AIM:To explore the effect of visual perception learning software training(VPT)on binocular visual function reconstruction in children with intermittent exotropia after strabismus surgery.METHODS:Ninety children with i...AIM:To explore the effect of visual perception learning software training(VPT)on binocular visual function reconstruction in children with intermittent exotropia after strabismus surgery.METHODS:Ninety children with intermittent exotropia admitted to our hospital from June 2018 to December 2018 were included,and randomly divided into VPT and control groups.Children in the control group received basic binocular vision training,while those in the VPT group received VPT after strabismus surgery.Tertiary visual function,visual perception function,Newcastle Control Score(NCS),and ocular position retraction rate were compared at 3 and 12mo after the surgery.RESULTS:At 3 and 12mo after the surgery,the proportion of simultaneous perception,binocular fusion version and binocular stereo vision in the VPT group was conspicuously higher than that in the control group(P<0.05).After the vision training,the binocular visual perception functions of children in both groups were significantly improved compared with that before training(P<0.05).Interestingly,the grating sharpness,texture perception and texture motion perception in the VPT group were dramatically better than control group(P<0.01).The NCS in the VPT group was significantly lower than that in the control group(P<0.05).The ocular position retraction rate in the VPT group was significantly lower than that in the control group at 12mo(8.89%vs 26.67%,P=0.03).CONCLUSION:VPT effectively promotes binocular visual function reconstruction in intermittent exotropia children after strabismus surgery and reduces the strabismus severity and ocular position retraction rate.展开更多
Research on intelligent and robotic excavator has become a focus both at home and abroad, and this type of excavator becomes more and more important in application. In this paper, we developed a control system which c...Research on intelligent and robotic excavator has become a focus both at home and abroad, and this type of excavator becomes more and more important in application. In this paper, we developed a control system which can make the intelligent robotic excavator perform excavating operation autonomously. It can recognize the excavating targets by itself, program the operation automatically based on the original parameter, and finish all the tasks. Experimental results indicate the validity in real-time performance and precision of the control system. The intelligent robotic excavator can remarkably ease the labor intensity and enhance the working efficiency.展开更多
AIM:To evaluate the driving performance in young and middle-aged Chinese glaucoma patients with mild to severe visual field loss compared to those without glaucoma by using a driving simulation test.METHODS:Twenty-nin...AIM:To evaluate the driving performance in young and middle-aged Chinese glaucoma patients with mild to severe visual field loss compared to those without glaucoma by using a driving simulation test.METHODS:Twenty-nine participants were included in this study:nine patients with glaucoma but pass the binocular Esterman visual field test,ten patients with glaucoma and fail the binocular Esterman visual field test,and ten age-matched healthy controls.A driving simulation test was designed as a frequency-based analysis of a lanekeeping task.The total performance error,the controlresponse amplitude and delay were calculated.RESULTS:Esterman visual field test fail group showed the longest delay of control-response among three groups(P=0.02).And the delay in lane-keeping task was significantly associated with inferior field of better-eye(r=0.51,P=0.004)and integrated visual field(r=0.55,P=0.002).CONCLUSION:Young and middle-aged glaucoma patients with binocular visual field loss suffered from a longer delay of response in driving simulation test,while inferior visual field having more impact than superior visual field.展开更多
Purpose/Aim: We aimed to investigate the effect of monocular blur on the binocular visual field. Materials and Methods: A total of 13 healthy young volunteers participated in this study. The mean subjective refractive...Purpose/Aim: We aimed to investigate the effect of monocular blur on the binocular visual field. Materials and Methods: A total of 13 healthy young volunteers participated in this study. The mean subjective refractive error of the dominant eye (DE) was -3.33 ± 1.65D, and the non-dominant eye (NDE) was -3.15 ± 2.84D. The DE was determined by using the hole-in-the-card test. The visual field was examined by the Humphrey Visual Field Analyzer using the 30-2 SITA Standard program. The visual field was measured while wearing soft contact lens under three conditions;① both eyes: near vision correction;② DE: near vision correction +3.00D added, NDE: near vision correction;and ③ DE: near vision correction, NDE: near vision correction +3.00D added. The foveal threshold, mean deviation (MD), and pattern standard deviation (PSD) values were investigated. Results: The foveal threshold value (dB) at ①, ②, and ③ was 41.2, 37.8, and 38.1, respectively. The values at ② and ③ were both significantly lower than that at ① (p Conclusion: These results suggest that monocular blur reduced the sensitivity within the binocular visual field.展开更多
Objective To compare the perceived eye position,Titmus and stereopsis function across various types of anisometropia to identify differences in binocular visual function.Methods This study included 204 anisometropic p...Objective To compare the perceived eye position,Titmus and stereopsis function across various types of anisometropia to identify differences in binocular visual function.Methods This study included 204 anisometropic patients(observation group,interocular spherical equivalent difference≥1.5D or cylindrical≥1.0D)and 57 non-anisometropic controls(interocular differences<1.5D spherical or<1.0D cylindrical).Participants were initially stratified based on documented amblyopia history(94 with vs.110 without),followed by further subgrouping of the observation group into hyperopic,myopic,and astigmatic anisometropia types for comparative analysis with controls.Standardized assessments comprised best-corrected visual acuity(BCVA,logMAR),cycloplegic refraction,Titmus near stereopsis(arcsec),binocular perceptual eye position(PEP)deviation,and three-order stereopsis thresholds measured via a computerized binocular vision assessment system.Statistical analysis adhered to CONSORT guidelines(SPSS v26.0,α〓〓=〓〓0.05).Results(1)No significant differences were observed between patients with documented amblyopia history and those without regarding equivalent spherical lens difference,horizontal/vertical PEP,three-order stereopsis,or Titmus test results.(2)The control group demonstrated superior vertical PEP,three-order stereopsis,and Titmus performance compared to all anisometropia subgroups(myopic,hypermetropic,and astigmatic;P〓〓<0.05),though horizontal PEP showed no significant variation(P〓〓>0.05).(3)While Titmus results showed no difference between astigmatic and myopic anisometropia groups(P〓〓=〓〓0.72),significant differences existed among other groups(P<0.05).Notably,the hyperopic anisometropia group exhibited the poorest normal rates for vertical PEP,Titmus,and three-order stereopsis among all groups(P〓〓<0.001).Additionally,the astigmatism group outperformed both myopia and hypermetropia groups in 0-order and 1-order stereopsis(P〓〓<0.05).Conclusions The study revealed no significant difference in visual function between anisometropic amblyopia patients who achieved normal BCVA(≤0.0 LogMAR)and non-amblyopic anisometropic controls.However,all forms of anisometropia demonstrated varying degrees of impairment to binocular fusion and stereopsis,with hypermetropic anisometropia showing the most pronounced deficits,particularly in near stereopsis.Notably,vertical PEP instability may contribute to the progression of hyperopic anisometropia.展开更多
a-Amino-3-hydroxy-5-methyl-4-isoxazolepropionic acid receptors are considered to play a crucial role in synaptic plasticity in the developing visual cortex. In this study, we established a rat model of binocular form ...a-Amino-3-hydroxy-5-methyl-4-isoxazolepropionic acid receptors are considered to play a crucial role in synaptic plasticity in the developing visual cortex. In this study, we established a rat model of binocular form deprivation by suturing the rat binocular eyelids before eye-opening at postnatal day 14. During development, the decay time of excitatory postsynaptic currents mediated by a-amino-3- hydroxy-5-methyl-4-isoxazolepropionic acid receptors of normal rats became longer after eye- opening; however, the decay time did not change significantly in binocular form deprivation rats. The peak value in the normal group became gradually larger with age, but there was no significant change in the binocular form deprivation group. These findings indicate that binocular form deprivation influences the properties of excitatory postsynaptic currents mediated by a-amino-3- hydroxy-5-methyl-4-isoxazolepropionic acid receptors in the rat visual cortex around the end of the critical period, indicating that form stimulation is associated with the experience-dependent modification of neuronal synapses in the visual cortex.展开更多
针对弱纹理和变光照环境下基于点特征的视觉SLAM(simultaneous localization and mapping)算法轨迹漂移的问题,提出了一种基于改进自适应阈值ELSED算法(Adaptive-ELSED)的快速点线融合双目视觉SLAM算法。通过在ELSED算法中添加自适应阈...针对弱纹理和变光照环境下基于点特征的视觉SLAM(simultaneous localization and mapping)算法轨迹漂移的问题,提出了一种基于改进自适应阈值ELSED算法(Adaptive-ELSED)的快速点线融合双目视觉SLAM算法。通过在ELSED算法中添加自适应阈值矩阵,动态调整不同光照条件下梯度阈值,并使用长度抑制和短线合并策略,提高线特征的质量。利用基于双目几何约束和图像结构相似性(SSIM)进行快速线段特征三角化。基于历史位姿及误差分析获取初始位姿,通过自适应因子实现光束法平差过程中点线特征的更有效融合。实验结果表明,所提算法在提高线特征质量的同时,耗时仅为LSD算法的50%,线特征匹配速度较传统LBD算法提升67%,挑战性场景下轨迹误差较ORB-SLAM3降低62.2%,系统的平均跟踪帧率为27帧/s,在保证系统实时性的同时,显著提升了系统在弱纹理、变光照环境下的精度和鲁棒性。展开更多
The dynamic multichannel binocular visual image modeling is studied based on Internet of Things (IoT) Perception Layer, using mobile robot self-organizing network. By employing multigroup mobile robots with binocular ...The dynamic multichannel binocular visual image modeling is studied based on Internet of Things (IoT) Perception Layer, using mobile robot self-organizing network. By employing multigroup mobile robots with binocular visual system, the real visual images of the object will be obtained. Then through the mobile self-organizing network, a three-dimensional model is rebuilt by synthesizing the returned images. On this basis, we formalize a novel algorithm for multichannel binocular visual three-dimensional images based on fast three-dimensional modeling. Compared with the method based on single binocular visual system, the new algorithm can improve the Integrity and accuracy of the dynamic three-dimensional object modeling. The simulation results show that the new method can effectively accelerate the modeling speed, improve the similarity and not increase the data size.展开更多
煤矿井下视觉同步定位与地图构建SLAM(Simultaneous Localization and Mapping)应用中,光照变化与低纹理场景严重影响特征点的提取和匹配结果,导致位姿估计失败,影响定位精度。提出一种基于改进定向快速旋转二值描述符ORB(Oriented Fast...煤矿井下视觉同步定位与地图构建SLAM(Simultaneous Localization and Mapping)应用中,光照变化与低纹理场景严重影响特征点的提取和匹配结果,导致位姿估计失败,影响定位精度。提出一种基于改进定向快速旋转二值描述符ORB(Oriented Fast and Rotated Brief)-SLAM3算法的煤矿井下移动机器人双目视觉定位算法SL-SLAM。针对光照变化场景,在前端使用光照稳定性的Super-Point特征点提取网络替换原始ORB特征点提取算法,并提出一种特征点网格限定法,有效剔除无效特征点区域,增加位姿估计稳定性。针对低纹理场景,在前端引入稳定的线段检测器LSD(Line Segment Detector)线特征提取算法,并提出一种点线联合算法,按照特征点网格对线特征进行分组,根据特征点的匹配结果进行线特征匹配,降低线特征匹配复杂度,节约位姿估计时间。构建了点特征和线特征的重投影误差模型,在线特征残差模型中添加角度约束,通过点特征和线特征的位姿增量雅可比矩阵建立点线特征重投影误差统一成本函数。局部建图线程使用ORB-SLAM3经典的局部优化方法调整点、线特征和关键帧位姿,并在后端线程中进行回环修正、子图融合和全局捆绑调整BA(Bundle Adjustment)。在EuRoC数据集上的试验结果表明,SL-SLAM的绝对位姿误差APE(Absolute Pose Error)指标优于其他对比算法,并取得了与真值最接近的轨迹预测结果:均方根误差相较于ORB-SLAM3降低了17.3%。在煤矿井下模拟场景中的试验结果表明,SL-SLAM能适应光照变化和低纹理场景,可以满足煤矿井下移动机器人的定位精度和稳定性要求。展开更多
文摘AIM:To explore the effect of visual perception learning software training(VPT)on binocular visual function reconstruction in children with intermittent exotropia after strabismus surgery.METHODS:Ninety children with intermittent exotropia admitted to our hospital from June 2018 to December 2018 were included,and randomly divided into VPT and control groups.Children in the control group received basic binocular vision training,while those in the VPT group received VPT after strabismus surgery.Tertiary visual function,visual perception function,Newcastle Control Score(NCS),and ocular position retraction rate were compared at 3 and 12mo after the surgery.RESULTS:At 3 and 12mo after the surgery,the proportion of simultaneous perception,binocular fusion version and binocular stereo vision in the VPT group was conspicuously higher than that in the control group(P<0.05).After the vision training,the binocular visual perception functions of children in both groups were significantly improved compared with that before training(P<0.05).Interestingly,the grating sharpness,texture perception and texture motion perception in the VPT group were dramatically better than control group(P<0.01).The NCS in the VPT group was significantly lower than that in the control group(P<0.05).The ocular position retraction rate in the VPT group was significantly lower than that in the control group at 12mo(8.89%vs 26.67%,P=0.03).CONCLUSION:VPT effectively promotes binocular visual function reconstruction in intermittent exotropia children after strabismus surgery and reduces the strabismus severity and ocular position retraction rate.
文摘Research on intelligent and robotic excavator has become a focus both at home and abroad, and this type of excavator becomes more and more important in application. In this paper, we developed a control system which can make the intelligent robotic excavator perform excavating operation autonomously. It can recognize the excavating targets by itself, program the operation automatically based on the original parameter, and finish all the tasks. Experimental results indicate the validity in real-time performance and precision of the control system. The intelligent robotic excavator can remarkably ease the labor intensity and enhance the working efficiency.
基金Supported by State Key Program of National Natural Science Foundation of China(No.81430007)National Natural Science Foundation of China(No.81790641,No.81401533)Natural Science Foundation of Shanghai(No.18ZR1406000)。
文摘AIM:To evaluate the driving performance in young and middle-aged Chinese glaucoma patients with mild to severe visual field loss compared to those without glaucoma by using a driving simulation test.METHODS:Twenty-nine participants were included in this study:nine patients with glaucoma but pass the binocular Esterman visual field test,ten patients with glaucoma and fail the binocular Esterman visual field test,and ten age-matched healthy controls.A driving simulation test was designed as a frequency-based analysis of a lanekeeping task.The total performance error,the controlresponse amplitude and delay were calculated.RESULTS:Esterman visual field test fail group showed the longest delay of control-response among three groups(P=0.02).And the delay in lane-keeping task was significantly associated with inferior field of better-eye(r=0.51,P=0.004)and integrated visual field(r=0.55,P=0.002).CONCLUSION:Young and middle-aged glaucoma patients with binocular visual field loss suffered from a longer delay of response in driving simulation test,while inferior visual field having more impact than superior visual field.
文摘Purpose/Aim: We aimed to investigate the effect of monocular blur on the binocular visual field. Materials and Methods: A total of 13 healthy young volunteers participated in this study. The mean subjective refractive error of the dominant eye (DE) was -3.33 ± 1.65D, and the non-dominant eye (NDE) was -3.15 ± 2.84D. The DE was determined by using the hole-in-the-card test. The visual field was examined by the Humphrey Visual Field Analyzer using the 30-2 SITA Standard program. The visual field was measured while wearing soft contact lens under three conditions;① both eyes: near vision correction;② DE: near vision correction +3.00D added, NDE: near vision correction;and ③ DE: near vision correction, NDE: near vision correction +3.00D added. The foveal threshold, mean deviation (MD), and pattern standard deviation (PSD) values were investigated. Results: The foveal threshold value (dB) at ①, ②, and ③ was 41.2, 37.8, and 38.1, respectively. The values at ② and ③ were both significantly lower than that at ① (p Conclusion: These results suggest that monocular blur reduced the sensitivity within the binocular visual field.
基金supported by the 2021 Myopia Prevention and control Funding in Nan'an District,Chongqing,China(99–2021226).
文摘Objective To compare the perceived eye position,Titmus and stereopsis function across various types of anisometropia to identify differences in binocular visual function.Methods This study included 204 anisometropic patients(observation group,interocular spherical equivalent difference≥1.5D or cylindrical≥1.0D)and 57 non-anisometropic controls(interocular differences<1.5D spherical or<1.0D cylindrical).Participants were initially stratified based on documented amblyopia history(94 with vs.110 without),followed by further subgrouping of the observation group into hyperopic,myopic,and astigmatic anisometropia types for comparative analysis with controls.Standardized assessments comprised best-corrected visual acuity(BCVA,logMAR),cycloplegic refraction,Titmus near stereopsis(arcsec),binocular perceptual eye position(PEP)deviation,and three-order stereopsis thresholds measured via a computerized binocular vision assessment system.Statistical analysis adhered to CONSORT guidelines(SPSS v26.0,α〓〓=〓〓0.05).Results(1)No significant differences were observed between patients with documented amblyopia history and those without regarding equivalent spherical lens difference,horizontal/vertical PEP,three-order stereopsis,or Titmus test results.(2)The control group demonstrated superior vertical PEP,three-order stereopsis,and Titmus performance compared to all anisometropia subgroups(myopic,hypermetropic,and astigmatic;P〓〓<0.05),though horizontal PEP showed no significant variation(P〓〓>0.05).(3)While Titmus results showed no difference between astigmatic and myopic anisometropia groups(P〓〓=〓〓0.72),significant differences existed among other groups(P<0.05).Notably,the hyperopic anisometropia group exhibited the poorest normal rates for vertical PEP,Titmus,and three-order stereopsis among all groups(P〓〓<0.001).Additionally,the astigmatism group outperformed both myopia and hypermetropia groups in 0-order and 1-order stereopsis(P〓〓<0.05).Conclusions The study revealed no significant difference in visual function between anisometropic amblyopia patients who achieved normal BCVA(≤0.0 LogMAR)and non-amblyopic anisometropic controls.However,all forms of anisometropia demonstrated varying degrees of impairment to binocular fusion and stereopsis,with hypermetropic anisometropia showing the most pronounced deficits,particularly in near stereopsis.Notably,vertical PEP instability may contribute to the progression of hyperopic anisometropia.
基金the National Natural Science Foundation of China, No.30772350
文摘a-Amino-3-hydroxy-5-methyl-4-isoxazolepropionic acid receptors are considered to play a crucial role in synaptic plasticity in the developing visual cortex. In this study, we established a rat model of binocular form deprivation by suturing the rat binocular eyelids before eye-opening at postnatal day 14. During development, the decay time of excitatory postsynaptic currents mediated by a-amino-3- hydroxy-5-methyl-4-isoxazolepropionic acid receptors of normal rats became longer after eye- opening; however, the decay time did not change significantly in binocular form deprivation rats. The peak value in the normal group became gradually larger with age, but there was no significant change in the binocular form deprivation group. These findings indicate that binocular form deprivation influences the properties of excitatory postsynaptic currents mediated by a-amino-3- hydroxy-5-methyl-4-isoxazolepropionic acid receptors in the rat visual cortex around the end of the critical period, indicating that form stimulation is associated with the experience-dependent modification of neuronal synapses in the visual cortex.
文摘针对弱纹理和变光照环境下基于点特征的视觉SLAM(simultaneous localization and mapping)算法轨迹漂移的问题,提出了一种基于改进自适应阈值ELSED算法(Adaptive-ELSED)的快速点线融合双目视觉SLAM算法。通过在ELSED算法中添加自适应阈值矩阵,动态调整不同光照条件下梯度阈值,并使用长度抑制和短线合并策略,提高线特征的质量。利用基于双目几何约束和图像结构相似性(SSIM)进行快速线段特征三角化。基于历史位姿及误差分析获取初始位姿,通过自适应因子实现光束法平差过程中点线特征的更有效融合。实验结果表明,所提算法在提高线特征质量的同时,耗时仅为LSD算法的50%,线特征匹配速度较传统LBD算法提升67%,挑战性场景下轨迹误差较ORB-SLAM3降低62.2%,系统的平均跟踪帧率为27帧/s,在保证系统实时性的同时,显著提升了系统在弱纹理、变光照环境下的精度和鲁棒性。
基金supported by HiTech Researchand Development Program of China under Grant No.2007AA10Z235
文摘The dynamic multichannel binocular visual image modeling is studied based on Internet of Things (IoT) Perception Layer, using mobile robot self-organizing network. By employing multigroup mobile robots with binocular visual system, the real visual images of the object will be obtained. Then through the mobile self-organizing network, a three-dimensional model is rebuilt by synthesizing the returned images. On this basis, we formalize a novel algorithm for multichannel binocular visual three-dimensional images based on fast three-dimensional modeling. Compared with the method based on single binocular visual system, the new algorithm can improve the Integrity and accuracy of the dynamic three-dimensional object modeling. The simulation results show that the new method can effectively accelerate the modeling speed, improve the similarity and not increase the data size.
文摘煤矿井下视觉同步定位与地图构建SLAM(Simultaneous Localization and Mapping)应用中,光照变化与低纹理场景严重影响特征点的提取和匹配结果,导致位姿估计失败,影响定位精度。提出一种基于改进定向快速旋转二值描述符ORB(Oriented Fast and Rotated Brief)-SLAM3算法的煤矿井下移动机器人双目视觉定位算法SL-SLAM。针对光照变化场景,在前端使用光照稳定性的Super-Point特征点提取网络替换原始ORB特征点提取算法,并提出一种特征点网格限定法,有效剔除无效特征点区域,增加位姿估计稳定性。针对低纹理场景,在前端引入稳定的线段检测器LSD(Line Segment Detector)线特征提取算法,并提出一种点线联合算法,按照特征点网格对线特征进行分组,根据特征点的匹配结果进行线特征匹配,降低线特征匹配复杂度,节约位姿估计时间。构建了点特征和线特征的重投影误差模型,在线特征残差模型中添加角度约束,通过点特征和线特征的位姿增量雅可比矩阵建立点线特征重投影误差统一成本函数。局部建图线程使用ORB-SLAM3经典的局部优化方法调整点、线特征和关键帧位姿,并在后端线程中进行回环修正、子图融合和全局捆绑调整BA(Bundle Adjustment)。在EuRoC数据集上的试验结果表明,SL-SLAM的绝对位姿误差APE(Absolute Pose Error)指标优于其他对比算法,并取得了与真值最接近的轨迹预测结果:均方根误差相较于ORB-SLAM3降低了17.3%。在煤矿井下模拟场景中的试验结果表明,SL-SLAM能适应光照变化和低纹理场景,可以满足煤矿井下移动机器人的定位精度和稳定性要求。
