In dynamic scenarios,visual simultaneous localization and mapping(SLAM)algorithms often incorrectly incorporate dynamic points during camera pose computation,leading to reduced accuracy and robustness.This paper prese...In dynamic scenarios,visual simultaneous localization and mapping(SLAM)algorithms often incorrectly incorporate dynamic points during camera pose computation,leading to reduced accuracy and robustness.This paper presents a dynamic SLAM algorithm that leverages object detection and regional dynamic probability.Firstly,a parallel thread employs the YOLOX object detectionmodel to gather 2D semantic information and compensate for missed detections.Next,an improved K-means++clustering algorithm clusters bounding box regions,adaptively determining the threshold for extracting dynamic object contours as dynamic points change.This process divides the image into low dynamic,suspicious dynamic,and high dynamic regions.In the tracking thread,the dynamic point removal module assigns dynamic probability weights to the feature points in these regions.Combined with geometric methods,it detects and removes the dynamic points.The final evaluation on the public TUM RGB-D dataset shows that the proposed dynamic SLAM algorithm surpasses most existing SLAM algorithms,providing better pose estimation accuracy and robustness in dynamic environments.展开更多
In the dynamic scene of autonomous vehicles,the depth estimation of monocular cameras often faces the problem of inaccurate edge depth estimation.To solve this problem,we propose an unsupervised monocular depth estima...In the dynamic scene of autonomous vehicles,the depth estimation of monocular cameras often faces the problem of inaccurate edge depth estimation.To solve this problem,we propose an unsupervised monocular depth estimation model based on edge enhancement,which is specifically aimed at the depth perception challenge in dynamic scenes.The model consists of two core networks:a deep prediction network and a motion estimation network,both of which adopt an encoder-decoder architecture.The depth prediction network is based on the U-Net structure of ResNet18,which is responsible for generating the depth map of the scene.The motion estimation network is based on the U-Net structure of Flow-Net,focusing on the motion estimation of dynamic targets.In the decoding stage of the motion estimation network,we innovatively introduce an edge-enhanced decoder,which integrates a convolutional block attention module(CBAM)in the decoding process to enhance the recognition ability of the edge features of moving objects.In addition,we also designed a strip convolution module to improve the model’s capture efficiency of discrete moving targets.To further improve the performance of the model,we propose a novel edge regularization method based on the Laplace operator,which effectively accelerates the convergence process of themodel.Experimental results on the KITTI and Cityscapes datasets show that compared with the current advanced dynamic unsupervised monocular model,the proposed model has a significant improvement in depth estimation accuracy and convergence speed.Specifically,the rootmean square error(RMSE)is reduced by 4.8%compared with the DepthMotion algorithm,while the training convergence speed is increased by 36%,which shows the superior performance of the model in the depth estimation task in dynamic scenes.展开更多
The autonomous landing guidance of fixed-wing aircraft in unknown structured scenes presents a substantial technological challenge,particularly regarding the effectiveness of solutions for monocular visual relative po...The autonomous landing guidance of fixed-wing aircraft in unknown structured scenes presents a substantial technological challenge,particularly regarding the effectiveness of solutions for monocular visual relative pose estimation.This study proposes a novel airborne monocular visual estimation method based on structured scene features to address this challenge.First,a multitask neural network model is established for segmentation,depth estimation,and slope estimation on monocular images.And a monocular image comprehensive three-dimensional information metric is designed,encompassing length,span,flatness,and slope information.Subsequently,structured edge features are leveraged to filter candidate landing regions adaptively.By leveraging the three-dimensional information metric,the optimal landing region is accurately and efficiently identified.Finally,sparse two-dimensional key point is used to parameterize the optimal landing region for the first time and a high-precision relative pose estimation is achieved.Additional measurement information is introduced to provide the autonomous landing guidance information between the aircraft and the optimal landing region.Experimental results obtained from both synthetic and real data demonstrate the effectiveness of the proposed method in monocular pose estimation for autonomous aircraft landing guidance in unknown structured scenes.展开更多
Camouflaged people are extremely expert in actively concealing themselves by effectively utilizing cover and the surrounding environment. Despite advancements in optical detection capabilities through imaging systems,...Camouflaged people are extremely expert in actively concealing themselves by effectively utilizing cover and the surrounding environment. Despite advancements in optical detection capabilities through imaging systems, including spectral, polarization, and infrared technologies, there is still a lack of effective real-time method for accurately detecting small-size and high-efficient camouflaged people in complex real-world scenes. Here, this study proposes a snapshot multispectral image-based camouflaged detection model, multispectral YOLO(MS-YOLO), which utilizes the SPD-Conv and Sim AM modules to effectively represent targets and suppress background interference by exploiting the spatial-spectral target information. Besides, the study constructs the first real-shot multispectral camouflaged people dataset(MSCPD), which encompasses diverse scenes, target scales, and attitudes. To minimize information redundancy, MS-YOLO selects an optimal subset of 12 bands with strong feature representation and minimal inter-band correlation as input. Through experiments on the MSCPD, MS-YOLO achieves a mean Average Precision of 94.31% and real-time detection at 65 frames per second, which confirms the effectiveness and efficiency of our method in detecting camouflaged people in various typical desert and forest scenes. Our approach offers valuable support to improve the perception capabilities of unmanned aerial vehicles in detecting enemy forces and rescuing personnel in battlefield.展开更多
The interferences,such as the background,eyebrows,eyelashes,eyeglass frames,illumination variations,and specular lens reflection pose challenges for pupil localization in natural scenes.In this paper,we propose a nove...The interferences,such as the background,eyebrows,eyelashes,eyeglass frames,illumination variations,and specular lens reflection pose challenges for pupil localization in natural scenes.In this paper,we propose a novel method comprising improved YOLOv8 and Illumination Adaptive Algorithm(IAA),for fast and accurate pupil localization in natural scenes.We introduced deformable convolution into the backbone of YOLOv8 to enable the model to extract the eye regions more accurately,thus avoiding the interference of background outside the eye on subsequent pupil localization.The IAA can reduce the interference of illumination variations and lens reflection by adjusting automatically the grayscale of the image according to the exposure.Experimental results verified that the improved YOLOv8 exhibited an eye detection accuracy(IOU≥0.5)of 90.2%,while the IAA leads to a 9.15%improvement on 5-pixels error ratio e5 with processing times in the tens of microseconds on GPU.Experimental results on the benchmark database CelebA show that the proposed method for pupil localization achieves an accuracy of 83.05%on e5 and achieves real-time performance of 210 FPS on GPU,outperforming other advanced methods.展开更多
Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real...Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real-world monitoring,the process will use RTK-GNSS positional perception technology,by projecting the left side of the earth from Gauss-Krueger projection method,and then carry out the Cartesian conversion based on the characteristics of drawing;steering control system is the core of the electric drive unmanned module,on the basis of the analysis of the composition of the steering system of unmanned engineering vehicles,the steering system key components such as direction,torque sensor,drive motor and other models are established,the joint simulation model of unmanned engineering vehicles is established,the steering controller is designed using the PID method,the simulation results show that the control method can meet the construction path demand for automatic steering.The path planning will first formulate the construction area with preset values and realize the steering angle correction during driving by PID algorithm,and never realize the construction-based path planning,and the results show that the method can control the straight path within the error of 10 cm and the curve error within 20 cm.With the collaboration of various modules,the automatic construction simulation results of this robot show that the design path and control method is effective.展开更多
The Internet of Vehicles (IoV) has become an important direction in the field of intelligent transportation, in which vehicle positioning is a crucial part. SLAM (Simultaneous Localization and Mapping) technology play...The Internet of Vehicles (IoV) has become an important direction in the field of intelligent transportation, in which vehicle positioning is a crucial part. SLAM (Simultaneous Localization and Mapping) technology plays a crucial role in vehicle localization and navigation. Traditional Simultaneous Localization and Mapping (SLAM) systems are designed for use in static environments, and they can result in poor performance in terms of accuracy and robustness when used in dynamic environments where objects are in constant movement. To address this issue, a new real-time visual SLAM system called MG-SLAM has been developed. Based on ORB-SLAM2, MG-SLAM incorporates a dynamic target detection process that enables the detection of both known and unknown moving objects. In this process, a separate semantic segmentation thread is required to segment dynamic target instances, and the Mask R-CNN algorithm is applied on the Graphics Processing Unit (GPU) to accelerate segmentation. To reduce computational cost, only key frames are segmented to identify known dynamic objects. Additionally, a multi-view geometry method is adopted to detect unknown moving objects. The results demonstrate that MG-SLAM achieves higher precision, with an improvement from 0.2730 m to 0.0135 m in precision. Moreover, the processing time required by MG-SLAM is significantly reduced compared to other dynamic scene SLAM algorithms, which illustrates its efficacy in locating objects in dynamic scenes.展开更多
A two-stage algorithm based on deep learning for the detection and recognition of can bottom spray codes and numbers is proposed to address the problems of small character areas and fast production line speeds in can ...A two-stage algorithm based on deep learning for the detection and recognition of can bottom spray codes and numbers is proposed to address the problems of small character areas and fast production line speeds in can bottom spray code number recognition.In the coding number detection stage,Differentiable Binarization Network is used as the backbone network,combined with the Attention and Dilation Convolutions Path Aggregation Network feature fusion structure to enhance the model detection effect.In terms of text recognition,using the Scene Visual Text Recognition coding number recognition network for end-to-end training can alleviate the problem of coding recognition errors caused by image color distortion due to variations in lighting and background noise.In addition,model pruning and quantization are used to reduce the number ofmodel parameters to meet deployment requirements in resource-constrained environments.A comparative experiment was conducted using the dataset of tank bottom spray code numbers collected on-site,and a transfer experiment was conducted using the dataset of packaging box production date.The experimental results show that the algorithm proposed in this study can effectively locate the coding of cans at different positions on the roller conveyor,and can accurately identify the coding numbers at high production line speeds.The Hmean value of the coding number detection is 97.32%,and the accuracy of the coding number recognition is 98.21%.This verifies that the algorithm proposed in this paper has high accuracy in coding number detection and recognition.展开更多
As eye tracking can be used to record moment-to-moment changes of eye movements as people inspect pictures of natural scenes and comprehend information, this paper attempts to use eye-movement technology to investigat...As eye tracking can be used to record moment-to-moment changes of eye movements as people inspect pictures of natural scenes and comprehend information, this paper attempts to use eye-movement technology to investigate how the order of presentation and the characteristics of information affect the semantic mismatch effect in the picture-sentence paradigm. A 3（syntax）×2（semantic relation） factorial design is adopted, with syntax and semantic relations as within-participant variables. The experiment finds that the semantic mismatch is most likely to increase cognitive loads as people have to spend more time, including first-pass time, regression path duration, and total fixation duration. Double negation does not significantly increase the processing difficulty of pictures and information. Experimental results show that people can extract the special syntactic strategy from long-term memory to process pictures and sentences with different semantic relations. It enables readers to comprehend double negation as affirmation. These results demonstrate that the constituent comparison model may not be a general model regarding other languages.展开更多
As NPC performances surge in popularity,destinations are recruiting actors and building story-driven scenes to reinvent traditional tourism Eight days,seven cities-a whirlwind tour that defined actor Zheng Guolin’s w...As NPC performances surge in popularity,destinations are recruiting actors and building story-driven scenes to reinvent traditional tourism Eight days,seven cities-a whirlwind tour that defined actor Zheng Guolin’s work schedule during the National Day holiday a month ago.From 1 to 8 October,he maintained a relentless pace,not just logging miles but also switching between roles.展开更多
ertain obscure nooks tucked away inAfrica's savannas,under thevast skies of the Serengeti,or perched highin theAmazon canopy host raw,untamed,and feeting scenes that might never be witnessed by human eyes if not f...ertain obscure nooks tucked away inAfrica's savannas,under thevast skies of the Serengeti,or perched highin theAmazon canopy host raw,untamed,and feeting scenes that might never be witnessed by human eyes if not for wildlife photographers such as Xiao Ge Xiao considers such places his canvas,playground,and passion.展开更多
With the upgrading of tourism consumption patterns,the traditional renovation models of waterfront recreational spaces centered on landscape design can no longer meet the commercial and humanistic demands of modern cu...With the upgrading of tourism consumption patterns,the traditional renovation models of waterfront recreational spaces centered on landscape design can no longer meet the commercial and humanistic demands of modern cultural and tourism development.Based on scene theory as the analytical framework and taking the Xuan en Night Banquet Project in Enshi as a case study,this paper explores the design pathway for transforming waterfront areas in tourism cities from"spatial reconstruction"to"scene construction".The study argues that waterfront space renewal should transcend mere physical renovation.By implementing three core strategies:spatial narrative framework,ecological industry creation,and cultural empowerment,it is possible to construct integrated scenarios that blend cultural value,consumption spaces,and lifestyle elements.This approach ultimately fosters sustained vitality in waterfront areas and promotes the high-quality development of cultural and tourism industry.展开更多
In foggy traffic scenarios, existing object detection algorithms face challenges such as low detection accuracy, poor robustness, occlusion, missed detections, and false detections. To address this issue, a multi-scal...In foggy traffic scenarios, existing object detection algorithms face challenges such as low detection accuracy, poor robustness, occlusion, missed detections, and false detections. To address this issue, a multi-scale object detection algorithm based on an improved YOLOv8 has been proposed. Firstly, a lightweight attention mechanism, Triplet Attention, is introduced to enhance the algorithm’s ability to extract multi-dimensional and multi-scale features, thereby improving the receptive capability of the feature maps. Secondly, the Diverse Branch Block (DBB) is integrated into the CSP Bottleneck with two Convolutions (C2F) module to strengthen the fusion of semantic information across different layers. Thirdly, a new decoupled detection head is proposed by redesigning the original network head based on the Diverse Branch Block module to improve detection accuracy and reduce missed and false detections. Finally, the Minimum Point Distance based Intersection-over-Union (MPDIoU) is used to replace the original YOLOv8 Complete Intersection-over-Union (CIoU) to accelerate the network’s training convergence. Comparative experiments and dehazing pre-processing tests were conducted on the RTTS and VOC-Fog datasets. Compared to the baseline YOLOv8 model, the improved algorithm achieved mean Average Precision (mAP) improvements of 4.6% and 3.8%, respectively. After defogging pre-processing, the mAP increased by 5.3% and 4.4%, respectively. The experimental results demonstrate that the improved algorithm exhibits high practicality and effectiveness in foggy traffic scenarios.展开更多
Infrared images typically exhibit diverse backgrounds,each potentially containing noise and target-like interference elements.In complex backgrounds,infrared small targets are prone to be submerged by background noise...Infrared images typically exhibit diverse backgrounds,each potentially containing noise and target-like interference elements.In complex backgrounds,infrared small targets are prone to be submerged by background noise due to their low pixel proportion and limited available features,leading to detection failure.To address this problem,this paper proposes an Attention Shift-Invariant Cross-Evolutionary Feature Fusion Network(ASCFNet)tailored for the detection of infrared weak and small targets.The network architecture first designs a Multidimensional Lightweight Pixel-level Attention Module(MLPA),which alleviates the issue of small-target feature suppression during deep network propagation by combining channel reshaping,multi-scale parallel subnet architectures,and local cross-channel interactions.Then,a Multidimensional Shift-Invariant Recall Module(MSIR)is designed to ensure the network remains unaffected by minor input perturbations when processing infrared images,through focusing on the model’s shift invariance.Subsequently,a Cross-Evolutionary Feature Fusion structure(CEFF)is designed to allow flexible and efficient integration of multidimensional feature information from different network hierarchies,thereby achieving complementarity and enhancement among features.Experimental results on three public datasets,SIRST,NUDT-SIRST,and IRST640,demonstrate that our proposed network outperforms advanced algorithms in the field.Specifically,on the NUDT-SIRST dataset,the mAP50,mAP50-95,and metrics reached 99.26%,85.22%,and 99.31%,respectively.Visual evaluations of detection results in diverse scenarios indicate that our algorithm exhibits an increased detection rate and reduced false alarm rate.Our method balances accuracy and real-time performance,and achieves efficient and stable detection of infrared weak and small targets.展开更多
Crime scene investigation(CSI)is an important link in the criminal justice system as it serves as a bridge between establishing the happenings during an incident and possibly identifying the accountable persons,provid...Crime scene investigation(CSI)is an important link in the criminal justice system as it serves as a bridge between establishing the happenings during an incident and possibly identifying the accountable persons,providing light in the dark.The International Organization for Standardization(ISO)and the International Electrotechnical Commission(IEC)collaborated to develop the ISO/IEC 17020:2012 standard to govern the quality of CSI,a branch of inspection activity.These protocols include the impartiality and competence of the crime scene investigators involved,contemporary recording of scene observations and data obtained,the correct use of resources during scene processing,forensic evidence collection and handling procedures,and the confidentiality and integrity of any scene information obtained from other parties etc.The preparatory work,the accreditation processes involved and the implementation of new quality measures to the existing quality management system in order to achieve the ISO/IE 17020:2012 accreditation at the Forensic Science Division of the Government Laboratory in Hong Kong are discussed in this paper.展开更多
Passive optical motion capture technology is an effective mean to conduct high-precision pose estimation of small scenes of mobile robots;nevertheless,in the case of complex background and stray light interference in ...Passive optical motion capture technology is an effective mean to conduct high-precision pose estimation of small scenes of mobile robots;nevertheless,in the case of complex background and stray light interference in the scene,due to the infuence of target adhesion and environmental reflection,this technology cannot estimate the pose accurately.A passive binocular optical motion capture technology under complex illumination based on binocular camera and fixed retroreflective marker balls has been proposed.By fixing multiple hemispherical retrorefective marker balls on a rigid base,it uses binocular camera for depth estimation to obtain the fixed position relationship between the feature points.After performing unsupervised state estimation without manual operation,it overcomes the infuence of refection spots in the background.Meanwhile,contour extraction and ellipse least square fitting are used to extract the marker balls with incomplete shape as the feature points,so as to solve the problem of target adhesion in the scene.A FANUC m10i-a robot moving with 6-DOF is used for verification using the above methods in a complex lighting environment of a welding laboratory.The result shows that the average of absolute position errors is 5.793mm,the average of absolute rotation errors is 1.997°the average of relative position errors is 0.972 mm,and the average of relative rotation errors is 0.002°.Therefore,this technology meets the requirements of high-precision measurement in a complex lighting environment when estimating the 6-DOF-motion mobile robot and has very significant application prospects in complex scenes.展开更多
“This trip to China has been an absolute steal,”exclaimed Keiko,a Japanese tourist purchasing cosmetics through Shanghai International Finance Center’s immediate tax refund service.Her experience mirrors a broader ...“This trip to China has been an absolute steal,”exclaimed Keiko,a Japanese tourist purchasing cosmetics through Shanghai International Finance Center’s immediate tax refund service.Her experience mirrors a broader trend:Visitors from overseas are flocking to China’s retail scene,lured by its growing shopping convenience.On April 26,six government agencies,including the Ministry of Commerce,jointly issued the refined departure tax refund policy,slashing the minimum refund threshold from 500 yuan(US$69)to 200 yuan(US$28),doubling the cash refund limit from 10,000 yuan(US$1,376)to 20,000 yuan(US$2,752),and encouraging shopping districts,tourist attractions and hotels to increase the number of tax refund stores.展开更多
Remote sensing plays a pivotal role in environmental monitoring,disaster relief,and urban planning,where accurate scene classification of aerial images is essential.However,conventional convolutional neural networks(C...Remote sensing plays a pivotal role in environmental monitoring,disaster relief,and urban planning,where accurate scene classification of aerial images is essential.However,conventional convolutional neural networks(CNNs)struggle with long-range dependencies and preserving high-resolution features,limiting their effectiveness in complex aerial image analysis.To address these challenges,we propose a Hybrid HRNet-Swin Transformer model that synergizes the strengths of HRNet-W48 for high-resolution segmentation and the Swin Transformer for global feature extraction.This hybrid architecture ensures robust multi-scale feature fusion,capturing fine-grained details and broader contextual relationships in aerial imagery.Our methodology begins with preprocessing steps,including normalization,histogram equalization,and noise reduction,to enhance input data quality.The HRNet-W48 backbone maintains high-resolution feature maps throughout the network,enabling precise segmentation,while the Swin Transformer leverages hierarchical self-attention to model long-range dependencies efficiently.By integrating these components,our model achieves superior performance in segmentation and classification tasks compared to traditional CNNs and standalone transformer models.We evaluate our approach on two benchmark datasets:UC Merced and WHU-RS19.Experimental results demonstrate that the proposed hybrid model outperforms existing methods,achieving state-of-the-art accuracy while maintaining computational efficiency.Specifically,it excels in preserving fine spatial details and contextual understanding,critical for applications like land-use classification and disaster assessment.展开更多
Remote sensing scene image classification is a prominent research area within remote sensing.Deep learningbased methods have been extensively utilized and have shown significant advancements in this field.Recent progr...Remote sensing scene image classification is a prominent research area within remote sensing.Deep learningbased methods have been extensively utilized and have shown significant advancements in this field.Recent progress in these methods primarily focuses on enhancing feature representation capabilities to improve performance.The challenge lies in the limited spatial resolution of small-sized remote sensing images,as well as image blurring and sparse data.These factors contribute to lower accuracy in current deep learning models.Additionally,deeper networks with attention-based modules require a substantial number of network parameters,leading to high computational costs and memory usage.In this article,we introduce ERSNet,a lightweight novel attention-guided network for remote sensing scene image classification.ERSNet is constructed using a deep separable convolutional network and incorporates an attention mechanism.It utilizes spatial attention,channel attention,and channel self-attention to enhance feature representation and accuracy,while also reducing computational complexity and memory usage.Experimental results indicate that,compared to existing state-of-the-art methods,ERSNet has a significantly lower parameter count of only 1.2 M and reduced Flops.It achieves the highest classification accuracy of 99.14%on the EuroSAT dataset,demonstrating its suitability for application on mobile terminal devices.Furthermore,experimental results from the UCMerced land use dataset and the Brazilian coffee scene also confirm the strong generalization ability of this method.展开更多
Recognizing road scene context from a single image remains a critical challenge for intelligent autonomous driving systems,particularly in dynamic and unstructured environments.While recent advancements in deep learni...Recognizing road scene context from a single image remains a critical challenge for intelligent autonomous driving systems,particularly in dynamic and unstructured environments.While recent advancements in deep learning have significantly enhanced road scene classification,simultaneously achieving high accuracy,computational efficiency,and adaptability across diverse conditions continues to be difficult.To address these challenges,this study proposes HybridLSTM,a novel and efficient framework that integrates deep learning-based,object-based,and handcrafted feature extraction methods within a unified architecture.HybridLSTM is designed to classify four distinct road scene categories—crosswalk(CW),highway(HW),overpass/tunnel(OP/T),and parking(P)—by leveraging multiple publicly available datasets,including Places-365,BDD100K,LabelMe,and KITTI,thereby promoting domain generalization.The framework fuses object-level features extracted using YOLOv5 and VGG19,scene-level global representations obtained from a modified VGG19,and fine-grained texture features captured through eight handcrafted descriptors.This hybrid feature fusion enables the model to capture both semantic context and low-level visual cues,which are critical for robust scene understanding.To model spatial arrangements and latent sequential dependencies present even in static imagery,the combined features are processed through a Long Short-Term Memory(LSTM)network,allowing the extraction of discriminative patterns across heterogeneous feature spaces.Extensive experiments conducted on 2725 annotated road scene images,with an 80:20 training-to-testing split,validate the effectiveness of the proposed model.HybridLSTM achieves a classification accuracy of 96.3%,a precision of 95.8%,a recall of 96.1%,and an F1-score of 96.0%,outperforming several existing state-of-the-art methods.These results demonstrate the robustness,scalability,and generalization capability of HybridLSTM across varying environments and scene complexities.Moreover,the framework is optimized to balance classification performance with computational efficiency,making it highly suitable for real-time deployment in embedded autonomous driving systems.Future work will focus on extending the model to multi-class detection within a single frame and optimizing it further for edge-device deployments to reduce computational overhead in practical applications.展开更多
基金the National Natural Science Foundation of China(No.62063006)to the Guangxi Natural Science Foundation under Grant(Nos.2023GXNSFAA026025,AA24010001)+3 种基金to the Innovation Fund of Chinese Universities Industry-University-Research(ID:2023RY018)to the Special Guangxi Industry and Information Technology Department,Textile and Pharmaceutical Division(ID:2021 No.231)to the Special Research Project of Hechi University(ID:2021GCC028)to the Key Laboratory of AI and Information Processing,Education Department of Guangxi Zhuang Autonomous Region(Hechi University),No.2024GXZDSY009。
文摘In dynamic scenarios,visual simultaneous localization and mapping(SLAM)algorithms often incorrectly incorporate dynamic points during camera pose computation,leading to reduced accuracy and robustness.This paper presents a dynamic SLAM algorithm that leverages object detection and regional dynamic probability.Firstly,a parallel thread employs the YOLOX object detectionmodel to gather 2D semantic information and compensate for missed detections.Next,an improved K-means++clustering algorithm clusters bounding box regions,adaptively determining the threshold for extracting dynamic object contours as dynamic points change.This process divides the image into low dynamic,suspicious dynamic,and high dynamic regions.In the tracking thread,the dynamic point removal module assigns dynamic probability weights to the feature points in these regions.Combined with geometric methods,it detects and removes the dynamic points.The final evaluation on the public TUM RGB-D dataset shows that the proposed dynamic SLAM algorithm surpasses most existing SLAM algorithms,providing better pose estimation accuracy and robustness in dynamic environments.
基金funded by the Yangtze River Delta Science and Technology Innovation Community Joint Research Project(2023CSJGG1600)the Natural Science Foundation of Anhui Province(2208085MF173)Wuhu“ChiZhu Light”Major Science and Technology Project(2023ZD01,2023ZD03).
文摘In the dynamic scene of autonomous vehicles,the depth estimation of monocular cameras often faces the problem of inaccurate edge depth estimation.To solve this problem,we propose an unsupervised monocular depth estimation model based on edge enhancement,which is specifically aimed at the depth perception challenge in dynamic scenes.The model consists of two core networks:a deep prediction network and a motion estimation network,both of which adopt an encoder-decoder architecture.The depth prediction network is based on the U-Net structure of ResNet18,which is responsible for generating the depth map of the scene.The motion estimation network is based on the U-Net structure of Flow-Net,focusing on the motion estimation of dynamic targets.In the decoding stage of the motion estimation network,we innovatively introduce an edge-enhanced decoder,which integrates a convolutional block attention module(CBAM)in the decoding process to enhance the recognition ability of the edge features of moving objects.In addition,we also designed a strip convolution module to improve the model’s capture efficiency of discrete moving targets.To further improve the performance of the model,we propose a novel edge regularization method based on the Laplace operator,which effectively accelerates the convergence process of themodel.Experimental results on the KITTI and Cityscapes datasets show that compared with the current advanced dynamic unsupervised monocular model,the proposed model has a significant improvement in depth estimation accuracy and convergence speed.Specifically,the rootmean square error(RMSE)is reduced by 4.8%compared with the DepthMotion algorithm,while the training convergence speed is increased by 36%,which shows the superior performance of the model in the depth estimation task in dynamic scenes.
基金co-supported by the Science and Technology Innovation Program of Hunan Province,China(No.2023RC3023)the National Natural Science Foundation of China(No.12272404)。
文摘The autonomous landing guidance of fixed-wing aircraft in unknown structured scenes presents a substantial technological challenge,particularly regarding the effectiveness of solutions for monocular visual relative pose estimation.This study proposes a novel airborne monocular visual estimation method based on structured scene features to address this challenge.First,a multitask neural network model is established for segmentation,depth estimation,and slope estimation on monocular images.And a monocular image comprehensive three-dimensional information metric is designed,encompassing length,span,flatness,and slope information.Subsequently,structured edge features are leveraged to filter candidate landing regions adaptively.By leveraging the three-dimensional information metric,the optimal landing region is accurately and efficiently identified.Finally,sparse two-dimensional key point is used to parameterize the optimal landing region for the first time and a high-precision relative pose estimation is achieved.Additional measurement information is introduced to provide the autonomous landing guidance information between the aircraft and the optimal landing region.Experimental results obtained from both synthetic and real data demonstrate the effectiveness of the proposed method in monocular pose estimation for autonomous aircraft landing guidance in unknown structured scenes.
基金support by the National Natural Science Foundation of China (Grant No. 62005049)Natural Science Foundation of Fujian Province (Grant Nos. 2020J01451, 2022J05113)Education and Scientific Research Program for Young and Middleaged Teachers in Fujian Province (Grant No. JAT210035)。
文摘Camouflaged people are extremely expert in actively concealing themselves by effectively utilizing cover and the surrounding environment. Despite advancements in optical detection capabilities through imaging systems, including spectral, polarization, and infrared technologies, there is still a lack of effective real-time method for accurately detecting small-size and high-efficient camouflaged people in complex real-world scenes. Here, this study proposes a snapshot multispectral image-based camouflaged detection model, multispectral YOLO(MS-YOLO), which utilizes the SPD-Conv and Sim AM modules to effectively represent targets and suppress background interference by exploiting the spatial-spectral target information. Besides, the study constructs the first real-shot multispectral camouflaged people dataset(MSCPD), which encompasses diverse scenes, target scales, and attitudes. To minimize information redundancy, MS-YOLO selects an optimal subset of 12 bands with strong feature representation and minimal inter-band correlation as input. Through experiments on the MSCPD, MS-YOLO achieves a mean Average Precision of 94.31% and real-time detection at 65 frames per second, which confirms the effectiveness and efficiency of our method in detecting camouflaged people in various typical desert and forest scenes. Our approach offers valuable support to improve the perception capabilities of unmanned aerial vehicles in detecting enemy forces and rescuing personnel in battlefield.
基金supported by Guangdong Yangfan Program for Innovative and Entrepreneurial Teams(Grant No.2017YT05G026)the Natural Science Foundation of China(Grant No.51975126)+1 种基金the Key Research and Development Program of Guangdong Province(Grant No.2019B090915001)the Natural Science Foundation of Guangdong Province(Grant No.2022A1515012605).
文摘The interferences,such as the background,eyebrows,eyelashes,eyeglass frames,illumination variations,and specular lens reflection pose challenges for pupil localization in natural scenes.In this paper,we propose a novel method comprising improved YOLOv8 and Illumination Adaptive Algorithm(IAA),for fast and accurate pupil localization in natural scenes.We introduced deformable convolution into the backbone of YOLOv8 to enable the model to extract the eye regions more accurately,thus avoiding the interference of background outside the eye on subsequent pupil localization.The IAA can reduce the interference of illumination variations and lens reflection by adjusting automatically the grayscale of the image according to the exposure.Experimental results verified that the improved YOLOv8 exhibited an eye detection accuracy(IOU≥0.5)of 90.2%,while the IAA leads to a 9.15%improvement on 5-pixels error ratio e5 with processing times in the tens of microseconds on GPU.Experimental results on the benchmark database CelebA show that the proposed method for pupil localization achieves an accuracy of 83.05%on e5 and achieves real-time performance of 210 FPS on GPU,outperforming other advanced methods.
文摘Automatic control technology is the basis of road robot improvement,according to the characteristics of construction equipment and functions,the research will be input type perception from positioning acquisition,real-world monitoring,the process will use RTK-GNSS positional perception technology,by projecting the left side of the earth from Gauss-Krueger projection method,and then carry out the Cartesian conversion based on the characteristics of drawing;steering control system is the core of the electric drive unmanned module,on the basis of the analysis of the composition of the steering system of unmanned engineering vehicles,the steering system key components such as direction,torque sensor,drive motor and other models are established,the joint simulation model of unmanned engineering vehicles is established,the steering controller is designed using the PID method,the simulation results show that the control method can meet the construction path demand for automatic steering.The path planning will first formulate the construction area with preset values and realize the steering angle correction during driving by PID algorithm,and never realize the construction-based path planning,and the results show that the method can control the straight path within the error of 10 cm and the curve error within 20 cm.With the collaboration of various modules,the automatic construction simulation results of this robot show that the design path and control method is effective.
基金funded by the Natural Science Foundation of the Jiangsu Higher Education Institutions of China(grant number 22KJD440001)Changzhou Science&Technology Program(grant number CJ20220232).
文摘The Internet of Vehicles (IoV) has become an important direction in the field of intelligent transportation, in which vehicle positioning is a crucial part. SLAM (Simultaneous Localization and Mapping) technology plays a crucial role in vehicle localization and navigation. Traditional Simultaneous Localization and Mapping (SLAM) systems are designed for use in static environments, and they can result in poor performance in terms of accuracy and robustness when used in dynamic environments where objects are in constant movement. To address this issue, a new real-time visual SLAM system called MG-SLAM has been developed. Based on ORB-SLAM2, MG-SLAM incorporates a dynamic target detection process that enables the detection of both known and unknown moving objects. In this process, a separate semantic segmentation thread is required to segment dynamic target instances, and the Mask R-CNN algorithm is applied on the Graphics Processing Unit (GPU) to accelerate segmentation. To reduce computational cost, only key frames are segmented to identify known dynamic objects. Additionally, a multi-view geometry method is adopted to detect unknown moving objects. The results demonstrate that MG-SLAM achieves higher precision, with an improvement from 0.2730 m to 0.0135 m in precision. Moreover, the processing time required by MG-SLAM is significantly reduced compared to other dynamic scene SLAM algorithms, which illustrates its efficacy in locating objects in dynamic scenes.
文摘A two-stage algorithm based on deep learning for the detection and recognition of can bottom spray codes and numbers is proposed to address the problems of small character areas and fast production line speeds in can bottom spray code number recognition.In the coding number detection stage,Differentiable Binarization Network is used as the backbone network,combined with the Attention and Dilation Convolutions Path Aggregation Network feature fusion structure to enhance the model detection effect.In terms of text recognition,using the Scene Visual Text Recognition coding number recognition network for end-to-end training can alleviate the problem of coding recognition errors caused by image color distortion due to variations in lighting and background noise.In addition,model pruning and quantization are used to reduce the number ofmodel parameters to meet deployment requirements in resource-constrained environments.A comparative experiment was conducted using the dataset of tank bottom spray code numbers collected on-site,and a transfer experiment was conducted using the dataset of packaging box production date.The experimental results show that the algorithm proposed in this study can effectively locate the coding of cans at different positions on the roller conveyor,and can accurately identify the coding numbers at high production line speeds.The Hmean value of the coding number detection is 97.32%,and the accuracy of the coding number recognition is 98.21%.This verifies that the algorithm proposed in this paper has high accuracy in coding number detection and recognition.
基金The National Social Science Foundation of China (No.CBA080236)the Graduate Innovation Project of Jiangsu Province (No.CX08B-016R)
文摘As eye tracking can be used to record moment-to-moment changes of eye movements as people inspect pictures of natural scenes and comprehend information, this paper attempts to use eye-movement technology to investigate how the order of presentation and the characteristics of information affect the semantic mismatch effect in the picture-sentence paradigm. A 3（syntax）×2（semantic relation） factorial design is adopted, with syntax and semantic relations as within-participant variables. The experiment finds that the semantic mismatch is most likely to increase cognitive loads as people have to spend more time, including first-pass time, regression path duration, and total fixation duration. Double negation does not significantly increase the processing difficulty of pictures and information. Experimental results show that people can extract the special syntactic strategy from long-term memory to process pictures and sentences with different semantic relations. It enables readers to comprehend double negation as affirmation. These results demonstrate that the constituent comparison model may not be a general model regarding other languages.
文摘As NPC performances surge in popularity,destinations are recruiting actors and building story-driven scenes to reinvent traditional tourism Eight days,seven cities-a whirlwind tour that defined actor Zheng Guolin’s work schedule during the National Day holiday a month ago.From 1 to 8 October,he maintained a relentless pace,not just logging miles but also switching between roles.
文摘ertain obscure nooks tucked away inAfrica's savannas,under thevast skies of the Serengeti,or perched highin theAmazon canopy host raw,untamed,and feeting scenes that might never be witnessed by human eyes if not for wildlife photographers such as Xiao Ge Xiao considers such places his canvas,playground,and passion.
文摘With the upgrading of tourism consumption patterns,the traditional renovation models of waterfront recreational spaces centered on landscape design can no longer meet the commercial and humanistic demands of modern cultural and tourism development.Based on scene theory as the analytical framework and taking the Xuan en Night Banquet Project in Enshi as a case study,this paper explores the design pathway for transforming waterfront areas in tourism cities from"spatial reconstruction"to"scene construction".The study argues that waterfront space renewal should transcend mere physical renovation.By implementing three core strategies:spatial narrative framework,ecological industry creation,and cultural empowerment,it is possible to construct integrated scenarios that blend cultural value,consumption spaces,and lifestyle elements.This approach ultimately fosters sustained vitality in waterfront areas and promotes the high-quality development of cultural and tourism industry.
基金supported by the National Natural Science Foundation of China(Grant Nos.62101275 and 62101274).
文摘In foggy traffic scenarios, existing object detection algorithms face challenges such as low detection accuracy, poor robustness, occlusion, missed detections, and false detections. To address this issue, a multi-scale object detection algorithm based on an improved YOLOv8 has been proposed. Firstly, a lightweight attention mechanism, Triplet Attention, is introduced to enhance the algorithm’s ability to extract multi-dimensional and multi-scale features, thereby improving the receptive capability of the feature maps. Secondly, the Diverse Branch Block (DBB) is integrated into the CSP Bottleneck with two Convolutions (C2F) module to strengthen the fusion of semantic information across different layers. Thirdly, a new decoupled detection head is proposed by redesigning the original network head based on the Diverse Branch Block module to improve detection accuracy and reduce missed and false detections. Finally, the Minimum Point Distance based Intersection-over-Union (MPDIoU) is used to replace the original YOLOv8 Complete Intersection-over-Union (CIoU) to accelerate the network’s training convergence. Comparative experiments and dehazing pre-processing tests were conducted on the RTTS and VOC-Fog datasets. Compared to the baseline YOLOv8 model, the improved algorithm achieved mean Average Precision (mAP) improvements of 4.6% and 3.8%, respectively. After defogging pre-processing, the mAP increased by 5.3% and 4.4%, respectively. The experimental results demonstrate that the improved algorithm exhibits high practicality and effectiveness in foggy traffic scenarios.
基金supported in part by the National Natural Science Foundation of China under Grant 62271302the Shanghai Municipal Natural Science Foundation under Grant 20ZR1423500.
文摘Infrared images typically exhibit diverse backgrounds,each potentially containing noise and target-like interference elements.In complex backgrounds,infrared small targets are prone to be submerged by background noise due to their low pixel proportion and limited available features,leading to detection failure.To address this problem,this paper proposes an Attention Shift-Invariant Cross-Evolutionary Feature Fusion Network(ASCFNet)tailored for the detection of infrared weak and small targets.The network architecture first designs a Multidimensional Lightweight Pixel-level Attention Module(MLPA),which alleviates the issue of small-target feature suppression during deep network propagation by combining channel reshaping,multi-scale parallel subnet architectures,and local cross-channel interactions.Then,a Multidimensional Shift-Invariant Recall Module(MSIR)is designed to ensure the network remains unaffected by minor input perturbations when processing infrared images,through focusing on the model’s shift invariance.Subsequently,a Cross-Evolutionary Feature Fusion structure(CEFF)is designed to allow flexible and efficient integration of multidimensional feature information from different network hierarchies,thereby achieving complementarity and enhancement among features.Experimental results on three public datasets,SIRST,NUDT-SIRST,and IRST640,demonstrate that our proposed network outperforms advanced algorithms in the field.Specifically,on the NUDT-SIRST dataset,the mAP50,mAP50-95,and metrics reached 99.26%,85.22%,and 99.31%,respectively.Visual evaluations of detection results in diverse scenarios indicate that our algorithm exhibits an increased detection rate and reduced false alarm rate.Our method balances accuracy and real-time performance,and achieves efficient and stable detection of infrared weak and small targets.
文摘Crime scene investigation(CSI)is an important link in the criminal justice system as it serves as a bridge between establishing the happenings during an incident and possibly identifying the accountable persons,providing light in the dark.The International Organization for Standardization(ISO)and the International Electrotechnical Commission(IEC)collaborated to develop the ISO/IEC 17020:2012 standard to govern the quality of CSI,a branch of inspection activity.These protocols include the impartiality and competence of the crime scene investigators involved,contemporary recording of scene observations and data obtained,the correct use of resources during scene processing,forensic evidence collection and handling procedures,and the confidentiality and integrity of any scene information obtained from other parties etc.The preparatory work,the accreditation processes involved and the implementation of new quality measures to the existing quality management system in order to achieve the ISO/IE 17020:2012 accreditation at the Forensic Science Division of the Government Laboratory in Hong Kong are discussed in this paper.
基金the National Key Research and Development Program of China(No.2018YFB1305005)。
文摘Passive optical motion capture technology is an effective mean to conduct high-precision pose estimation of small scenes of mobile robots;nevertheless,in the case of complex background and stray light interference in the scene,due to the infuence of target adhesion and environmental reflection,this technology cannot estimate the pose accurately.A passive binocular optical motion capture technology under complex illumination based on binocular camera and fixed retroreflective marker balls has been proposed.By fixing multiple hemispherical retrorefective marker balls on a rigid base,it uses binocular camera for depth estimation to obtain the fixed position relationship between the feature points.After performing unsupervised state estimation without manual operation,it overcomes the infuence of refection spots in the background.Meanwhile,contour extraction and ellipse least square fitting are used to extract the marker balls with incomplete shape as the feature points,so as to solve the problem of target adhesion in the scene.A FANUC m10i-a robot moving with 6-DOF is used for verification using the above methods in a complex lighting environment of a welding laboratory.The result shows that the average of absolute position errors is 5.793mm,the average of absolute rotation errors is 1.997°the average of relative position errors is 0.972 mm,and the average of relative rotation errors is 0.002°.Therefore,this technology meets the requirements of high-precision measurement in a complex lighting environment when estimating the 6-DOF-motion mobile robot and has very significant application prospects in complex scenes.
文摘“This trip to China has been an absolute steal,”exclaimed Keiko,a Japanese tourist purchasing cosmetics through Shanghai International Finance Center’s immediate tax refund service.Her experience mirrors a broader trend:Visitors from overseas are flocking to China’s retail scene,lured by its growing shopping convenience.On April 26,six government agencies,including the Ministry of Commerce,jointly issued the refined departure tax refund policy,slashing the minimum refund threshold from 500 yuan(US$69)to 200 yuan(US$28),doubling the cash refund limit from 10,000 yuan(US$1,376)to 20,000 yuan(US$2,752),and encouraging shopping districts,tourist attractions and hotels to increase the number of tax refund stores.
基金supported by the ITP(Institute of Information&Communications Technology Planning&Evaluation)-ICAN(ICT Challenge and Advanced Network of HRD)(ITP-2025-RS-2022-00156326,33)grant funded by the Korea government(Ministry of Science and ICT)the Deanship of Research and Graduate Studies at King Khalid University for funding this work through the Large Group Project under grant number(RGP2/568/45)the Deanship of Scientific Research at Northern Border University,Arar,Saudi Arabia,for funding this research work through the Project Number"NBU-FFR-2025-231-03".
文摘Remote sensing plays a pivotal role in environmental monitoring,disaster relief,and urban planning,where accurate scene classification of aerial images is essential.However,conventional convolutional neural networks(CNNs)struggle with long-range dependencies and preserving high-resolution features,limiting their effectiveness in complex aerial image analysis.To address these challenges,we propose a Hybrid HRNet-Swin Transformer model that synergizes the strengths of HRNet-W48 for high-resolution segmentation and the Swin Transformer for global feature extraction.This hybrid architecture ensures robust multi-scale feature fusion,capturing fine-grained details and broader contextual relationships in aerial imagery.Our methodology begins with preprocessing steps,including normalization,histogram equalization,and noise reduction,to enhance input data quality.The HRNet-W48 backbone maintains high-resolution feature maps throughout the network,enabling precise segmentation,while the Swin Transformer leverages hierarchical self-attention to model long-range dependencies efficiently.By integrating these components,our model achieves superior performance in segmentation and classification tasks compared to traditional CNNs and standalone transformer models.We evaluate our approach on two benchmark datasets:UC Merced and WHU-RS19.Experimental results demonstrate that the proposed hybrid model outperforms existing methods,achieving state-of-the-art accuracy while maintaining computational efficiency.Specifically,it excels in preserving fine spatial details and contextual understanding,critical for applications like land-use classification and disaster assessment.
文摘Remote sensing scene image classification is a prominent research area within remote sensing.Deep learningbased methods have been extensively utilized and have shown significant advancements in this field.Recent progress in these methods primarily focuses on enhancing feature representation capabilities to improve performance.The challenge lies in the limited spatial resolution of small-sized remote sensing images,as well as image blurring and sparse data.These factors contribute to lower accuracy in current deep learning models.Additionally,deeper networks with attention-based modules require a substantial number of network parameters,leading to high computational costs and memory usage.In this article,we introduce ERSNet,a lightweight novel attention-guided network for remote sensing scene image classification.ERSNet is constructed using a deep separable convolutional network and incorporates an attention mechanism.It utilizes spatial attention,channel attention,and channel self-attention to enhance feature representation and accuracy,while also reducing computational complexity and memory usage.Experimental results indicate that,compared to existing state-of-the-art methods,ERSNet has a significantly lower parameter count of only 1.2 M and reduced Flops.It achieves the highest classification accuracy of 99.14%on the EuroSAT dataset,demonstrating its suitability for application on mobile terminal devices.Furthermore,experimental results from the UCMerced land use dataset and the Brazilian coffee scene also confirm the strong generalization ability of this method.
文摘Recognizing road scene context from a single image remains a critical challenge for intelligent autonomous driving systems,particularly in dynamic and unstructured environments.While recent advancements in deep learning have significantly enhanced road scene classification,simultaneously achieving high accuracy,computational efficiency,and adaptability across diverse conditions continues to be difficult.To address these challenges,this study proposes HybridLSTM,a novel and efficient framework that integrates deep learning-based,object-based,and handcrafted feature extraction methods within a unified architecture.HybridLSTM is designed to classify four distinct road scene categories—crosswalk(CW),highway(HW),overpass/tunnel(OP/T),and parking(P)—by leveraging multiple publicly available datasets,including Places-365,BDD100K,LabelMe,and KITTI,thereby promoting domain generalization.The framework fuses object-level features extracted using YOLOv5 and VGG19,scene-level global representations obtained from a modified VGG19,and fine-grained texture features captured through eight handcrafted descriptors.This hybrid feature fusion enables the model to capture both semantic context and low-level visual cues,which are critical for robust scene understanding.To model spatial arrangements and latent sequential dependencies present even in static imagery,the combined features are processed through a Long Short-Term Memory(LSTM)network,allowing the extraction of discriminative patterns across heterogeneous feature spaces.Extensive experiments conducted on 2725 annotated road scene images,with an 80:20 training-to-testing split,validate the effectiveness of the proposed model.HybridLSTM achieves a classification accuracy of 96.3%,a precision of 95.8%,a recall of 96.1%,and an F1-score of 96.0%,outperforming several existing state-of-the-art methods.These results demonstrate the robustness,scalability,and generalization capability of HybridLSTM across varying environments and scene complexities.Moreover,the framework is optimized to balance classification performance with computational efficiency,making it highly suitable for real-time deployment in embedded autonomous driving systems.Future work will focus on extending the model to multi-class detection within a single frame and optimizing it further for edge-device deployments to reduce computational overhead in practical applications.
