LuSNAR:A Lunar Segmentation, Navigation and Reconstruction Dataset based on Muti-sensor for Autonomous Exploration

With the complexity of lunar exploration missions, the moon needs to have a higher level of autonomy. Environmental perception and navigation algorithms are the foundation for lunar rovers to achieve autonomous exploration. The development and verification of algorithms require highly reliable data support. Most of the existing lunar datasets are targeted at a single task, lacking diverse scenes and high-precision ground truth labels. To address this issue, we propose a multi-task, multi-scene, and multi-label lunar benchmark dataset LuSNAR. This dataset can be used for comprehensive evaluation of autonomous perception and navigation systems, including high-resolution stereo image pairs, panoramic semantic labels, dense depth maps, LiDAR point clouds, and the position of rover. In order to provide richer scene data, we built 9 lunar simulation scenes based on Unreal Engine. Each scene is divided according to topographic relief and the density of objects. To verify the usability of the dataset, we evaluated and analyzed the algorithms of semantic segmentation, 3D reconstruction, and autonomous navigation. The experiment results prove that the dataset proposed in this paper can be used for ground verification of tasks such as autonomous environment perception and navigation, and provides a lunar benchmark dataset for testing the accessibility of algorithm metrics. We make LuSNAR publicly available at: https://github.com/autumn999999/LuSNAR-dataset.

Hierarchical Frequency-based Upsampling and Refining for Compressed Video Quality Enhancement

Video compression artifacts arise due to the quantization operation in the frequency domain. The goal of video quality enhancement is to reduce compression artifacts and reconstruct a visually-pleasant result. In this work, we propose a hierarchical frequency-based upsampling and refining neural network (HFUR) for compressed video quality enhancement. HFUR consists of two modules: implicit frequency upsampling module (ImpFreqUp) and hierarchical and iterative refinement module (HIR). ImpFreqUp exploits DCT-domain prior derived through implicit DCT transform, and accurately reconstructs the DCT-domain loss via a coarse-to-fine transfer. Consequently, HIR is introduced to facilitate cross-collaboration and information compensation between the scales, thus further refine the feature maps and promote the visual quality of the final output. We demonstrate the effectiveness of the proposed modules via ablation experiments and visualized results. Extensive experiments on public benchmarks show that HFUR achieves state-of-the-art performance for both constant bit rate and constant QP modes.