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Multi-Atlas Based Methods in Brain MR Image Segmentation 被引量:1
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作者 孙亮 张丽 张道强 《Chinese Medical Sciences Journal》 CAS CSCD 2019年第2期110-119,共10页
Brain region-of-interesting (ROI) segmentation is an important prerequisite step for many computeraid brain disease analyses.However,the human brain has the complicated anatomical structure.Meanwhile,the brain MR imag... Brain region-of-interesting (ROI) segmentation is an important prerequisite step for many computeraid brain disease analyses.However,the human brain has the complicated anatomical structure.Meanwhile,the brain MR images often suffer from the low intensity contrast around the boundary of ROIs,large inter-subject variance and large inner-subject variance.To address these issues,many multi-atlas based segmentation methods are proposed for brain ROI segmentation in the last decade.In this paper,multi-atlas based methods for brain MR image segmentation were reviewed regarding several registration toolboxes which are widely used in the multi-atlas methods,conventional methods for label fusion,datasets that have been used for evaluating the multiatlas methods,as well as the applications of multi-atlas based segmentation in clinical researches.We propose that incorporating the anatomical prior into the end-to-end deep learning architectures for brain ROI segmentation is an important direction in the future. 展开更多
关键词 multi-atlas BRAIN segmentATION MAGNETIC RESONANCE
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Multi-segment and Multi-ply Overlapping Process of Multi Coupled Activities Based on Valid Information Evolution 被引量:1
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作者 WANG Zhiliang WANG Yunxia QIU Shenghai 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2013年第1期176-188,共13页
Complex product development will inevitably face the design planning of the multi-coupled activities, and overlapping these activities could potentially reduce product development time, but there is a risk of the addi... Complex product development will inevitably face the design planning of the multi-coupled activities, and overlapping these activities could potentially reduce product development time, but there is a risk of the additional cost. Although the downstream task information dependence to the upstream task is already considered in the current researches, but the design process overall iteration caused by the information interdependence between activities is hardly discussed; especially the impact on the design process' overall iteration from the valid information accumulation process. Secondly, most studies only focus on the single overlapping process of two activities, rarely take multi-segment and multi-ply overlapping process of multi coupled activities into account; especially the inherent link between product development time and cost which originates from the overlapping process of multi coupled activities. For the purpose of solving the above problems, as to the insufficiency of the accumulated valid information in overlapping process, the function of the valid information evolution (VIE) degree is constructed. Stochastic process theory is used to describe the design information exchange and the valid information accumulation in the overlapping segment, and then the planning models of the single overlapping segment are built. On these bases, by analyzing overlapping processes and overlapping features of multi-coupling activities, multi-segment and multi-ply overlapping planning models are built; by sorting overlapping processes and analyzing the construction of these planning models, two conclusions are obtained: (1) As to multi-segment and multi-ply overlapping of multi coupled activities, the total decrement of the task set development time is the sum of the time decrement caused by basic overlapping segments, and minus the sum of the time increment caused by multiple overlapping segments; (2) the total increment of development cost is the sum of the cost increment caused by all overlapping process. And then, based on overlapping degree analysis of these planning models, by the V1E degree function, the four lemmas theory proofs are represented, and two propositions are finally proved: (1) The multi-ply overlapping of the multi coupled activities will weaken the basic overlapping effect on the development cycle time reduction (2) Overlapping the multi coupled activities will decrease product development cycle, but increase product development cost. And there is trade-off between development time and cost. And so, two methods are given to slacken and eliminate multi-ply overlapping effects. At last, an example about a vehicle upper subsystem design illustrates the application of the proposed models; compared with a sequential execution pattern, the decreasing of development cycle (22%) and the increasing of development cost (3%) show the validity of the method in the example The proposed research not only lays a theoretical foundation for correctly planning complex product development process, but also provides specific and effective operation methods for overlapping multi coupled activities. 展开更多
关键词 multi coupled activities valid information evolution multi-segment multi-ply overlapping development time and cost trade-ofl iteration
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Multi-resolution image segmentation based on Gaussian mixture model 被引量:5
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作者 Tang Yinggan Liu Dong Guan Xinping 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2006年第4期870-874,共5页
Mixture model based image segmentation method, which assumes that image pixels are independent and do not consider the position relationship between pixels, is not robust to noise and usually leads to misclassificatio... Mixture model based image segmentation method, which assumes that image pixels are independent and do not consider the position relationship between pixels, is not robust to noise and usually leads to misclassification. A new segmentation method, called multi-resolution Ganssian mixture model method, is proposed. First, an image pyramid is constructed and son-father link relationship is built between each level of pyramid. Then the mixture model segmentation method is applied to the top level. The segmentation result on the top level is passed top-down to the bottom level according to the son-father link relationship between levels. The proposed method considers not only local but also global information of image, it overcomes the effect of noise and can obtain better segmentation result. Experimental result demonstrates its effectiveness. 展开更多
关键词 image segmentation multi-RESOLUTION Ganssian mixture model.
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DDoS Defense Algorithm Based on Multi-Segment Timeout Technology 被引量:1
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作者 DU Ruizhong YANG Xiaohui MA Xiaoxue HE Xinfeng 《Wuhan University Journal of Natural Sciences》 CAS 2006年第6期1823-1826,共4页
Through the analysis to the DDoS(distributed denial of service) attack, it will conclude that at different time segments, the arrive rate of normal SYN (Synchronization) package are similar, while the abnormal pac... Through the analysis to the DDoS(distributed denial of service) attack, it will conclude that at different time segments, the arrive rate of normal SYN (Synchronization) package are similar, while the abnormal packages are different with the normal ones. Toward this situation a DDoS defense algorithm based on multi-segment timeout technology is presented, more than one timeout segment are set to control the net flow. Experiment results show that in the case of little flow, multi-segment timeout has the ability dynamic defense, so the system performance is improved and the system has high response rate. 展开更多
关键词 DDoS(distributed denial of service) multi-segments timeout dynamic defense net flow analysis
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A Local Contrast Fusion Based 3D Otsu Algorithm for Multilevel Image Segmentation 被引量:14
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作者 Ashish Kumar Bhandari Arunangshu Ghosh Immadisetty Vinod Kumar 《IEEE/CAA Journal of Automatica Sinica》 EI CSCD 2020年第1期200-213,共14页
To overcome the shortcomings of 1 D and 2 D Otsu’s thresholding techniques, the 3 D Otsu method has been developed.Among all Otsu’s methods, 3 D Otsu technique provides the best threshold values for the multi-level ... To overcome the shortcomings of 1 D and 2 D Otsu’s thresholding techniques, the 3 D Otsu method has been developed.Among all Otsu’s methods, 3 D Otsu technique provides the best threshold values for the multi-level thresholding processes. In this paper, to improve the quality of segmented images, a simple and effective multilevel thresholding method is introduced. The proposed approach focuses on preserving edge detail by computing the 3 D Otsu along the fusion phenomena. The advantages of the presented scheme include higher quality outcomes, better preservation of tiny details and boundaries and reduced execution time with rising threshold levels. The fusion approach depends upon the differences between pixel intensity values within a small local space of an image;it aims to improve localized information after the thresholding process. The fusion of images based on local contrast can improve image segmentation performance by minimizing the loss of local contrast, loss of details and gray-level distributions. Results show that the proposed method yields more promising segmentation results when compared to conventional1 D Otsu, 2 D Otsu and 3 D Otsu methods, as evident from the objective and subjective evaluations. 展开更多
关键词 1D Otsu 2D Otsu 3D Otsu image fusion local contrast multi-level image segmentation
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High-power and high optical conversion efficiency diode-end-pumped laser with multi-segmented Nd:YAG/Nd:YVO-4
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作者 Meng-Yao Wu Peng-Fei Qu +3 位作者 Shi-Yu Wang SEl Zhen Guo De-Fang Cai Bing-Bin Li 《Chinese Physics B》 SCIE EI CAS CSCD 2018年第9期306-310,共5页
A novel flat-flat resonator consisting of two crystals(Nd:YAG + Nd:YVO4) is established for power scaling in a diode-end-pumped solid-state laser. We systematically compare laser characteristics between multi-seg... A novel flat-flat resonator consisting of two crystals(Nd:YAG + Nd:YVO4) is established for power scaling in a diode-end-pumped solid-state laser. We systematically compare laser characteristics between multi-segmented(Nd:YAG + Nd:YVO4) and conventional composite(Nd:YAG + Nd:YAG) crystals to demonstrate the feasibility of spectral line matching for output power scale-up in end-pumped lasers. A maximum continuous-wave output power of 79.2 W is reported at 1064 nm, with Mx2= 4.82, My2= 5.48, and a pumping power of 136 W in the multi-segmented crystals(Nd:YAG + Nd:YVO4). Compared to conventional composite crystals(Nd:YAG + Nd:YAG), the optical-optical conversion efficiency of multi-segmented crystals(Nd:YAG + Nd:YVO4) from 808 nm to 1064 nm is enhanced from 30% to 58.8%,while the laser output sensitivity as affected by the diode-laser temperature is reduced from 55% to 9%. 展开更多
关键词 diode-pumped solid-state laser multi-segmented crystals(Nd:YAG Nd:YVO4) spectral line matching diode-laser temperature
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Multi-resolution texture segmentation using fractal dimension
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作者 Hsu Taoi HU Kuo-Jui WANG Je-chuang 《通讯和计算机(中英文版)》 2009年第11期30-33,42,共5页
关键词 分形维数 纹理分割 多分辨率 应用 维数计算 框架基础 纹理边界 边缘检测
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Creation of Multiple Subwavelength Focal Spot Segments Using Phase Modulated Radially Polarized Multi Gaussian Beam
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作者 K.Prabakaran K.B.Rajesh +4 位作者 S.Sumathira M.D.Bharathi R.Hemamalini A.M.Musthafa V.Aroulmoji 《Chinese Physics Letters》 SCIE CAS CSCD 2016年第9期48-51,共4页
Based on the vector diffraction theory, the effect of complex phase filters on intensity distribution of a radially polarized multi Gaussian beam in the focal region of high NA lens is theoretically investigated. It i... Based on the vector diffraction theory, the effect of complex phase filters on intensity distribution of a radially polarized multi Gaussian beam in the focal region of high NA lens is theoretically investigated. It is observed that a properly designed multi belt complex phase filter can generate subwavelength novel focal patterns including splitting of focal spots and generation of multiple focal spot segments such as eight, six and four focal spots along the optical axis are obtained. We expect that such an investigation is useful for optical manipulation and material processing, multiple high refractive index particle trapping technologies. 展开更多
关键词 of for Creation of multiple Subwavelength Focal Spot segments Using Phase Modulated Radially Polarized multi Gaussian Beam on is in
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Multi-agent based evolutional algorithm in medicine image segmentation
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作者 LIANG Jun XU Zheng-chuan MAO Dong-mei CHENG Xian-yi 《通讯和计算机(中英文版)》 2009年第6期31-35,共5页
关键词 医学图像 计算机技术 图像处理技术 自然纹理图像
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A Semi-Vectorial Hybrid Morphological Segmentation of Multicomponent Images Based on Multithreshold Analysis of Multidimensional Compact Histogram 被引量:1
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作者 Adles Kouassi Sié Ouattara +2 位作者 Jean-Claude Okaingni Wognin J. Vangah Alain Clement 《Open Journal of Applied Sciences》 2017年第11期597-610,共14页
In this work, we propose an original approach of semi-vectorial hybrid morphological segmentation for multicomponent images or multidimensional data by analyzing compact multidimensional histograms based on different ... In this work, we propose an original approach of semi-vectorial hybrid morphological segmentation for multicomponent images or multidimensional data by analyzing compact multidimensional histograms based on different orders. Its principle consists first of segment marginally each component of the multicomponent image into different numbers of classes fixed at K. The segmentation of each component of the image uses a scalar segmentation strategy by histogram analysis;we mainly count the methods by searching for peaks or modes of the histogram and those based on a multi-thresholding of the histogram. It is the latter that we have used in this paper, it relies particularly on the multi-thresholding method of OTSU. Then, in the case where i) each component of the image admits exactly K classes, K vector thresholds are constructed by an optimal pairing of which each component of the vector thresholds are those resulting from the marginal segmentations. In addition, the multidimensional compact histogram of the multicomponent image is computed and the attribute tuples or ‘colors’ of the histogram are ordered relative to the threshold vectors to produce (K + 1) intervals in the partial order giving rise to a segmentation of the multidimensional histogram into K classes. The remaining colors of the histogram are assigned to the closest class relative to their center of gravity. ii) In the contrary case, a vectorial spatial matching between the classes of the scalar components of the image is produced to obtain an over-segmentation, then an interclass fusion is performed to obtain a maximum of K classes. Indeed, the relevance of our segmentation method has been highlighted in relation to other methods, such as K-means, using unsupervised and supervised quantitative segmentation evaluation criteria. So the robustness of our method relatively to noise has been tested. 展开更多
关键词 MORPHOLOGICAL segmentATION Vectorial Orders Semi-Vectorial segmentATION multiDIMENSIONAL COMPACT HISTOGRAM multi-Thresholds Fusion Inter-Class Classification
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A Multi-Agent Approach to Arabic Handwritten Text Segmentation
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作者 Ashraf Elnagar Rahima Bentrcia 《Journal of Intelligent Learning Systems and Applications》 2012年第3期207-215,共9页
The segmentation of individual words into characters is a vital process in handwritten character recognition systems. In this paper, a novel approach is proposed to segment handwritten Arabic text (words). We consider... The segmentation of individual words into characters is a vital process in handwritten character recognition systems. In this paper, a novel approach is proposed to segment handwritten Arabic text (words). We consider the “Naskh” font style. The segmentation algorithm employs seven agents in order to detect regions where segmentation is illegal. Feature points (end points) are extracted from the remaining regions of the word-image. Initially, the middle of every two successive end points is considered as a candidate segmentation point based on a set of rules. The experimental results are very promising as we achieved a success rate of 86%. 展开更多
关键词 CHARACTER segmentATION Handwritten Recognition Systems multi-AGENTS ARABIC HANDWRITING
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基于自适应多阈值的复杂场景激光图像目标分割方法研究
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作者 周珂 王睿志 +2 位作者 韩继贤 蒋玉华 向兵 《激光杂志》 北大核心 2026年第2期130-135,共6页
传统方法无法适应复杂场景的变化,分割效果不佳,为此提出基于自适应多阈值的复杂场景激光图像目标分割方法。对复杂场景激光图像进行去除噪声处理,通过区域生长将图像划分为多个子区域,然后对每个子区域利用遗传算法获得对应阈值,实现... 传统方法无法适应复杂场景的变化,分割效果不佳,为此提出基于自适应多阈值的复杂场景激光图像目标分割方法。对复杂场景激光图像进行去除噪声处理,通过区域生长将图像划分为多个子区域,然后对每个子区域利用遗传算法获得对应阈值,实现图像自适应多阈值分割,通过合并相似区域和采用形态学操作有效消除过分割现象和图像中的孔洞、毛刺,提高分割结果的清晰度和平滑度,确保分割效果。结果表明:采用所提方法进行复杂场景激光图像目标分割,分割后F1值更高,可达到0.96,结构相似指数更小,为-0.23,能有效提高复杂场景激光图像目标分割效果。 展开更多
关键词 视觉传达 复杂场景激光图像 预处理 遗传算法 多阈值分割
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边缘检测下模糊红外图像多目标分割方法
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作者 汪志敏 《激光杂志》 北大核心 2026年第2期118-123,共6页
针对红外图像容易受到环境干扰,导致模糊度过高、对比度过低,影响图像分割效果的问题,研究边缘检测下模糊红外图像多目标分割方法。选取截断约束最小二乘法,利用升余弦函数截断处理复原滤波器,通过在空间域内执行卷积运算,复原模糊红外... 针对红外图像容易受到环境干扰,导致模糊度过高、对比度过低,影响图像分割效果的问题,研究边缘检测下模糊红外图像多目标分割方法。选取截断约束最小二乘法,利用升余弦函数截断处理复原滤波器,通过在空间域内执行卷积运算,复原模糊红外图像。利用Canny边缘检测算法,通过对红外图像平滑滤波处理、计算红外图像的梯度幅值与方向、非极大值抑制红外图像的梯度幅值以及双阈值连接红外图像边缘的过程,检测去模糊复原后红外图像的边缘。依据Otsu准则,构建红外边缘图像的直线截距直方图,依据截距阈值划分截距直方图,利用最佳直线阈值将红外图像划分为目标区域与背景区域。实验结果表明,该方法能够实现红外图像的多目标分割,在噪声干扰等情况下,红外图像分割结果的边缘保持度均高于0.7。 展开更多
关键词 边缘检测 模糊红外图像 多目标 分割方法 复原滤波器 OTSU准则
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道路场景下基于多尺度特征融合的语义分割网络
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作者 徐晓苏 李东蒲 孟焱迪 《中国惯性技术学报》 北大核心 2026年第1期44-51,共8页
针对道路场景下高效图像语义分割的需求,提出一种基于Transformer的多尺度特征融合网络,旨在解决传统卷积神经网络难以有效捕捉图像的长程依赖关系及早期Transformer架构计算冗余且局部感知受限的问题。在编码阶段,采用基于MiT-B1的混合... 针对道路场景下高效图像语义分割的需求,提出一种基于Transformer的多尺度特征融合网络,旨在解决传统卷积神经网络难以有效捕捉图像的长程依赖关系及早期Transformer架构计算冗余且局部感知受限的问题。在编码阶段,采用基于MiT-B1的混合Transformer骨干网络,通过重叠图像块嵌入技术,保持特征的空间连续性,并结合高效自注意力机制降低计算开销。在解码阶段,设计了多尺度特征融合方案,利用通道空间注意力机制增强模型对关键目标的上下文捕捉能力;同时,提出一种轻量级改进残差卷积单元(RCU)提升多尺度特征的转换效率,有效弥补了跨层特征的语义差异。实验结果表明,在保持15.61 M轻量化参数规模的同时,所提算法在Cityscapes、ADE20K和COCO-Stuff数据集上的MIoU精度指标较基准模型分别提升了1.03%、1.36%和2.19%。此外,真实道路场景下的样机实验进一步证明,所提算法能够提供高精度的语义分割结果,满足自动驾驶系统的应用需求。 展开更多
关键词 语义分割 多尺度特征融合 残差卷积单元 混合Transformer编码器
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用于土地覆盖分割的多路径多尺度注意力网络
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作者 李燕 樊新宇 陈芹 《计算机工程与科学》 北大核心 2026年第1期108-118,共11页
近年来,Transformer及其变种在图像识别领域已取得显著进展,但其在像素级分割任务中仍面临挑战,主要原因在于它们对局部偏差的处理不够显式和有效。对此,提出了一种名为DMANet的多路径多尺度注意力网络。该网络在编码阶段结合了卷积神... 近年来,Transformer及其变种在图像识别领域已取得显著进展,但其在像素级分割任务中仍面临挑战,主要原因在于它们对局部偏差的处理不够显式和有效。对此,提出了一种名为DMANet的多路径多尺度注意力网络。该网络在编码阶段结合了卷积神经网络和Transformer的优势,能够同时捕获图像的精细局部信息和广泛的全局上下文信息,有效地提升特征提取能力。提出的交互式双分支结构加强了对特征的整合能力,提高网络模型在密集预测任务中的性能。在解码阶段实施跨层特征融合,增强DMANet对复杂目标的识别能力。通过在Potsdam,GID-15和L8 SPARCS数据集上进行测试,DMANet展示了其在复杂土地覆盖分割任务中的优异性能及广泛适用性。 展开更多
关键词 Transformer结构 语义分割 多路径多尺度 卷积神经网络 土地覆盖
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基于级联注意力的结肠息肉图像分割算法研究
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作者 周孟然 陆鹏 《重庆工商大学学报(自然科学版)》 2026年第1期1-10,共10页
目的针对现有Transformer模型在息肉图像分割中存在注意力分散以及作为编码器提取的多级特征在融合时易产生信息丢失导致的分割精度不高的问题,提出一种新的分割模型PVT-CAMNet。方法在该模型中,使用金字塔式Transformer(Pyramid Vision... 目的针对现有Transformer模型在息肉图像分割中存在注意力分散以及作为编码器提取的多级特征在融合时易产生信息丢失导致的分割精度不高的问题,提出一种新的分割模型PVT-CAMNet。方法在该模型中,使用金字塔式Transformer(Pyramid Vision Transformer,PVT)作为编码器,接着设计了多尺度特征注意力提取模块(Multi-scale Feature Attention Extraction,MFAE)和层间注意力聚合模块(Inter-layer Attention Aggregation,IA)。其中,PVT通过其自注意力机制保证了模型的泛化能力,MFAE使用不同大小的滤波器多尺度提取特征,旨在缓解注意力分散问题;IA交互融合不同层级特征,有效解决多级特征融合产生的信息丢失问题;最后引入全局上下文模块(Global Context,GC)使模型更好地理解特征图之间的像素依赖关系。结果在Kvasir、CVC-ClinicDB、CVC-ColonDB和ETIS数据集上进行了评估,相较于最优基线模型,mDice、mIoU分别提高了1.76%、0.81%、1.51%、1.74%、3.15%、2.65%和1.73%、3.84%。结论PVT-CAMNet的学习性能和泛化性能均优于其他先进方法,在息肉图像分割上具有一定的应用价值。 展开更多
关键词 息肉图像分割 多尺度注意力提取 层间注意力聚合 全局上下文
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基于特征融合及多尺度上下文提取的实时语义分割
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作者 刘伯红 刘磊 《重庆邮电大学学报(自然科学版)》 北大核心 2026年第1期167-176,共10页
针对实时语义分割算法常用的双分支结构存在空间分支和上下文分支特征融合不充分、多尺度上下文信息提取不全面等问题,提出基于特征融合及多尺度上下文提取的实时语义分割网络。设计空间-多尺度双向注意力融合模块,使用空间注意力机制... 针对实时语义分割算法常用的双分支结构存在空间分支和上下文分支特征融合不充分、多尺度上下文信息提取不全面等问题,提出基于特征融合及多尺度上下文提取的实时语义分割网络。设计空间-多尺度双向注意力融合模块,使用空间注意力机制和多尺度特征融合模块实现双分支交互融合,促进空间特征以及语义特征在双分支上的流动;在上下文分支末端设计了串联聚合金字塔池化模块,更精确地捕捉细节信息;聚合空间分支不同阶段特征,增强模型对图像特征的全面理解能力,促进深层特征与浅层特征的深度融合;使用多尺度注意力特征融合模块引导空间分支和上下文分支融合。实验结果表明,构建的网络在Cityscapes数据集上平均交并比(mean intersection over union,MIoU)达到78.0%,推理速度为104.5 Frame/s;在CamVid数据集上,MIoU达到75.9%,推理速度为224.6 Frame/s。 展开更多
关键词 实时语义分割 特征融合 注意力机制 多尺度上下文提取
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基于金字塔注意力与双路径融合的皮肤病变图像分割
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作者 宋存利 傅景鑫 +2 位作者 王依 张雪松 时维国 《计算机系统应用》 2026年第1期178-187,共10页
在皮肤病变图像分割任务中,U-Net在处理皮肤镜图像时存在多尺度适应性不足、跨层特征融合低效及计算冗余导致边缘信息丢失等问题.本文提出层次化金字塔注意力网络HPANet(hierarchical pyramid attention network),通过金字塔注意力模块... 在皮肤病变图像分割任务中,U-Net在处理皮肤镜图像时存在多尺度适应性不足、跨层特征融合低效及计算冗余导致边缘信息丢失等问题.本文提出层次化金字塔注意力网络HPANet(hierarchical pyramid attention network),通过金字塔注意力模块和双路径特征融合机制,实现了多尺度特征捕获和跨层特征传递的双重优化.其中,双路径自适应融合模块结合CNN与Transformer双分支特征,通过通道注意力与压缩空间注意力增强互补特征的信息交互,并利用双线性交互与残差连接缓解特征稀释问题.金字塔注意力模块结合分层多核卷积、深度可分离下采样及分块空间通道注意力机制,显著提升多尺度病变特征捕获能力.实验结果表明,本架构在ISIC 2017、ISIC 2018数据集中的表现均超越主流模型,证实其在病变边界保留与小病灶检测方面的双重优势. 展开更多
关键词 金字塔注意力 多尺度特征融合 医学图像分割 深度学习
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基于动态点实时滤除与回环优化的SLAM方法
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作者 张硕 李季轩 +1 位作者 宿玉康 吴雨洋 《北京理工大学学报》 北大核心 2026年第1期47-60,共14页
针对同步定位与实时建图(SLAM)领域中动态干扰引起地图失真及定位漂移工况下回环失效的问题,提出一种融合动态点实时滤除与回环优化的SLAM方法.基于现有多传感器融合SLAM框架,设计点云预处理并优化回环检测.采用栅格特征分析实现地面分... 针对同步定位与实时建图(SLAM)领域中动态干扰引起地图失真及定位漂移工况下回环失效的问题,提出一种融合动态点实时滤除与回环优化的SLAM方法.基于现有多传感器融合SLAM框架,设计点云预处理并优化回环检测.采用栅格特征分析实现地面分割,并结合栅格占有率统计滤除动态点,抑制运动干扰以优化SLAM建图结果.以二进制三角形描述符匹配检索替代半径搜索法,通过几何特征匹配实现回环初判并生成粗匹配位姿;将该位姿作为迭代最近点算法初始值,更鲁棒地加速点云配准以优化SLAM定位结果.实验表明,该方法在动态场景中能快速实时消除地图动态干扰,降低回环耗时,提升SLAM系统定位鲁棒性与建图可靠性. 展开更多
关键词 多传感器融合SLAM 地面分割 动态点滤除 二进制三角形描述符 回环检测
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YOLOv10-MTP:基于YOLOv10的自动驾驶多任务感知系统
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作者 金彦亮 孙龙武 《工业控制计算机》 2026年第2期68-69,72,共3页
自动驾驶系统的核心在于高效、准确地感知环境。现有的多任务感知框架在目标检测、车道线检测和可行驶区域分割等任务中虽然取得了很好的性能指标,但在实时性和复杂场景理解方面仍存在局限。为此,提出了一种新型多任务感知模型——YOLOv... 自动驾驶系统的核心在于高效、准确地感知环境。现有的多任务感知框架在目标检测、车道线检测和可行驶区域分割等任务中虽然取得了很好的性能指标,但在实时性和复杂场景理解方面仍存在局限。为此,提出了一种新型多任务感知模型——YOLOv10-MTP(YOLOv10 Multi-Task Perception)。该模型基于YOLOv10骨干网络,并进一步引入稀疏自注意力模块(Sparse Self-attention,SSA),有效提升了实时性。YOLOv10-MTP还引入了图像字幕任务,进一步预训练YOLOv10,以增强其对复杂驾驶场景的理解能力,从而提升下游任务(目标检测、车道线检测和可行驶区域分割)的性能。实验结果表明,在BDD100K数据集上,YOLOv10-MTP在嵌入式设备上实现了40 fps的实时推理,且在各项任务中均取得了优异表现,Recall和mAP50得分显著提升,展示了模型在复杂场景下的理解能力和有效性。 展开更多
关键词 自动驾驶 多任务感知 目标检测 实例分割 图像字幕
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