Real-time and accurate drogue pose measurement during docking is basic and critical for Autonomous Aerial Refueling(AAR).Vision measurement is the best practicable technique,but its measurement accuracy and robustness...Real-time and accurate drogue pose measurement during docking is basic and critical for Autonomous Aerial Refueling(AAR).Vision measurement is the best practicable technique,but its measurement accuracy and robustness are easily affected by limited computing power of airborne equipment,complex aerial scenes and partial occlusion.To address the above challenges,we propose a novel drogue keypoint detection and pose measurement algorithm based on monocular vision,and realize real-time processing on airborne embedded devices.Firstly,a lightweight network is designed with structural re-parameterization to reduce computational cost and improve inference speed.And a sub-pixel level keypoints prediction head and loss functions are adopted to improve keypoint detection accuracy.Secondly,a closed-form solution of drogue pose is computed based on double spatial circles,followed by a nonlinear refinement based on Levenberg-Marquardt optimization.Both virtual simulation and physical simulation experiments have been used to test the proposed method.In the virtual simulation,the mean pixel error of the proposed method is 0.787 pixels,which is significantly superior to that of other methods.In the physical simulation,the mean relative measurement error is 0.788%,and the mean processing time is 13.65 ms on embedded devices.展开更多
AIM:To evaluate the effects of refractive errors and binocular vision anomalies on the quality of life(QOL)of university students.METHODS:This cross-sectional analytical study was conducted on university students usin...AIM:To evaluate the effects of refractive errors and binocular vision anomalies on the quality of life(QOL)of university students.METHODS:This cross-sectional analytical study was conducted on university students using simple random sampling.Objective refraction,ocular alignment,vergence and accommodative performance were measured and assessed in all participants.Data on QOL were collected using the College of Optometrists in Vision Development-Quality of Life(COVD-QOL)Questionnaire.The effect of mentioned parameters on the QOL were evaluated.RESULTS:Totally 726 students with mean age of 21.35±1.88y were evaluated in this study,51.5%of whom were female.Esophoria was caused significantly lower QOL in the domains of somatic symptoms and occupationalphysical symptoms(P<0.05);Besides,esotropia decreased QOL in domains of somatic symptoms P=0.002 and psychological factors(P=0.023).Students with accommodation insufficiency experienced more symptoms in all domains(P<0.05)except for psychological factors(P=0.07).Increasing in the near point of convergence and accommodation and decreases QOL and increasing accommodative facility increases QOL(all P<0.05).Myopia and astigmatism cause decrease in QOL(both P<0.05),but hyperopic students had better QOL in comparison with others(P<0.05).CONCLUSION:Screening programs and treatment of refractive errors and binocular vision anomalies,especially phoria and accommodative insufficiency,positively impact the QOL and academic achievements of university students.展开更多
AIM:To investigate the frequency and associated factors of accommodation and non-strabismic binocular vision dysfunction among medical university students.METHODS:Totally 158 student volunteers underwent routine visio...AIM:To investigate the frequency and associated factors of accommodation and non-strabismic binocular vision dysfunction among medical university students.METHODS:Totally 158 student volunteers underwent routine vision examination in the optometry clinic of Guangxi Medical University.Their data were used to identify the different types of accommodation and nonstrabismic binocular vision dysfunction and to determine their frequency.Correlation analysis and logistic regression were used to examine the factors associated with these abnormalities.RESULTS:The results showed that 36.71%of the subjects had accommodation and non-strabismic binocular vision issues,with 8.86%being attributed to accommodation dysfunction and 27.85%to binocular abnormalities.Convergence insufficiency(CI)was the most common abnormality,accounting for 13.29%.Those with these abnormalities experienced higher levels of eyestrain(χ2=69.518,P<0.001).The linear correlations were observed between the difference of binocular spherical equivalent(SE)and the index of horizontal esotropia at a distance(r=0.231,P=0.004)and the asthenopia survey scale(ASS)score(r=0.346,P<0.001).Furthermore,the right eye's SE was inversely correlated with the convergence of positive and negative fusion images at close range(r=-0.321,P<0.001),the convergence of negative fusion images at close range(r=-0.294,P<0.001),the vergence facility(VF;r=-0.234,P=0.003),and the set of negative fusion images at far range(r=-0.237,P=0.003).Logistic regression analysis indicated that gender,age,and the difference in right and binocular SE did not influence the emergence of these abnormalities.CONCLUSION:Binocular vision abnormalities are more prevalent than accommodation dysfunction,with CI being the most frequent type.Greater binocular refractive disparity leads to more severe eyestrain symptoms.展开更多
BACKGROUND The importance of age on the development of ocular conditions has been reported by numerous studies.Diabetes may have different associations with different stages of ocular conditions,and the duration of di...BACKGROUND The importance of age on the development of ocular conditions has been reported by numerous studies.Diabetes may have different associations with different stages of ocular conditions,and the duration of diabetes may affect the development of diabetic eye disease.While there is a dose-response relationship between the age at diagnosis of diabetes and the risk of cardiovascular disease and mortality,whether the age at diagnosis of diabetes is associated with incident ocular conditions remains to be explored.It is unclear which types of diabetes are more predictive of ocular conditions.AIM To examine associations between the age of diabetes diagnosis and the incidence of cataract,glaucoma,age-related macular degeneration(AMD),and vision acuity.METHODS Our analysis was using the UK Biobank.The cohort included 8709 diabetic participants and 17418 controls for ocular condition analysis,and 6689 diabetic participants and 13378 controls for vision analysis.Ocular diseases were identified using inpatient records until January 2021.Vision acuity was assessed using a chart.RESULTS During a median follow-up of 11.0 years,3874,665,and 616 new cases of cataract,glaucoma,and AMD,respectively,were identified.A stronger association between diabetes and incident ocular conditions was observed where diabetes was diagnosed at a younger age.Individuals with type 2 diabetes(T2D)diagnosed at<45 years[HR(95%CI):2.71(1.49-4.93)],45-49 years[2.57(1.17-5.65)],50-54 years[1.85(1.13-3.04)],or 50-59 years of age[1.53(1.00-2.34)]had a higher risk of AMD independent of glycated haemoglobin.T2D diagnosed<45 years[HR(95%CI):2.18(1.71-2.79)],45-49 years[1.54(1.19-2.01)],50-54 years[1.60(1.31-1.96)],or 55-59 years of age[1.21(1.02-1.43)]was associated with an increased cataract risk.T2D diagnosed<45 years of age only was associated with an increased risk of glaucoma[HR(95%CI):1.76(1.00-3.12)].HRs(95%CIs)for AMD,cataract,and glaucoma associated with type 1 diabetes(T1D)were 4.12(1.99-8.53),2.95(2.17-4.02),and 2.40(1.09-5.31),respectively.In multivariable-adjusted analysis,individuals with T2D diagnosed<45 years of age[β95%CI:0.025(0.009,0.040)]had a larger increase in LogMAR.Theβ(95%CI)for LogMAR associated with T1D was 0.044(0.014,0.073).CONCLUSION The younger age at the diagnosis of diabetes is associated with a larger relative risk of incident ocular diseases and greater vision loss.展开更多
Visual sensors are used to measure the relative state of the chaser spacecraft to the target spacecraft during close range ren- dezvous phases. This article proposes a two-stage iterative algorithm based on an inverse...Visual sensors are used to measure the relative state of the chaser spacecraft to the target spacecraft during close range ren- dezvous phases. This article proposes a two-stage iterative algorithm based on an inverse projection ray approach to address the relative position and attitude estimation by using feature points and monocular vision. It consists of two stages： absolute orienta- tion and depth recovery. In the first stage, Umeyama＇s algorithm is used to fit the three-dimensional （3D） model set and estimate the 3D point set while in the second stage, the depths of the observed feature points are estimated. This procedure is repeated until the result converges. Moreover, the effectiveness and convergence of the proposed algorithm are verified through theoreti- cal analysis and mathematical simulation.展开更多
In order to decrease vehicle crashes, a new rear view vehicle detection system based on monocular vision is designed. First, a small and flexible hardware platform based on a DM642 digtal signal processor （DSP） micr...In order to decrease vehicle crashes, a new rear view vehicle detection system based on monocular vision is designed. First, a small and flexible hardware platform based on a DM642 digtal signal processor （DSP） micro-controller is built. Then, a two-step vehicle detection algorithm is proposed. In the first step, a fast vehicle edge and symmetry fusion algorithm is used and a low threshold is set so that all the possible vehicles have a nearly 100% detection rate （TP） and the non-vehicles have a high false detection rate （FP）, i. e., all the possible vehicles can be obtained. In the second step, a classifier using a probabilistic neural network （PNN） which is based on multiple scales and an orientation Gabor feature is trained to classify the possible vehicles and eliminate the false detected vehicles from the candidate vehicles generated in the first step. Experimental results demonstrate that the proposed system maintains a high detection rate and a low false detection rate under different road, weather and lighting conditions.展开更多
Propeller blade width measurement has been extensively studied in the past using direct and indirect methods, and it plays a great role in determining the quality of the finished products. It has surveyed that previou...Propeller blade width measurement has been extensively studied in the past using direct and indirect methods, and it plays a great role in determining the quality of the finished products. It has surveyed that previous techniques are usually time-consuming and erroneous due to a large number of points to be processed in blade width measurement. This paper proposes a new method of measuring blade width using two images acquired from different viewpoints of the same blade. And a new feature points matching approach for propeller blade image is proposed in stereo vision measurement. Based on these, pixel coordinates of contour points of the blade in two images are extracted and converted to real world coordinates by image algorithm and binocular stereo machine vision theory. Then, from the real world coordinates, the blade width at any position can be determined by simple geometrical method.展开更多
A system for mobile robot localization and navigation was presented.With the proposed system,the robot can be located and navigated by a single landmark in a single image.And the navigation mode may be following-track...A system for mobile robot localization and navigation was presented.With the proposed system,the robot can be located and navigated by a single landmark in a single image.And the navigation mode may be following-track,teaching and playback,or programming.The basic idea is that the system computes the differences between the expected and the recognized position at each time and then controls the robot in a direction to reduce those differences.To minimize the robot sensor equipment,only one omnidirectional camera was used.Experiments in disturbing environments show that the presented algorithm is robust and easy to implement,without camera rectification.The rootmean-square error(RMSE) of localization is 1.4,cm,and the navigation error in teaching and playback is within 10,cm.展开更多
Cluster warhead has become the main ammunition of gun,rocket projectile and missile and it has been widely equipped in almost every country.More and more attention is paid to the damage effect of cluster warhead.The s...Cluster warhead has become the main ammunition of gun,rocket projectile and missile and it has been widely equipped in almost every country.More and more attention is paid to the damage effect of cluster warhead.The size of the dispersion area of cluster warhead is the main standard by which the damage effect of cluster warhead is estimated.The practical method of measuring the dispersion area was developed based on binocular stereo vision measurement theory.The calibration principle of the binocular stereo vision cameras was studied.The matching algorithm that relies on the gradient fields of the neighborhood of a pixel has been used to obtain the spatial information of matched points by acquiring apair of corresponding points in the left and right images of binocular cameras.The 3Dpositions of the flying path of cluster warhead were calculated.The umbrella that is similar to the dispersion track of static explosive cluster warhead was applied in the experiment to get the projection area of the umbrella on the ground.Experiment results verify the feasibility of the proposed method.展开更多
Vehicle anti-collision technique is a hot topic in the research area of Intelligent Transport System. The research on preceding vehicles detection and the distance measurement, which are the key techniques, makes grea...Vehicle anti-collision technique is a hot topic in the research area of Intelligent Transport System. The research on preceding vehicles detection and the distance measurement, which are the key techniques, makes great contributions to safe-driving. This paper presents a method which can be used to detect preceding vehicles and get the distance between own car and the car ahead. Firstly, an adaptive threshold method is used to get shadow feature, and a shadow!area merging approach is used to deal with the distortion of the shadow border. Region of interest(ROI) is obtained using shadow feature. Then in the ROI, symmetry feature is analyzed to verify whether there are vehicles and to locate the vehicles. Finally, using monocular vision distance measurement based on camera interior parameters and geometrical reasoning, we get the distance between own car and the preceding one. Experimental results show that the proposed method can detect the preceding vehicle effectively and get the distance between vehicles accurately.展开更多
Background:We investigate whether changes in visual plasticity induced by monocular deprivation can be maintained across multiple days.It has been known that monocular deprivation strengthens the deprived eye in adult...Background:We investigate whether changes in visual plasticity induced by monocular deprivation can be maintained across multiple days.It has been known that monocular deprivation strengthens the deprived eye in adults with normal vision for a short period of time(30-60 minutes).This has been shown through a variety of visual tasks such as binocular combination and rivalry.Methods:Ten subjects were recruited and patched for five consecutive days for two hours.We used a binocular phase combination task to measure the subjects’sensory eye balances.We initially measured their baseline of sensory eye balance,patched their dominant eye,and then conducted post-patching measurements at 0,3,6,12,24 and 48 minutes after patching.Results:We performed a 2-way ANOVA(Before vs.after patching×Day);we found that although the effect of monocular deprivation on the deprived eye was significant,F(1,9)=17.32,P=0.002,the effect of Day was not.Conclusions:Hence we found no accumulation of the patching effect across five days in healthy adults.This suggests that the degree of remnant neural plasticity in adult primary visual cortex may be too limited to be exploited therapeutically.展开更多
Background:Stereoscopic Vision uses the disparity between the two images received by the two eyes in order to create a tridimensional representation.With this study,we aimed at providing an estimate of binocular visio...Background:Stereoscopic Vision uses the disparity between the two images received by the two eyes in order to create a tridimensional representation.With this study,we aimed at providing an estimate of binocular vision at a level prior to disparity processing.In particular,we wanted to assess the spatial properties of the visual system for detecting interocular correlations(IOC).Methods:We developed dichoptic stimuli,made of textures which IOC is sinusoidally modulated at various correlation spatial frequencies.Then,we compared the sensitivity to these stimuli to the sensitivity to analogous stimuli with disparity modulation.Results:We observed that IOC sensitivity presents a low-pass/band-pass profile and increases as a function of presentation duration and contrast,in a similar way as disparity sensitivity.Conclusions:IOC sensitivity is weakly-though significantly-correlated with disparity sensitivity in the general population,which suggests that it could provide a marker for binocular vision,prior to disparity processing.展开更多
Drogue recognition and 3D locating is a key problem during the docking phase of the autonomous aerial refueling （AAR）. To solve this problem, a novel and effective method based on monocular vision is presented in th...Drogue recognition and 3D locating is a key problem during the docking phase of the autonomous aerial refueling （AAR）. To solve this problem, a novel and effective method based on monocular vision is presented in this paper. Firstly, by employing computer vision with red-ring-shape feature, a drogue detection and recognition algorithm is proposed to guarantee safety and ensure the robustness to the drogue diversity and the changes in environmental condi- tions, without using a set of infrared light emitting diodes （LEDs） on the parachute part of the dro- gue. Secondly, considering camera lens distortion, a monocular vision measurement algorithm for drogue 3D locating is designed to ensure the accuracy and real-time performance of the system, with the drogue attitude provided. Finally, experiments are conducted to demonstrate the effective- ness of the proposed method. Experimental results show the performances of the entire system in contrast with other methods, which validates that the proposed method can recognize and locate the drogue three dimensionally, rapidly and precisely.展开更多
AIM: To investigate the early outcomes of vision, objective visual quality and their correlation after cataract surgery with trifocal intraocular lens implantation.METHODS: The visual examination and objective visual ...AIM: To investigate the early outcomes of vision, objective visual quality and their correlation after cataract surgery with trifocal intraocular lens implantation.METHODS: The visual examination and objective visual quality analysis using Optical Quality Analysis System(OQAS) at 1 mo and 3 mo, and defocus curve examination at 3 mo were performed in 20 patients(27 eyes) after phacoemulsification combined with trifocal intraocular lens implantation surgery.RESULTS: The uncorrected distant(UD), intermediate and near visual acuity(VA) were significantly improved after surgery(P<0.001). UDVA at 1 mo after the surgery was slightly better than that after 3 mo(P=0.026). The defocus curve after 3 mo indicated that the peak of distant vision was close to 0 logMAR, and UDVA was lower than 0.3 logMAR in the range of-1.5 D to-3.0 D. The modulation transfer function(MTF) cutoff frequency, strehl ratio(SR), Optical Quality Analysis System values(OVs), includes OV100, OV20 and OV9 after the surgery were significantly better than before surgery(P<0.001), but the objective scattering index(OSI) was significantly decreased(P<0.001). UDVA at 3 mo after the surgery had correlations with MTF cutoff, OSI, OV100 and OV20(r=-0.400, 0.431,-0.437,-0.411, P=0.039, 0.025, 0.023, 0.033). The uncorrected intermediate VA after 3 mo of the surgery had correlations with OSI and OV100(r=0.478,-0.411, P=0.012, 0.033). CONCLUSION: Trifocal intraocular lens implantation can provide good distant, intermediate and near VA, and the vision shows a well correlation with objective visual quality during early surgery.展开更多
A new visual measurement method is proposed to estimate three-dimensional （3D） position of the object on the floor based on a single camera. The camera fixed on a robot is in an inclined position with respect to the...A new visual measurement method is proposed to estimate three-dimensional （3D） position of the object on the floor based on a single camera. The camera fixed on a robot is in an inclined position with respect to the floor. A measurement model with the camera＇s extrinsic parameters such as the height and pitch angle is described. Single image of a chessboard pattern placed on the floor is enough to calibrate the camera＇s extrinsic parameters after the camera＇s intrinsic parameters are calibrated. Then the position of object on the floor can be computed with the measurement model. Furthermore, the height of object can be calculated with the paired-points in the vertical line sharing the same position on the floor. Compared to the conventional method used to estimate the positions on the plane, this method can obtain the 3D positions. The indoor experiment testifies the accuracy and validity of the proposed method.展开更多
AIM： To determine the association between the binocular vision and an abnormal head posture（AHP）when watching television（TV） in children 7-14 y of age.·METHODS： Fifty normal children in the normal group and...AIM： To determine the association between the binocular vision and an abnormal head posture（AHP）when watching television（TV） in children 7-14 y of age.·METHODS： Fifty normal children in the normal group and 52 children with an AHP when watching TV in the AHP group were tested for spherical equivalents, far and near fusional convergence（FC） and fusional divergence（FD） amplitudes, near point of convergence, far and near heterophoria, accommodative convergence/accommodation ratio and stereoacuity. The values of these tests were compared between the two groups. The independent t test was applied at a confidence level of95%.·RESULTS： The far and near FC amplitudes and far FD amplitudes were lower in the AHP group（the far FC amplitudes： break point 13.6±5.4~△, recovery point 8.7±5.4~△.The near FC amplitudes： break point 14.5 ±7.3~△, recovery point 10. 3 ± 5. 1~△. The far FD amplitudes ： break point3.9±2.7~△, recovery point 2.6±2.3~△） compared with those in the normal group（the far FC amplitudes： break point19.1 ±6.2△, recovery point 12.4 ±4.5~△. The near FC amplitudes： break point 22.3 ±8.0~△, recovery point 16.1 ±5.7~△. The far FD amplitudes： break point 7.0 ±2.1~△,recovery point 4.6 ±1.9~△）. Other tests presented no statistically significant differences.·CONCLUSION： An association between the reduced FC and FD amplitudes and the AHP in children when watching TV is proposed in the study. This kind of AHP is considered to be an anomalous manifestation which appears in a part of puerile patients of fusional vergence dysfunction.展开更多
Aiming at achieving complex moving targets perception,this paper designs a novel fusion-information detection and tracking system for moving targets.The system includes three modules:target detection,target tracking a...Aiming at achieving complex moving targets perception,this paper designs a novel fusion-information detection and tracking system for moving targets.The system includes three modules:target detection,target tracking and trajectory prediction.The target detection module can detect fast moving objects which can be used as a template.The target tracking module tracks the object and records its historical position.Finally,the trajectory prediction module can predict the trajectory of the moving object based on the historical position.After verification by the table tennis detection tracking and prediction binocular vision system,the system has high accuracy and speed in detection and tracking,and can basically meet the actual application needs.展开更多
In order to improve the low positioning accuracy and execution efficiency of the robot binocular vision,a binocular vision positioning method based on coarse-fine stereo matching is proposed to achieve object position...In order to improve the low positioning accuracy and execution efficiency of the robot binocular vision,a binocular vision positioning method based on coarse-fine stereo matching is proposed to achieve object positioning.The random fern is used in the coarse matching to identify objects in the left and right images,and the pixel coordinates of the object center points in the two images are calculated to complete the center matching.In the fine matching,the right center point is viewed as an estimated value to set the search range of the right image,in which the region matching is implemented to find the best matched point of the left center point.Then,the similar triangle principle of the binocular vision model is used to calculate the 3D coordinates of the center point,achieving fast and accurate object positioning.Finally,the proposed method is applied to the object scene images and the robotic arm grasping platform.The experimental results show that the average absolute positioning error and average relative positioning error of the proposed method are 8.22 mm and 1.96%respectively when the object's depth distance is within 600 mm,the time consumption is less than 1.029s.The method can meet the needs of the robot grasping system,and has better accuracy and robustness.展开更多
BACKGROUND Medical robot is a promising surgical tool,but no specific one has been designed for interventional treatment of chronic pain.We developed a computed tomography-image based navigation robot using a new regi...BACKGROUND Medical robot is a promising surgical tool,but no specific one has been designed for interventional treatment of chronic pain.We developed a computed tomography-image based navigation robot using a new registration method with binocular vision.This kind of robot is appropriate for minimal invasive interventional procedures and easy to operate.The feasibility,accuracy and stability of this new robot need to be tested.AIM To assess quantitatively the feasibility,accuracy and stability of the binocularstereo-vision-based navigation robot for minimally invasive interventional procedures.METHODS A box model was designed for assessing the accuracy for targets at different distances.Nine(three sets)lead spheres were embedded in the model as puncture goals.The entry-to-target distances were set 50 mm(short-distance),100 mm(medium-distance)and 150 mm(long-distance).Puncture procedure was repeated three times for each goal.The Euclidian error of each puncture was calculated and statistically analyzed.Three head phantoms were used to explore the clinical feasibility and stability.Three independent operators conducted foramen ovale placement on head phantoms(both sides)by freehand or under the guidance of robot(18 punctures with each method).The operation time,adjustment time and one-time success rate were recorded,and the two guidancemethods were compared.RESULTS On the box model,the mean puncture errors of navigation robot were 1.7±0.9 mm for the short-distance target,2.4±1.0 mm for the moderate target and 4.4±1.4 mm for the long-distance target.On the head phantom,no obvious differences in operation time and adjustment time were found among the three performers(P>0.05).The median adjustment time was significantly less under the guidance of the robot than under free hand.The one-time success rate was significantly higher with the robot(P<0.05).There was no obvious difference in operation time between the two methods(P>0.05).CONCLUSION In the laboratory environment,accuracy of binocular-stereo-vision-based navigation robot is acceptable for target at 100 mm depth or less.Compared with freehand,foramen ovale placement accuracy can be improved with robot guidance.展开更多
A hierarchical mobile robot simultaneous localization and mapping (SLAM) method that allows us to obtain accurate maps was presented. The local map level is composed of a set of local metric feature maps that are guar...A hierarchical mobile robot simultaneous localization and mapping (SLAM) method that allows us to obtain accurate maps was presented. The local map level is composed of a set of local metric feature maps that are guaranteed to be statistically independent. The global level is a topological graph whose arcs are labeled with the relative location between local maps. An estimation of these relative locations is maintained with local map alignment algorithm, and more accurate estimation is calculated through a global minimization procedure using the loop closure constraint. The local map is built with Rao-Blackwellised particle filter (RBPF), where the particle filter is used to extending the path posterior by sampling new poses. The landmark position estimation and update is implemented through extended Kalman filter (EKF). Monocular vision mounted on the robot tracks the 3D natural point landmarks, which are structured with matching scale invariant feature transform (SIFT) feature pairs. The matching for multi-dimension SIFT features is implemented with a KD-tree in the time cost of O(lbN). Experiment results on Pioneer mobile robot in a real indoor environment show the superior performance of our proposed method.展开更多
基金supported by the National Science Fund for Distinguished Young Scholars,China(No.51625501)Aeronautical Science Foundation of China(No.20240046051002)National Natural Science Foundation of China(No.52005028).
文摘Real-time and accurate drogue pose measurement during docking is basic and critical for Autonomous Aerial Refueling(AAR).Vision measurement is the best practicable technique,but its measurement accuracy and robustness are easily affected by limited computing power of airborne equipment,complex aerial scenes and partial occlusion.To address the above challenges,we propose a novel drogue keypoint detection and pose measurement algorithm based on monocular vision,and realize real-time processing on airborne embedded devices.Firstly,a lightweight network is designed with structural re-parameterization to reduce computational cost and improve inference speed.And a sub-pixel level keypoints prediction head and loss functions are adopted to improve keypoint detection accuracy.Secondly,a closed-form solution of drogue pose is computed based on double spatial circles,followed by a nonlinear refinement based on Levenberg-Marquardt optimization.Both virtual simulation and physical simulation experiments have been used to test the proposed method.In the virtual simulation,the mean pixel error of the proposed method is 0.787 pixels,which is significantly superior to that of other methods.In the physical simulation,the mean relative measurement error is 0.788%,and the mean processing time is 13.65 ms on embedded devices.
文摘AIM:To evaluate the effects of refractive errors and binocular vision anomalies on the quality of life(QOL)of university students.METHODS:This cross-sectional analytical study was conducted on university students using simple random sampling.Objective refraction,ocular alignment,vergence and accommodative performance were measured and assessed in all participants.Data on QOL were collected using the College of Optometrists in Vision Development-Quality of Life(COVD-QOL)Questionnaire.The effect of mentioned parameters on the QOL were evaluated.RESULTS:Totally 726 students with mean age of 21.35±1.88y were evaluated in this study,51.5%of whom were female.Esophoria was caused significantly lower QOL in the domains of somatic symptoms and occupationalphysical symptoms(P<0.05);Besides,esotropia decreased QOL in domains of somatic symptoms P=0.002 and psychological factors(P=0.023).Students with accommodation insufficiency experienced more symptoms in all domains(P<0.05)except for psychological factors(P=0.07).Increasing in the near point of convergence and accommodation and decreases QOL and increasing accommodative facility increases QOL(all P<0.05).Myopia and astigmatism cause decrease in QOL(both P<0.05),but hyperopic students had better QOL in comparison with others(P<0.05).CONCLUSION:Screening programs and treatment of refractive errors and binocular vision anomalies,especially phoria and accommodative insufficiency,positively impact the QOL and academic achievements of university students.
基金Supported by the Innovat ion and Entrepreneurship Project for College Students of the First Affiliated Hospital of Guangxi Medical University in 2022 and the Development and Application of Appropriate Medical and Health Technologies in Guangxi(No.S2021093).
文摘AIM:To investigate the frequency and associated factors of accommodation and non-strabismic binocular vision dysfunction among medical university students.METHODS:Totally 158 student volunteers underwent routine vision examination in the optometry clinic of Guangxi Medical University.Their data were used to identify the different types of accommodation and nonstrabismic binocular vision dysfunction and to determine their frequency.Correlation analysis and logistic regression were used to examine the factors associated with these abnormalities.RESULTS:The results showed that 36.71%of the subjects had accommodation and non-strabismic binocular vision issues,with 8.86%being attributed to accommodation dysfunction and 27.85%to binocular abnormalities.Convergence insufficiency(CI)was the most common abnormality,accounting for 13.29%.Those with these abnormalities experienced higher levels of eyestrain(χ2=69.518,P<0.001).The linear correlations were observed between the difference of binocular spherical equivalent(SE)and the index of horizontal esotropia at a distance(r=0.231,P=0.004)and the asthenopia survey scale(ASS)score(r=0.346,P<0.001).Furthermore,the right eye's SE was inversely correlated with the convergence of positive and negative fusion images at close range(r=-0.321,P<0.001),the convergence of negative fusion images at close range(r=-0.294,P<0.001),the vergence facility(VF;r=-0.234,P=0.003),and the set of negative fusion images at far range(r=-0.237,P=0.003).Logistic regression analysis indicated that gender,age,and the difference in right and binocular SE did not influence the emergence of these abnormalities.CONCLUSION:Binocular vision abnormalities are more prevalent than accommodation dysfunction,with CI being the most frequent type.Greater binocular refractive disparity leads to more severe eyestrain symptoms.
基金Supported by National Natural Science Foundation of China,No.32200545The GDPH Supporting Fund for Talent Program,No.KJ012020633 and KJ012019530Science and Technology Research Project of Guangdong Provincial Hospital of Chinese Medicine,No.YN2022GK04。
文摘BACKGROUND The importance of age on the development of ocular conditions has been reported by numerous studies.Diabetes may have different associations with different stages of ocular conditions,and the duration of diabetes may affect the development of diabetic eye disease.While there is a dose-response relationship between the age at diagnosis of diabetes and the risk of cardiovascular disease and mortality,whether the age at diagnosis of diabetes is associated with incident ocular conditions remains to be explored.It is unclear which types of diabetes are more predictive of ocular conditions.AIM To examine associations between the age of diabetes diagnosis and the incidence of cataract,glaucoma,age-related macular degeneration(AMD),and vision acuity.METHODS Our analysis was using the UK Biobank.The cohort included 8709 diabetic participants and 17418 controls for ocular condition analysis,and 6689 diabetic participants and 13378 controls for vision analysis.Ocular diseases were identified using inpatient records until January 2021.Vision acuity was assessed using a chart.RESULTS During a median follow-up of 11.0 years,3874,665,and 616 new cases of cataract,glaucoma,and AMD,respectively,were identified.A stronger association between diabetes and incident ocular conditions was observed where diabetes was diagnosed at a younger age.Individuals with type 2 diabetes(T2D)diagnosed at<45 years[HR(95%CI):2.71(1.49-4.93)],45-49 years[2.57(1.17-5.65)],50-54 years[1.85(1.13-3.04)],or 50-59 years of age[1.53(1.00-2.34)]had a higher risk of AMD independent of glycated haemoglobin.T2D diagnosed<45 years[HR(95%CI):2.18(1.71-2.79)],45-49 years[1.54(1.19-2.01)],50-54 years[1.60(1.31-1.96)],or 55-59 years of age[1.21(1.02-1.43)]was associated with an increased cataract risk.T2D diagnosed<45 years of age only was associated with an increased risk of glaucoma[HR(95%CI):1.76(1.00-3.12)].HRs(95%CIs)for AMD,cataract,and glaucoma associated with type 1 diabetes(T1D)were 4.12(1.99-8.53),2.95(2.17-4.02),and 2.40(1.09-5.31),respectively.In multivariable-adjusted analysis,individuals with T2D diagnosed<45 years of age[β95%CI:0.025(0.009,0.040)]had a larger increase in LogMAR.Theβ(95%CI)for LogMAR associated with T1D was 0.044(0.014,0.073).CONCLUSION The younger age at the diagnosis of diabetes is associated with a larger relative risk of incident ocular diseases and greater vision loss.
基金Program for Changjiang Scholars and Innovative Research Team in University (IRT0520)Ph.D.Programs Foundation of Ministry of Education of China (20070213055)
文摘Visual sensors are used to measure the relative state of the chaser spacecraft to the target spacecraft during close range ren- dezvous phases. This article proposes a two-stage iterative algorithm based on an inverse projection ray approach to address the relative position and attitude estimation by using feature points and monocular vision. It consists of two stages： absolute orienta- tion and depth recovery. In the first stage, Umeyama＇s algorithm is used to fit the three-dimensional （3D） model set and estimate the 3D point set while in the second stage, the depths of the observed feature points are estimated. This procedure is repeated until the result converges. Moreover, the effectiveness and convergence of the proposed algorithm are verified through theoreti- cal analysis and mathematical simulation.
基金The National Key Technology R&D Program of China during the 11th Five-Year Plan Period(2009BAG13A04)Jiangsu Transportation Science Research Program(No.08X09)Program of Suzhou Science and Technology(No.SG201076)
文摘In order to decrease vehicle crashes, a new rear view vehicle detection system based on monocular vision is designed. First, a small and flexible hardware platform based on a DM642 digtal signal processor （DSP） micro-controller is built. Then, a two-step vehicle detection algorithm is proposed. In the first step, a fast vehicle edge and symmetry fusion algorithm is used and a low threshold is set so that all the possible vehicles have a nearly 100% detection rate （TP） and the non-vehicles have a high false detection rate （FP）, i. e., all the possible vehicles can be obtained. In the second step, a classifier using a probabilistic neural network （PNN） which is based on multiple scales and an orientation Gabor feature is trained to classify the possible vehicles and eliminate the false detected vehicles from the candidate vehicles generated in the first step. Experimental results demonstrate that the proposed system maintains a high detection rate and a low false detection rate under different road, weather and lighting conditions.
基金Supported by the Natural Science Foundation of China (50975133)the Innovative Foundation for Ph.D of the Jiangsu Province, China (2010-227)
文摘Propeller blade width measurement has been extensively studied in the past using direct and indirect methods, and it plays a great role in determining the quality of the finished products. It has surveyed that previous techniques are usually time-consuming and erroneous due to a large number of points to be processed in blade width measurement. This paper proposes a new method of measuring blade width using two images acquired from different viewpoints of the same blade. And a new feature points matching approach for propeller blade image is proposed in stereo vision measurement. Based on these, pixel coordinates of contour points of the blade in two images are extracted and converted to real world coordinates by image algorithm and binocular stereo machine vision theory. Then, from the real world coordinates, the blade width at any position can be determined by simple geometrical method.
基金Supported by National Natural Science Foundation of China (No. 31000422 and No. 61201081)Tianjin Municipal Education Commission(No.20110829)Tianjin Science and Technology Committee(No. 10JCZDJC22800)
文摘A system for mobile robot localization and navigation was presented.With the proposed system,the robot can be located and navigated by a single landmark in a single image.And the navigation mode may be following-track,teaching and playback,or programming.The basic idea is that the system computes the differences between the expected and the recognized position at each time and then controls the robot in a direction to reduce those differences.To minimize the robot sensor equipment,only one omnidirectional camera was used.Experiments in disturbing environments show that the presented algorithm is robust and easy to implement,without camera rectification.The rootmean-square error(RMSE) of localization is 1.4,cm,and the navigation error in teaching and playback is within 10,cm.
基金National Major Scientific Equipment Development Projects of China(No.2013YQ240803)Natural Science Foundation for Young Scientists of Shanxi Province(No.2012021011-1)Scientific and Technological Project in Shanxi Province(No.20140321010-02)
文摘Cluster warhead has become the main ammunition of gun,rocket projectile and missile and it has been widely equipped in almost every country.More and more attention is paid to the damage effect of cluster warhead.The size of the dispersion area of cluster warhead is the main standard by which the damage effect of cluster warhead is estimated.The practical method of measuring the dispersion area was developed based on binocular stereo vision measurement theory.The calibration principle of the binocular stereo vision cameras was studied.The matching algorithm that relies on the gradient fields of the neighborhood of a pixel has been used to obtain the spatial information of matched points by acquiring apair of corresponding points in the left and right images of binocular cameras.The 3Dpositions of the flying path of cluster warhead were calculated.The umbrella that is similar to the dispersion track of static explosive cluster warhead was applied in the experiment to get the projection area of the umbrella on the ground.Experiment results verify the feasibility of the proposed method.
基金Key Projects in the Tianjin Science & Technology Pillay Program
文摘Vehicle anti-collision technique is a hot topic in the research area of Intelligent Transport System. The research on preceding vehicles detection and the distance measurement, which are the key techniques, makes great contributions to safe-driving. This paper presents a method which can be used to detect preceding vehicles and get the distance between own car and the car ahead. Firstly, an adaptive threshold method is used to get shadow feature, and a shadow!area merging approach is used to deal with the distortion of the shadow border. Region of interest(ROI) is obtained using shadow feature. Then in the ROI, symmetry feature is analyzed to verify whether there are vehicles and to locate the vehicles. Finally, using monocular vision distance measurement based on camera interior parameters and geometrical reasoning, we get the distance between own car and the preceding one. Experimental results show that the proposed method can detect the preceding vehicle effectively and get the distance between vehicles accurately.
文摘Background:We investigate whether changes in visual plasticity induced by monocular deprivation can be maintained across multiple days.It has been known that monocular deprivation strengthens the deprived eye in adults with normal vision for a short period of time(30-60 minutes).This has been shown through a variety of visual tasks such as binocular combination and rivalry.Methods:Ten subjects were recruited and patched for five consecutive days for two hours.We used a binocular phase combination task to measure the subjects’sensory eye balances.We initially measured their baseline of sensory eye balance,patched their dominant eye,and then conducted post-patching measurements at 0,3,6,12,24 and 48 minutes after patching.Results:We performed a 2-way ANOVA(Before vs.after patching×Day);we found that although the effect of monocular deprivation on the deprived eye was significant,F(1,9)=17.32,P=0.002,the effect of Day was not.Conclusions:Hence we found no accumulation of the patching effect across five days in healthy adults.This suggests that the degree of remnant neural plasticity in adult primary visual cortex may be too limited to be exploited therapeutically.
文摘Background:Stereoscopic Vision uses the disparity between the two images received by the two eyes in order to create a tridimensional representation.With this study,we aimed at providing an estimate of binocular vision at a level prior to disparity processing.In particular,we wanted to assess the spatial properties of the visual system for detecting interocular correlations(IOC).Methods:We developed dichoptic stimuli,made of textures which IOC is sinusoidally modulated at various correlation spatial frequencies.Then,we compared the sensitivity to these stimuli to the sensitivity to analogous stimuli with disparity modulation.Results:We observed that IOC sensitivity presents a low-pass/band-pass profile and increases as a function of presentation duration and contrast,in a similar way as disparity sensitivity.Conclusions:IOC sensitivity is weakly-though significantly-correlated with disparity sensitivity in the general population,which suggests that it could provide a marker for binocular vision,prior to disparity processing.
基金supported by the National Natural Science Foundation of China(Nos.61473307,61304120)
文摘Drogue recognition and 3D locating is a key problem during the docking phase of the autonomous aerial refueling （AAR）. To solve this problem, a novel and effective method based on monocular vision is presented in this paper. Firstly, by employing computer vision with red-ring-shape feature, a drogue detection and recognition algorithm is proposed to guarantee safety and ensure the robustness to the drogue diversity and the changes in environmental condi- tions, without using a set of infrared light emitting diodes （LEDs） on the parachute part of the dro- gue. Secondly, considering camera lens distortion, a monocular vision measurement algorithm for drogue 3D locating is designed to ensure the accuracy and real-time performance of the system, with the drogue attitude provided. Finally, experiments are conducted to demonstrate the effective- ness of the proposed method. Experimental results show the performances of the entire system in contrast with other methods, which validates that the proposed method can recognize and locate the drogue three dimensionally, rapidly and precisely.
基金Supported by Key Research and Development Project of Shaanxi Province (No.2017SF-246)Science and Technology Planning Project of Xi’an City (No.2017116SF/ YX010)
文摘AIM: To investigate the early outcomes of vision, objective visual quality and their correlation after cataract surgery with trifocal intraocular lens implantation.METHODS: The visual examination and objective visual quality analysis using Optical Quality Analysis System(OQAS) at 1 mo and 3 mo, and defocus curve examination at 3 mo were performed in 20 patients(27 eyes) after phacoemulsification combined with trifocal intraocular lens implantation surgery.RESULTS: The uncorrected distant(UD), intermediate and near visual acuity(VA) were significantly improved after surgery(P<0.001). UDVA at 1 mo after the surgery was slightly better than that after 3 mo(P=0.026). The defocus curve after 3 mo indicated that the peak of distant vision was close to 0 logMAR, and UDVA was lower than 0.3 logMAR in the range of-1.5 D to-3.0 D. The modulation transfer function(MTF) cutoff frequency, strehl ratio(SR), Optical Quality Analysis System values(OVs), includes OV100, OV20 and OV9 after the surgery were significantly better than before surgery(P<0.001), but the objective scattering index(OSI) was significantly decreased(P<0.001). UDVA at 3 mo after the surgery had correlations with MTF cutoff, OSI, OV100 and OV20(r=-0.400, 0.431,-0.437,-0.411, P=0.039, 0.025, 0.023, 0.033). The uncorrected intermediate VA after 3 mo of the surgery had correlations with OSI and OV100(r=0.478,-0.411, P=0.012, 0.033). CONCLUSION: Trifocal intraocular lens implantation can provide good distant, intermediate and near VA, and the vision shows a well correlation with objective visual quality during early surgery.
基金supported by National Natural Science Foundation of China(Nos.61273352 and 61473295)National High Technology Research and Development Program of China(863 Program)(No.2015AA042307)Beijing Natural Science Foundation(No.4161002)
文摘A new visual measurement method is proposed to estimate three-dimensional （3D） position of the object on the floor based on a single camera. The camera fixed on a robot is in an inclined position with respect to the floor. A measurement model with the camera＇s extrinsic parameters such as the height and pitch angle is described. Single image of a chessboard pattern placed on the floor is enough to calibrate the camera＇s extrinsic parameters after the camera＇s intrinsic parameters are calibrated. Then the position of object on the floor can be computed with the measurement model. Furthermore, the height of object can be calculated with the paired-points in the vertical line sharing the same position on the floor. Compared to the conventional method used to estimate the positions on the plane, this method can obtain the 3D positions. The indoor experiment testifies the accuracy and validity of the proposed method.
基金Supported by the Scientific and Technological Project of Henan Scientific Committee(No.112102310193No.122102310132+2 种基金No.132102310132)the Key Scientific Research Project of Education Department of HenanProvince(No.12A320068)the Medical Science Research Project of Henan Province(No.201003112)
文摘AIM： To determine the association between the binocular vision and an abnormal head posture（AHP）when watching television（TV） in children 7-14 y of age.·METHODS： Fifty normal children in the normal group and 52 children with an AHP when watching TV in the AHP group were tested for spherical equivalents, far and near fusional convergence（FC） and fusional divergence（FD） amplitudes, near point of convergence, far and near heterophoria, accommodative convergence/accommodation ratio and stereoacuity. The values of these tests were compared between the two groups. The independent t test was applied at a confidence level of95%.·RESULTS： The far and near FC amplitudes and far FD amplitudes were lower in the AHP group（the far FC amplitudes： break point 13.6±5.4~△, recovery point 8.7±5.4~△.The near FC amplitudes： break point 14.5 ±7.3~△, recovery point 10. 3 ± 5. 1~△. The far FD amplitudes ： break point3.9±2.7~△, recovery point 2.6±2.3~△） compared with those in the normal group（the far FC amplitudes： break point19.1 ±6.2△, recovery point 12.4 ±4.5~△. The near FC amplitudes： break point 22.3 ±8.0~△, recovery point 16.1 ±5.7~△. The far FD amplitudes： break point 7.0 ±2.1~△,recovery point 4.6 ±1.9~△）. Other tests presented no statistically significant differences.·CONCLUSION： An association between the reduced FC and FD amplitudes and the AHP in children when watching TV is proposed in the study. This kind of AHP is considered to be an anomalous manifestation which appears in a part of puerile patients of fusional vergence dysfunction.
基金the National Key Research and Development Program of China(2018YFB1305001)。
文摘Aiming at achieving complex moving targets perception,this paper designs a novel fusion-information detection and tracking system for moving targets.The system includes three modules:target detection,target tracking and trajectory prediction.The target detection module can detect fast moving objects which can be used as a template.The target tracking module tracks the object and records its historical position.Finally,the trajectory prediction module can predict the trajectory of the moving object based on the historical position.After verification by the table tennis detection tracking and prediction binocular vision system,the system has high accuracy and speed in detection and tracking,and can basically meet the actual application needs.
基金supported by National Natural Science Foundation of China(No.61125101)。
文摘In order to improve the low positioning accuracy and execution efficiency of the robot binocular vision,a binocular vision positioning method based on coarse-fine stereo matching is proposed to achieve object positioning.The random fern is used in the coarse matching to identify objects in the left and right images,and the pixel coordinates of the object center points in the two images are calculated to complete the center matching.In the fine matching,the right center point is viewed as an estimated value to set the search range of the right image,in which the region matching is implemented to find the best matched point of the left center point.Then,the similar triangle principle of the binocular vision model is used to calculate the 3D coordinates of the center point,achieving fast and accurate object positioning.Finally,the proposed method is applied to the object scene images and the robotic arm grasping platform.The experimental results show that the average absolute positioning error and average relative positioning error of the proposed method are 8.22 mm and 1.96%respectively when the object's depth distance is within 600 mm,the time consumption is less than 1.029s.The method can meet the needs of the robot grasping system,and has better accuracy and robustness.
基金Supported by Jiangsu Provincial Department of Science and Technology,No.BE2017603 and No.BE2017675。
文摘BACKGROUND Medical robot is a promising surgical tool,but no specific one has been designed for interventional treatment of chronic pain.We developed a computed tomography-image based navigation robot using a new registration method with binocular vision.This kind of robot is appropriate for minimal invasive interventional procedures and easy to operate.The feasibility,accuracy and stability of this new robot need to be tested.AIM To assess quantitatively the feasibility,accuracy and stability of the binocularstereo-vision-based navigation robot for minimally invasive interventional procedures.METHODS A box model was designed for assessing the accuracy for targets at different distances.Nine(three sets)lead spheres were embedded in the model as puncture goals.The entry-to-target distances were set 50 mm(short-distance),100 mm(medium-distance)and 150 mm(long-distance).Puncture procedure was repeated three times for each goal.The Euclidian error of each puncture was calculated and statistically analyzed.Three head phantoms were used to explore the clinical feasibility and stability.Three independent operators conducted foramen ovale placement on head phantoms(both sides)by freehand or under the guidance of robot(18 punctures with each method).The operation time,adjustment time and one-time success rate were recorded,and the two guidancemethods were compared.RESULTS On the box model,the mean puncture errors of navigation robot were 1.7±0.9 mm for the short-distance target,2.4±1.0 mm for the moderate target and 4.4±1.4 mm for the long-distance target.On the head phantom,no obvious differences in operation time and adjustment time were found among the three performers(P>0.05).The median adjustment time was significantly less under the guidance of the robot than under free hand.The one-time success rate was significantly higher with the robot(P<0.05).There was no obvious difference in operation time between the two methods(P>0.05).CONCLUSION In the laboratory environment,accuracy of binocular-stereo-vision-based navigation robot is acceptable for target at 100 mm depth or less.Compared with freehand,foramen ovale placement accuracy can be improved with robot guidance.
基金The National High Technology Research and Development Program (863) of China (No2006AA04Z259)The National Natural Sci-ence Foundation of China (No60643005)
文摘A hierarchical mobile robot simultaneous localization and mapping (SLAM) method that allows us to obtain accurate maps was presented. The local map level is composed of a set of local metric feature maps that are guaranteed to be statistically independent. The global level is a topological graph whose arcs are labeled with the relative location between local maps. An estimation of these relative locations is maintained with local map alignment algorithm, and more accurate estimation is calculated through a global minimization procedure using the loop closure constraint. The local map is built with Rao-Blackwellised particle filter (RBPF), where the particle filter is used to extending the path posterior by sampling new poses. The landmark position estimation and update is implemented through extended Kalman filter (EKF). Monocular vision mounted on the robot tracks the 3D natural point landmarks, which are structured with matching scale invariant feature transform (SIFT) feature pairs. The matching for multi-dimension SIFT features is implemented with a KD-tree in the time cost of O(lbN). Experiment results on Pioneer mobile robot in a real indoor environment show the superior performance of our proposed method.
