chinese Academy of Sciences(中国科学院大学);Key Lab. of Intelligent Information Processing, ICT, CAS(中国科学院计算技术研究所智能信息处理重点实验室);Institute of Information Science, Beijing Jiaotong University(北京交通大学信息科学研究所);Key Lab. of Big Data Mining and Knowledge Management, CAS(中国科学院大数据挖掘与知识管理重点实验室);Peng Cheng Laboratory(鹏城实验室);ICT, CAS(中国科学院计算技术研究所)
Deep convolutional neural networks have achieved competitive performance in salient object detection, in which how to learn effective and comprehensive features plays a critical role. Most of the previous works mainly adopted multiple level feature integration yet ignored the gap between different features. Besides, there also exists a dilution process of high-level features as they passed on the top-down pathway. To remedy these issues, we propose a novel network named GCPANet to effectively integrate low-level appearance features, high-level semantic features, and global context features thr…
Nanyang Technological University(南洋理工大学);Beijing Jiaotong University(北京交通大学);Dalian University of Technology(大连理工大学);Chinese Academy of Sciences(中国科学院)
We present an effective method to progressively integrate and refine the cross-modality complementarities for RGB-D salient object detection (SOD). The proposed network mainly solves two challenging issues: 1) how to effectively integrate the complementary information from RGB image and its corresponding depth map, and 2) how to adaptively select more saliency-related features. First, we propose a cross-modality feature modulation (cmFM) module to enhance feature representations by taking the depth features as prior, which models the complementary relations of RGB-D data. Second, we propose an…
Beijing Jiaotong University(北京交通大学);City University of Hong Kong(香港城市大学);Tianjin University(天津大学);Shenzhen University(深圳大学);City University of Hong Kong Shenzhen Research Institute(香港城市大学深圳研究院)
For the video salient object detection (VSOD) task, how to excavate the information from the appearance modality and the motion modality has always been a topic of great concern. The two-stream structure, including an RGB appearance stream and an optical flow motion stream, has been widely used as a typical pipeline for VSOD tasks, but the existing methods usually only use motion features to unidirectionally guide appearance features or adaptively but blindly fuse two modality features. However, these methods underperform in diverse scenarios due to the uncomprehensive and unspecific learning …
Beijing Jiaotong University(北京交通大学);City University of Hong Kong(香港城市大学);Ningbo University(宁波大学);City University of Hong Kong Shenzhen Research Institute(香港城市大学深圳研究院)
Fully-supervised salient object detection (SOD) methods have made great progress, but such methods often rely on a large number of pixel-level annotations, which are time-consuming and labour-intensive. In this paper, we focus on a new weakly-supervised SOD task under hybrid labels, where the supervision labels include a large number of coarse labels generated by the traditional unsupervised method and a small number of real labels. To address the issues of label noise and quantity imbalance in this task, we design a new pipeline framework with three sophisticated training strategies. In terms…
College of Computer Science, Sichuan University(四川大学计算机学院);National Key Laboratory of Fundamental Science on Synthetic Vision, Sichuan University(四川大学合成视觉基础科学国家重点实验室)
RA-SOD: Reliability-Aware RGB-T Salient Object Detection under Modality Degradation
State Key Laboratory of Robotics and Systems, Harbin Institute of Technology(哈尔滨工业大学机器人技术与系统国家重点实验室);School of Computer Science, University of Sydney(悉尼大学计算机科学学院)
UniV2D: Bridging Visual Restoration and Semantic Perception for Underwater Salient Object Detection
School of Computer Science, Wuhan University(武汉大学计算机学院);School of Computer Science, The University of Sydney(悉尼大学计算机学院);School of Computer Science and Technology, Harbin Institute of Technology(哈尔滨工业大学计算机科学与技术学院)
HyPSAM: Hybrid Prompt-driven Segment Anything Model for RGB-Thermal Salient Object Detection
State Key Laboratory for Novel Software Technology, Nanjing University(南京大学新型软件技术国家重点实验室);School of Information Science and Engineering, Yunnan University(云南大学信息科学与工程学院);School of Mathematics, Southeast University(东南大学数学学院)
DualGazeNet: A Biologically Inspired Dual-Gaze Query Network for Salient Object Detection
School of Computation, Information and Technology, Technical University of Munich(计算信息与技术学院,慕尼黑技术大学);Department of Informatics, Technical University of Munich(信息学院,慕尼黑技术大学);University Research and Innovation Center, Obuda University(奥布达大学研究与创新中心);State Key Laboratory for Novel Software Technology, Nanjing University Suzhou Campus(新型软件技术国家重点实验室,南京大学苏州校区);School of Science and Technology, Nanjing University Suzhou Campus(科学与技术学院,南京大学苏州校区);Department of Computer Science and Technology, Tsinghua University(计算机科学与技术系,清华大学)
Efficient Fourier Filtering Network with Contrastive Learning for AAV-based Unaligned Bimodal Salient Object Detection
Faculty of Robot Science and Engineering, Northeastern University(机器人科学与工程学院,东北大学);College of Computing and Data Science, Nanyang Technological University(计算与数据科学学院,南洋理工大学)
Key Lab of Intell. Info. Process., Inst. of Comput. Tech., CAS(中国科学院计算技术研究所智能信息处理重点实验室);University of Chinese Academy of Sciences(中国科学院大学);Peng Cheng Laboratory(鹏城实验室);Kingsoft Cloud(金山云);Noah’s Ark Lab, Huawei Technologies(华为技术有限公司诺亚方舟实验室)
To get more accurate saliency maps, recent methods mainly focus on aggregating multi-level features from fully convolutional network (FCN) and introducing edge information as auxiliary supervision. Though remarkable progress has been achieved, we observe that the closer the pixel is to the edge, the more difficult it is to be predicted, because edge pixels have a very imbalance distribution. To address this problem, we propose a label decoupling framework (LDF) which consists of a label decoupling (LD) procedure and a feature interaction network (FIN). LD explicitly decomposes the original sal…
The global and local contexts significantly contribute to the integrity of predictions in Salient Object Detection (SOD). Unfortunately, existing methods still struggle to generate complete predictions with fine details. There are two major problems in conventional approaches: first, for global context, high-level CNN-based encoder features cannot effectively catch long-range dependencies, resulting in incomplete predictions. Second, downsampling the ground truth to fit the size of predictions will introduce inaccuracy as the ground truth details are lost during interpolation or pooling. Thus,…
South China University of Technology(华南理工大学);Nanyang Technological University(南洋理工大学)
Humans tend to mine objects by learning from a group of images or several frames of video since we live in a dynamic world. In the computer vision area, many researches focus on co-segmentation (CoS), co-saliency detection (CoSD) and video salient object detection (VSOD) to discover the co-occurrent objects. However, previous approaches design different networks on these similar tasks separately, and they are difficult to apply to each other, which lowers the upper bound of the transferability of deep learning frameworks. Besides, they fail to take full advantage of the cues among inter- and i…
Bifurcated backbone strategy for RGB-D salient object detection
College of Computer Science, Nankai University(南开大学计算机学院);Mohamed bin Zayed University of Artificial Intelligence(穆罕默德·本·扎耶德人工智能大学);Inception Institute of Artificial Intelligence(Inception人工智能研究院);School of Automation, Northwestern Polytechnical University(西北工业大学自动化学院);National Laboratory of Pattern Recognition, CAS Center for Excellence in Brain Science and Intelligence Technology, Institute of Automation, Chinese Academy of Sciences(中国科学院自动化研究所模式识别国家重点实验室,中国科学院脑科学与智能技术卓越创新中心)
Quality-aware Selective Fusion Network for V-D-T Salient Object Detection
School of Automation, Hangzhou Dianzi University(杭州电子科技大学自动化学院);School of Software, Shandong University(山东大学软件学院);Lishui Institute of Hangzhou Dianzi University(杭州电子科技大学丽水研究院);School of Communication Engineering, Hangzhou Dianzi University(杭州电子科技大学通信工程学院);Hangzhou Innovation Institute, Beihang University(北京航空航天大学杭州创新研究院)