In recent years, there have been a lot of interests in incorporating semantics into simultaneous localization and mapping （SLAM） systems. This paper presents an approach to generate an outdoor large-scale 3D dense s...In recent years, there have been a lot of interests in incorporating semantics into simultaneous localization and mapping （SLAM） systems. This paper presents an approach to generate an outdoor large-scale 3D dense semantic map based on binocular stereo vision. The inputs to system are stereo color images from a moving vehicle. First, dense 3D space around the vehicle is constructed, and tile motion of camera is estimated by visual odometry. Meanwhile, semantic segmentation is performed through the deep learning technology online, and the semantic labels are also used to verify tim feature matching in visual odometry. These three processes calculate the motion, depth and semantic label of every pixel in the input views. Then, a voxel conditional random field （CRF） inference is introduced to fuse semantic labels to voxel. After that, we present a method to remove the moving objects by incorporating the semantic labels, which improves the motion segmentation accuracy. The last is to generate tile dense 3D semantic map of an urban environment from arbitrary long image sequence. We evaluate our approach on KITTI vision benchmark, and the results show that the proposed method is effective.展开更多
目的探讨间歇性外斜视术后儿童立体视觉功能重建的特征,并探讨影响其恢复的关键因素,为临床改善手术效果和促进视觉功能康复提供理论依据。方法回顾性分析2022年6月至2024年6月许昌市中心医院87例行间歇性外斜视术后正位儿童临床资料,...目的探讨间歇性外斜视术后儿童立体视觉功能重建的特征,并探讨影响其恢复的关键因素,为临床改善手术效果和促进视觉功能康复提供理论依据。方法回顾性分析2022年6月至2024年6月许昌市中心医院87例行间歇性外斜视术后正位儿童临床资料,所有患者采用同视机及立体视觉检测。依据术后12个月立体视锐度将其分为100弧秒(second of arc,")~800"组(n=56)及>800"组(n=31),对比两组一般资料,比较两组术前及术后12个月视觉功能重建情况;采用多元logistic回归分析术后立体视锐度的影响因素。结果术后患者融合视及立体视比例显著高于术前(P<0.001)。单因素结果显示,性别及年龄与患者术后立体视锐度无关(P>0.05);发病年龄、发病到治疗间隔时间、初诊斜视度、初诊时两眼视力差、术后眼位稳定时间及是否屈光参差是患者术后立体视锐度的影响因素(P<0.05)。多因素logistic回归结果显示,发病年龄0~3岁及4~8岁、屈光参差是患者立体视锐度>800"的独立危险因素(P<0.05);发病到治疗间隔时间0~1年、初诊斜视度15~20个棱镜度、初诊时两眼视力差≤2行、术后眼位稳定时间<3个月及3~5个月是患者立体视锐度>800"的独立保护因素(P<0.05)。结论间歇性外斜视手术可有效改善儿童双眼视觉功能的重建效果,术后立体视锐度改善受到多种因素影响。展开更多
基金supported by National Natural Science Foundation of China(Nos.NSFC 61473042 and 61105092)Beijing Higher Education Young Elite Teacher Project(No.YETP1215)
文摘In recent years, there have been a lot of interests in incorporating semantics into simultaneous localization and mapping （SLAM） systems. This paper presents an approach to generate an outdoor large-scale 3D dense semantic map based on binocular stereo vision. The inputs to system are stereo color images from a moving vehicle. First, dense 3D space around the vehicle is constructed, and tile motion of camera is estimated by visual odometry. Meanwhile, semantic segmentation is performed through the deep learning technology online, and the semantic labels are also used to verify tim feature matching in visual odometry. These three processes calculate the motion, depth and semantic label of every pixel in the input views. Then, a voxel conditional random field （CRF） inference is introduced to fuse semantic labels to voxel. After that, we present a method to remove the moving objects by incorporating the semantic labels, which improves the motion segmentation accuracy. The last is to generate tile dense 3D semantic map of an urban environment from arbitrary long image sequence. We evaluate our approach on KITTI vision benchmark, and the results show that the proposed method is effective.
文摘目的探讨间歇性外斜视术后儿童立体视觉功能重建的特征,并探讨影响其恢复的关键因素,为临床改善手术效果和促进视觉功能康复提供理论依据。方法回顾性分析2022年6月至2024年6月许昌市中心医院87例行间歇性外斜视术后正位儿童临床资料,所有患者采用同视机及立体视觉检测。依据术后12个月立体视锐度将其分为100弧秒(second of arc,")~800"组(n=56)及>800"组(n=31),对比两组一般资料,比较两组术前及术后12个月视觉功能重建情况;采用多元logistic回归分析术后立体视锐度的影响因素。结果术后患者融合视及立体视比例显著高于术前(P<0.001)。单因素结果显示,性别及年龄与患者术后立体视锐度无关(P>0.05);发病年龄、发病到治疗间隔时间、初诊斜视度、初诊时两眼视力差、术后眼位稳定时间及是否屈光参差是患者术后立体视锐度的影响因素(P<0.05)。多因素logistic回归结果显示,发病年龄0~3岁及4~8岁、屈光参差是患者立体视锐度>800"的独立危险因素(P<0.05);发病到治疗间隔时间0~1年、初诊斜视度15~20个棱镜度、初诊时两眼视力差≤2行、术后眼位稳定时间<3个月及3~5个月是患者立体视锐度>800"的独立保护因素(P<0.05)。结论间歇性外斜视手术可有效改善儿童双眼视觉功能的重建效果,术后立体视锐度改善受到多种因素影响。
