This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor drift.First,a monitoring algorithm...This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor drift.First,a monitoring algorithm that can continuously detect the miscalibration in each frame is designed,leveraging the rotational motion each individual sensor observes.Then,as sensor drift occurs,the projection constraints between visual feature points and LiDAR 3-D points are used to compute the scaled camera motion,which is further utilized to align the drifted LiDAR scan with the camera image.Finally,the proposed method is sufficiently compared with two representative approaches in the online experiments with varying levels of random drift,then the method is further extended to the offline calibration experiment and is demonstrated by a comparison with two existing benchmark methods.展开更多
Aiming at the limitations of the existing railway foreign object detection methods based on two-dimensional(2D)images,such as short detection distance,strong influence of environment and lack of distance information,w...Aiming at the limitations of the existing railway foreign object detection methods based on two-dimensional(2D)images,such as short detection distance,strong influence of environment and lack of distance information,we propose Rail-PillarNet,a three-dimensional(3D)LIDAR(Light Detection and Ranging)railway foreign object detection method based on the improvement of PointPillars.Firstly,the parallel attention pillar encoder(PAPE)is designed to fully extract the features of the pillars and alleviate the problem of local fine-grained information loss in PointPillars pillars encoder.Secondly,a fine backbone network is designed to improve the feature extraction capability of the network by combining the coding characteristics of LIDAR point cloud feature and residual structure.Finally,the initial weight parameters of the model were optimised by the transfer learning training method to further improve accuracy.The experimental results on the OSDaR23 dataset show that the average accuracy of Rail-PillarNet reaches 58.51%,which is higher than most mainstream models,and the number of parameters is 5.49 M.Compared with PointPillars,the accuracy of each target is improved by 10.94%,3.53%,16.96%and 19.90%,respectively,and the number of parameters only increases by 0.64M,which achieves a balance between the number of parameters and accuracy.展开更多
Objective This study aimed to compare the performance of standard-definition white-light endoscopy(SD-WL),high-definition white-light endoscopy(HD-WL),and high-definition narrow-band imaging(HD-NBI)in detecting colore...Objective This study aimed to compare the performance of standard-definition white-light endoscopy(SD-WL),high-definition white-light endoscopy(HD-WL),and high-definition narrow-band imaging(HD-NBI)in detecting colorectal lesions in the Chinese population.Methods This was a multicenter,single-blind,randomized,controlled trial with a non-inferiority design.Patients undergoing endoscopy for physical examination,screening,and surveillance were enrolled from July 2017 to December 2020.The primary outcome measure was the adenoma detection rate(ADR),defined as the proportion of patients with at least one adenoma detected.The associated factors for detecting adenomas were assessed using univariate and multivariate logistic regression.Results Out of 653 eligible patients enrolled,data from 596 patients were analyzed.The ADRs were 34.5%in the SD-WL group,33.5%in the HD-WL group,and 37.5%in the HD-NBI group(P=0.72).The advanced neoplasm detection rates(ANDRs)in the three arms were 17.1%,15.5%,and 10.4%(P=0.17).No significant differences were found between the SD group and HD group regarding ADR or ANDR(ADR:34.5%vs.35.6%,P=0.79;ANDR:17.1%vs.13.0%,P=0.16,respectively).Similar results were observed between the HD-WL group and HD-NBI group(ADR:33.5%vs.37.7%,P=0.45;ANDR:15.5%vs.10.4%,P=0.18,respectively).In the univariate and multivariate logistic regression analyses,neither HD-WL nor HD-NBI led to a significant difference in overall adenoma detection compared to SD-WL(HD-WL:OR 0.91,P=0.69;HD-NBI:OR 1.15,P=0.80).Conclusion HD-NBI and HD-WL are comparable to SD-WL for overall adenoma detection among Chinese outpatients.It can be concluded that HD-NBI or HD-WL is not superior to SD-WL,but more effective instruction may be needed to guide the selection of different endoscopic methods in the future.Our study’s conclusions may aid in the efficient allocation and utilization of limited colonoscopy resources,especially advanced imaging technologies.展开更多
针对现有基于伪点云的3D目标检测算法精度远低于基于真实激光雷达(Light Detection and ranging,LiDar)点云的3D目标检测,本文研究伪点云重构,并提出适合伪点云的3D目标检测网络.考虑到由图像深度转换得到的伪点云稠密且随深度增大逐渐...针对现有基于伪点云的3D目标检测算法精度远低于基于真实激光雷达(Light Detection and ranging,LiDar)点云的3D目标检测,本文研究伪点云重构,并提出适合伪点云的3D目标检测网络.考虑到由图像深度转换得到的伪点云稠密且随深度增大逐渐稀疏,本文提出深度相关伪点云稀疏化方法,在减少后续计算量的同时保留中远距离更多的有效伪点云,实现伪点云重构.本文提出LiDar点云指导下特征分布趋同与语义关联的3D目标检测网络,在网络训练时引入LiDar点云分支来指导伪点云目标特征的生成,使生成的伪点云特征分布趋同于LiDar点云特征分布,从而降低数据源不一致造成的检测性能损失;针对RPN(Region Proposal Network)网络获取的3D候选框内的伪点云间语义关联不足的问题,设计注意力感知模块,在伪点云特征表示中通过注意力机制嵌入点间的语义关联关系,提升3D目标检测精度.在KITTI 3D目标检测数据集上的实验结果表明:现有的3D目标检测网络采用重构后的伪点云,检测精度提升了2.61%;提出的特征分布趋同与语义关联的3D目标检测网络,将基于伪点云的3D目标检测精度再提升0.57%,相比其他优秀的3D目标检测方法在检测精度上也有提升.展开更多
Single-tree detection is one of the main research topics in quantifying the structural properties of forests. Drone Li DAR systems and terrestrial laser scanning systems produce high-density point clouds that offer gr...Single-tree detection is one of the main research topics in quantifying the structural properties of forests. Drone Li DAR systems and terrestrial laser scanning systems produce high-density point clouds that offer great promise for forest inventories in limited areas. However, most studies have focused on the upper canopy layer and neglected the lower forest structure. This paper describes an innovative tree detection method using drone Li DAR data from a new perspective of the under-canopy structure. This method relies on trunk point clouds, with undercanopy sections split into heights ranging from 1 to 7 m, which were processed and compared, to determine a suitable height threshold to detect trees. The method was tested in a dense cedar plantation forest in the Aichi Prefecture, Japan, which has a stem density of 1140 stems·ha^(-1) and an average tree age of 42 years. Dense point cloud data were generated from the drone Li DAR system and terrestrial laser scanning with an average point density of 5000 and 6500 points·m^(-2), respectively. Tree detection was achieved by drawing point-cloud section projections of tree trunks at different heights and calculating the center coordinates. The results show that this trunk-section-based method significantly reduces the difficulty of tree detection in dense plantation forests with high accuracy(F1-Score=0.9395). This method can be extended to different forest scenarios or conditions by changing section parameters.展开更多
BACKGROUND Improved adenoma detection at colonoscopy has decreased the risk of developing colorectal cancer.However,whether image-enhanced endoscopy(IEE)further improves the adenoma detection rate(ADR)is controversial...BACKGROUND Improved adenoma detection at colonoscopy has decreased the risk of developing colorectal cancer.However,whether image-enhanced endoscopy(IEE)further improves the adenoma detection rate(ADR)is controversial.AIM To compare IEE with white-light imaging(WLI)endoscopy for the detection and identification of colorectal adenoma.METHODS This was a multicenter,randomized,controlled trial.Participants were enrolled between September 2019 to April 2021 from 4 hospital in China.Patients were randomly assigned to an IEE group with WLI on entry and IEE on withdrawal(n=2113)or a WLI group with WLI on both entry and withdrawal(n=2098).The primary outcome was the ADR.The secondary endpoints were the polyp detection rate(PDR),adenomas per colonoscopy,adenomas per positive colonoscopy,and factors related to adenoma detection.RESULTS A total of 4211 patients(966 adenomas)were included in the analysis(mean age,56.7 years,47.1%male).There were 2113 patients(508 adenomas)in the IEE group and 2098 patients(458 adenomas)in the WLI group.The ADR in two group were not significantly different[24.0%vs 21.8%,1.10,95%confidence interval(CI):0.99-1.23,P=0.09].The PDR was higher with IEE group(41.7%)than with WLI group(36.1%,1.16,95%CI:1.07-1.25,P=0.01).Differences in mean withdrawal time(7.90±3.42 min vs 7.85±3.47 min,P=0.30)and adenomas per colonoscopy(0.33±0.68 vs 0.28±0.62,P=0.06)were not significant.Subgroup analysis found that with narrowband imaging(NBI),between-group differences in the ADR,were not significant(23.7%vs 21.8%,1.09,95%CI:0.97-1.22,P=0.15),but were greater with linked color imaging(30.9%vs 21.8%,1.42,95%CI:1.04-1.93,P=0.04).the second-generation NBI(2G-NBI)had an advantage of ADR than both WLI and the first-generation NBI(27.0%vs 21.8%,P=0.01;27.0%vs 21.2.0%,P=0.01).CONCLUSION This prospective study confirmed that,among Chinese,IEE didn’t increase the ADR compared with WLI,but 2G-NBI increase the ADR.展开更多
Despite rapid developments in visual image-based road detection, robustly identifying road areas in visual images remains challenging due to issues like illumination changes and blurry images. To this end, LiDAR senso...Despite rapid developments in visual image-based road detection, robustly identifying road areas in visual images remains challenging due to issues like illumination changes and blurry images. To this end, LiDAR sensor data can be incorporated to improve the visual image-based road detection,because LiDAR data is less susceptible to visual noises. However,the main difficulty in introducing LiDAR information into visual image-based road detection is that LiDAR data and its extracted features do not share the same space with the visual data and visual features. Such gaps in spaces may limit the benefits of LiDAR information for road detection. To overcome this issue, we introduce a novel Progressive LiDAR adaptation-aided road detection(PLARD) approach to adapt LiDAR information into visual image-based road detection and improve detection performance. In PLARD, progressive LiDAR adaptation consists of two subsequent modules: 1) data space adaptation, which transforms the LiDAR data to the visual data space to align with the perspective view by applying altitude difference-based transformation; and 2) feature space adaptation, which adapts LiDAR features to visual features through a cascaded fusion structure. Comprehensive empirical studies on the well-known KITTI road detection benchmark demonstrate that PLARD takes advantage of both the visual and LiDAR information, achieving much more robust road detection even in challenging urban scenes. In particular, PLARD outperforms other state-of-theart road detection models and is currently top of the publicly accessible benchmark leader-board.展开更多
The mobile incoherent Doppler lidar （MIDL）, which was jointly developed by State Key Laboratory of Severe Weather （LaSW） of the Chinese Academy of Meteorological Sciences （CAMS） and Ocean University of China, pr...The mobile incoherent Doppler lidar （MIDL）, which was jointly developed by State Key Laboratory of Severe Weather （LaSW） of the Chinese Academy of Meteorological Sciences （CAMS） and Ocean University of China, provided meteorological services during the Olympic sailing events in Qingdao in 2008. In this study, two experiments were performed based on these measurements. First, the capabilities of MIDL detection of sea-surface winds were investigated by comparing its radial velocities with those from a sea buoy. MIDL radial velocity was almost consistent with sea-buoy data; both reflected the changes in wind with time. However, the MIDL data was 0.5 m s-1 lower on average than the sea-buoy data due to differences in detection principle, sample volume, sample interval, spatial and temporal resolution. Second, the wind fields during the Olympic sailing events were calculated using a four-dimensional variation data assimilation （4DVAR） algorithm and were evaluated by comparing them with data from a sea buoy. The results show that the calculations made with the 4DVAR wind retrieval method are able to simulate the fine retrieval of sea-surface wind data--the retrieved wind fields were consistent with those of sea-buoy data. Overall, the correlation coefficient of wind direction was 0.93, and the correlation coefficient of wind speed was 0.70. The distribution of retrieval wind fields was consistent with that of MIDL radial velocity; the root-mean-square error between them had an average of only 1.52 m s-1^.展开更多
Radar and LiDAR are two environmental sensors commonly used in autonomous vehicles,Lidars are accurate in determining objects’positions but significantly less accurate as Radars on measuring their velocities.However,...Radar and LiDAR are two environmental sensors commonly used in autonomous vehicles,Lidars are accurate in determining objects’positions but significantly less accurate as Radars on measuring their velocities.However,Radars relative to Lidars are more accurate on measuring objects velocities but less accurate on determining their positions as they have a lower spatial resolution.In order to compensate for the low detection accuracy,incomplete target attributes and poor environmental adaptability of single sensors such as Radar and LiDAR,in this paper,an effective method for high-precision detection and tracking of surrounding targets of autonomous vehicles.By employing the Unscented Kalman Filter,Radar and LiDAR information is effectively fused to achieve high-precision detection of the position and speed information of targets around the autonomous vehicle.Finally,the real vehicle test under various driving environment scenarios is carried out.The experimental results show that the proposed sensor fusion method can effectively detect and track the vehicle peripheral targets with high accuracy.Compared with a single sensor,it has obvious advantages and can improve the intelligence level of autonomous cars.展开更多
针对现有机载LiDAR(light detection and ranging)点云滤波方法在地形起伏剧烈的林区适用性不足的问题,提出一种多分辨率层次布料模拟滤波方法。首先,通过多尺度形态学开运算选择大量种子地面点;然后,基于种子地面点,使用布料模拟法由...针对现有机载LiDAR(light detection and ranging)点云滤波方法在地形起伏剧烈的林区适用性不足的问题,提出一种多分辨率层次布料模拟滤波方法。首先,通过多尺度形态学开运算选择大量种子地面点;然后,基于种子地面点,使用布料模拟法由低至高逐层构建参考地形,以快速获取高分辨率参考地形;最后,基于点至参考地形的高差区分地面点和非地面点。利用国际摄影测量和遥感学会提供的数据集和参考方法,评估该方法性能。利用在中国、美国多个代表性林区的点云数据,评估该方法的可推广性。结果表明,该方法的Kappa系数和运行时间是83.72%和34.11 s,精度和效率较经典布料模拟滤波方法提高10.49%和52.17%。相比8种参考方法,该方法能够获得更高精度,并且具有稳定的可推广性。展开更多
Swarm robot systems are an important application of autonomous unmanned surface vehicles on water surfaces.For monitoring natural environments and conducting security activities within a certain range using a surface ...Swarm robot systems are an important application of autonomous unmanned surface vehicles on water surfaces.For monitoring natural environments and conducting security activities within a certain range using a surface vehicle,the swarm robot system is more efficient than the operation of a single object as the former can reduce cost and save time.It is necessary to detect adjacent surface obstacles robustly to operate a cluster of unmanned surface vehicles.For this purpose,a LiDAR(light detection and ranging)sensor is used as it can simultaneously obtain 3D information for all directions,relatively robustly and accurately,irrespective of the surrounding environmental conditions.Although the GPS(global-positioning-system)error range exists,obtaining measurements of the surface-vessel position can still ensure stability during platoon maneuvering.In this study,a three-layer convolutional neural network is applied to classify types of surface vehicles.The aim of this approach is to redefine the sparse 3D point cloud data as 2D image data with a connotative meaning and subsequently utilize this transformed data for object classification purposes.Hence,we have proposed a descriptor that converts the 3D point cloud data into 2D image data.To use this descriptor effectively,it is necessary to perform a clustering operation that separates the point clouds for each object.We developed voxel-based clustering for the point cloud clustering.Furthermore,using the descriptor,3D point cloud data can be converted into a 2D feature image,and the converted 2D image is provided as an input value to the network.We intend to verify the validity of the proposed 3D point cloud feature descriptor by using experimental data in the simulator.Furthermore,we explore the feasibility of real-time object classification within this framework.展开更多
For time-of-flight(TOF)light detection and ranging(LiDAR),a three-channel high-performance transimpedance amplifier(TIA)with high immunity to input load capacitance is presented.A regulated cascade(RGC)as the input st...For time-of-flight(TOF)light detection and ranging(LiDAR),a three-channel high-performance transimpedance amplifier(TIA)with high immunity to input load capacitance is presented.A regulated cascade(RGC)as the input stage is at the core of the complementary metal oxide semiconductor(CMOS)circuit chip,giving it more immunity to input photodiode detectors.A simple smart output interface acting as a feedback structure,which is rarely found in other designs,reduces the chip size and power consumption simultaneously.The circuit is designed using a 0.5μm CMOS process technology to achieve low cost.The device delivers a 33.87 dB?transimpedance gain at 350 MHz.With a higher input load capacitance,it shows a-3 dB bandwidth of 461 MHz,indicating a better detector tolerance at the front end of the system.Under a 3.3 V supply voltage,the device consumes 5.2 mW,and the total chip area with three channels is 402.8×597.0μm2(including the test pads).展开更多
Individual tree detection (ITD) and the area-based approach (ABA) are combined to generate tree-lists using airborne LiDAR data. ITD based on the Canopy Height Model (CHM) was applied for overstory trees, while ABA ba...Individual tree detection (ITD) and the area-based approach (ABA) are combined to generate tree-lists using airborne LiDAR data. ITD based on the Canopy Height Model (CHM) was applied for overstory trees, while ABA based on nearest neighbor (NN) imputation was applied for understory trees. Our approach is intended to compensate for the weakness of LiDAR data and ITD in estimating understory trees, keeping the strength of ITD in estimating overstory trees in tree-level. We investigated the effects of three parameters on the performance of our proposed approach: smoothing of CHM, resolution of CHM, and height cutoff (a specific height that classifies trees into overstory and understory). There was no single combination of those parameters that produced the best performance for estimating stems per ha, mean tree height, basal area, diameter distribution and height distribution. The trees in the lowest LiDAR height class yielded the largest relative bias and relative root mean squared error. Although ITD and ABA showed limited explanatory powers to estimate stems per hectare and basal area, there could be improvements from methods such as using LiDAR data with higher density, applying better algorithms for ITD and decreasing distortion of the structure of LiDAR data. Automating the procedure of finding optimal combinations of those parameters is essential to expedite forest management decisions across forest landscapes using remote sensing data.展开更多
This paper presents a novel laser⁃induced fluorescence(LIF)Lidar system for marine oil spilling detection.A bifurcated Y⁃type optical fiber and an optical collimating lens compose a coaxial configuration transceiver f...This paper presents a novel laser⁃induced fluorescence(LIF)Lidar system for marine oil spilling detection.A bifurcated Y⁃type optical fiber and an optical collimating lens compose a coaxial configuration transceiver for this LIF⁃Lidar system.This LIF⁃Lidar system was further applied to measure the excitation spectra from floating oil slicks with different thicknesses on top of seawater at different distances.The system presents several advantages such as compact structure,stable optical path,and convenient operation,which offers a wide application prospect in ocean exploration.展开更多
In the detection process of classic radars such as radar/lidar,the detection performance will be weakened due to the presence of background noise and loss.The quantum illumination protocol can use the spatial correlat...In the detection process of classic radars such as radar/lidar,the detection performance will be weakened due to the presence of background noise and loss.The quantum illumination protocol can use the spatial correlation between photon pairs to improve image quality and enhance radar detection performance,even in the presence of loss and noise.Based on this quantum illumination LIDAR,a theoretic scheme is developed for the detection and tracking of moving targets,and the trajectory of the object is analyzed.Illuminated by the quantum light source as Spontaneous Parametric Down-Conversion(SPDC),an opaque target can be identified from the background in the presence of strong noise.The static objects obtained by classical and quantum illumination are compared,respectively,and the advantages of quantum illumination are verified.The moving objects are taken at appropriate intervals to obtain the images of the moving objects,then the images are visualized as dynamic images,and the three-frame difference method is used to obtain the target contour.Finally,the image is performed by a series of processing on to obtain the trajectory of the target object.Several different motion situations are analyzed separately,and compared with the set object motion trajectory,which proves the effectiveness of the scheme.This scheme has potential practical application value.展开更多
机载激光雷达(LiDAR)点云电力线提取过程中存在杆塔形状复杂、噪声影响大等问题,导致电力线点云提取精度低,本文提出一种基于点云分块处理、格网划分的曲面拟合滤波、自适应密度聚类算法的电力线点云提取与重建方法。首先,根据电力线走...机载激光雷达(LiDAR)点云电力线提取过程中存在杆塔形状复杂、噪声影响大等问题,导致电力线点云提取精度低,本文提出一种基于点云分块处理、格网划分的曲面拟合滤波、自适应密度聚类算法的电力线点云提取与重建方法。首先,根据电力线走向,对整体点云进行分块处理;其次,在曲面拟合算法的基础上,引入格网划分思想,提出一种改进曲面拟合滤波算法并进行点云滤波;最后,通过给出自适应密度聚类解决方案精确提取电力线点云。借助点云库(PCL)、libLAS库与Visual Studio 2017 C++开发环境实现本文算法,基于实测点云数据对本文方法进行测试与精度评定。结果表明:电力线提取精确率为97.82%、召回率为99.76%、F1值为98.78%,一次便可实现电力线的成功提取,在保证提取精度的同时提升了提取效率,本文研究能够为电力线智能巡检提供良好的工程应用价值。展开更多
The health conditions of highway bridges is critical for sustained transportation operations.US federal government mandates that all bridges built with public funds are to be inspected visually every two years. There ...The health conditions of highway bridges is critical for sustained transportation operations.US federal government mandates that all bridges built with public funds are to be inspected visually every two years. There is a growing consensus that additional rapid and non-intrusive methods for bridge damage evaluation are needed.This paper explores the potential of applying ground-based laser scanners for bridge damage evaluation. LiDAR has the potential of providing high-density,full-field surface static imaging.Hence,it can generate volumetric quantification of concrete corrosion or steel erosion.By recording object surface topology,LiDAR can detect different damages on the bridge structure and differentiate damage types according to the surface flatness and smoothness.To determine the effectiveness of LiDAR damage detection,two damage detection algorithms are presented and compared using scans on actual bridge damages.The results demonstrate and validate LiDAR damage quantification,which can be a powerful tool for bridge condition evaluation.展开更多
基金Supported by National Natural Science Foundation of China(Grant Nos.52025121,52394263)National Key R&D Plan of China(Grant No.2023YFD2000301).
文摘This paper aims to develop an automatic miscalibration detection and correction framework to maintain accurate calibration of LiDAR and camera for autonomous vehicle after the sensor drift.First,a monitoring algorithm that can continuously detect the miscalibration in each frame is designed,leveraging the rotational motion each individual sensor observes.Then,as sensor drift occurs,the projection constraints between visual feature points and LiDAR 3-D points are used to compute the scaled camera motion,which is further utilized to align the drifted LiDAR scan with the camera image.Finally,the proposed method is sufficiently compared with two representative approaches in the online experiments with varying levels of random drift,then the method is further extended to the offline calibration experiment and is demonstrated by a comparison with two existing benchmark methods.
基金supported by a grant from the National Key Research and Development Project(2023YFB4302100)Key Research and Development Project of Jiangxi Province(No.20232ACE01011)Independent Deployment Project of Ganjiang Innovation Research Institute,Chinese Academy of Sciences(E255J001).
文摘Aiming at the limitations of the existing railway foreign object detection methods based on two-dimensional(2D)images,such as short detection distance,strong influence of environment and lack of distance information,we propose Rail-PillarNet,a three-dimensional(3D)LIDAR(Light Detection and Ranging)railway foreign object detection method based on the improvement of PointPillars.Firstly,the parallel attention pillar encoder(PAPE)is designed to fully extract the features of the pillars and alleviate the problem of local fine-grained information loss in PointPillars pillars encoder.Secondly,a fine backbone network is designed to improve the feature extraction capability of the network by combining the coding characteristics of LIDAR point cloud feature and residual structure.Finally,the initial weight parameters of the model were optimised by the transfer learning training method to further improve accuracy.The experimental results on the OSDaR23 dataset show that the average accuracy of Rail-PillarNet reaches 58.51%,which is higher than most mainstream models,and the number of parameters is 5.49 M.Compared with PointPillars,the accuracy of each target is improved by 10.94%,3.53%,16.96%and 19.90%,respectively,and the number of parameters only increases by 0.64M,which achieves a balance between the number of parameters and accuracy.
基金supported by the Beijing Municipal Science and Technology Commission(BMSTC,No.D171100002617001).
文摘Objective This study aimed to compare the performance of standard-definition white-light endoscopy(SD-WL),high-definition white-light endoscopy(HD-WL),and high-definition narrow-band imaging(HD-NBI)in detecting colorectal lesions in the Chinese population.Methods This was a multicenter,single-blind,randomized,controlled trial with a non-inferiority design.Patients undergoing endoscopy for physical examination,screening,and surveillance were enrolled from July 2017 to December 2020.The primary outcome measure was the adenoma detection rate(ADR),defined as the proportion of patients with at least one adenoma detected.The associated factors for detecting adenomas were assessed using univariate and multivariate logistic regression.Results Out of 653 eligible patients enrolled,data from 596 patients were analyzed.The ADRs were 34.5%in the SD-WL group,33.5%in the HD-WL group,and 37.5%in the HD-NBI group(P=0.72).The advanced neoplasm detection rates(ANDRs)in the three arms were 17.1%,15.5%,and 10.4%(P=0.17).No significant differences were found between the SD group and HD group regarding ADR or ANDR(ADR:34.5%vs.35.6%,P=0.79;ANDR:17.1%vs.13.0%,P=0.16,respectively).Similar results were observed between the HD-WL group and HD-NBI group(ADR:33.5%vs.37.7%,P=0.45;ANDR:15.5%vs.10.4%,P=0.18,respectively).In the univariate and multivariate logistic regression analyses,neither HD-WL nor HD-NBI led to a significant difference in overall adenoma detection compared to SD-WL(HD-WL:OR 0.91,P=0.69;HD-NBI:OR 1.15,P=0.80).Conclusion HD-NBI and HD-WL are comparable to SD-WL for overall adenoma detection among Chinese outpatients.It can be concluded that HD-NBI or HD-WL is not superior to SD-WL,but more effective instruction may be needed to guide the selection of different endoscopic methods in the future.Our study’s conclusions may aid in the efficient allocation and utilization of limited colonoscopy resources,especially advanced imaging technologies.
基金funded by KAKENHI Number 16H02556 of the Cabinet Office,Government of Japan,the Cross-ministerial Strategic Innovation Promotion Program(SIP),“Enhancement of Societal Resiliency Against Natural Disasters”Funding was provided by the Japan Science and Technology Agency(JST)as part of the Belmont ForumThis work was supported by JST SPRING,Grant Number JPMJSP2124。
文摘Single-tree detection is one of the main research topics in quantifying the structural properties of forests. Drone Li DAR systems and terrestrial laser scanning systems produce high-density point clouds that offer great promise for forest inventories in limited areas. However, most studies have focused on the upper canopy layer and neglected the lower forest structure. This paper describes an innovative tree detection method using drone Li DAR data from a new perspective of the under-canopy structure. This method relies on trunk point clouds, with undercanopy sections split into heights ranging from 1 to 7 m, which were processed and compared, to determine a suitable height threshold to detect trees. The method was tested in a dense cedar plantation forest in the Aichi Prefecture, Japan, which has a stem density of 1140 stems·ha^(-1) and an average tree age of 42 years. Dense point cloud data were generated from the drone Li DAR system and terrestrial laser scanning with an average point density of 5000 and 6500 points·m^(-2), respectively. Tree detection was achieved by drawing point-cloud section projections of tree trunks at different heights and calculating the center coordinates. The results show that this trunk-section-based method significantly reduces the difficulty of tree detection in dense plantation forests with high accuracy(F1-Score=0.9395). This method can be extended to different forest scenarios or conditions by changing section parameters.
基金Supported by the National Key R&D Program of China,No. 2018YFC1315005National Natural Science Foundation of China,No. 82002515+1 种基金Shanghai Sailing Program,No. 20YF1407200China Postdoctoral Science Foundation,No. 2020M681177
文摘BACKGROUND Improved adenoma detection at colonoscopy has decreased the risk of developing colorectal cancer.However,whether image-enhanced endoscopy(IEE)further improves the adenoma detection rate(ADR)is controversial.AIM To compare IEE with white-light imaging(WLI)endoscopy for the detection and identification of colorectal adenoma.METHODS This was a multicenter,randomized,controlled trial.Participants were enrolled between September 2019 to April 2021 from 4 hospital in China.Patients were randomly assigned to an IEE group with WLI on entry and IEE on withdrawal(n=2113)or a WLI group with WLI on both entry and withdrawal(n=2098).The primary outcome was the ADR.The secondary endpoints were the polyp detection rate(PDR),adenomas per colonoscopy,adenomas per positive colonoscopy,and factors related to adenoma detection.RESULTS A total of 4211 patients(966 adenomas)were included in the analysis(mean age,56.7 years,47.1%male).There were 2113 patients(508 adenomas)in the IEE group and 2098 patients(458 adenomas)in the WLI group.The ADR in two group were not significantly different[24.0%vs 21.8%,1.10,95%confidence interval(CI):0.99-1.23,P=0.09].The PDR was higher with IEE group(41.7%)than with WLI group(36.1%,1.16,95%CI:1.07-1.25,P=0.01).Differences in mean withdrawal time(7.90±3.42 min vs 7.85±3.47 min,P=0.30)and adenomas per colonoscopy(0.33±0.68 vs 0.28±0.62,P=0.06)were not significant.Subgroup analysis found that with narrowband imaging(NBI),between-group differences in the ADR,were not significant(23.7%vs 21.8%,1.09,95%CI:0.97-1.22,P=0.15),but were greater with linked color imaging(30.9%vs 21.8%,1.42,95%CI:1.04-1.93,P=0.04).the second-generation NBI(2G-NBI)had an advantage of ADR than both WLI and the first-generation NBI(27.0%vs 21.8%,P=0.01;27.0%vs 21.2.0%,P=0.01).CONCLUSION This prospective study confirmed that,among Chinese,IEE didn’t increase the ADR compared with WLI,but 2G-NBI increase the ADR.
基金supported by Australian Research Council Projects(FL-170100117,DP-180103424,IH-180100002)National Natural Science Foundation of China(NSFC)(61806062)
文摘Despite rapid developments in visual image-based road detection, robustly identifying road areas in visual images remains challenging due to issues like illumination changes and blurry images. To this end, LiDAR sensor data can be incorporated to improve the visual image-based road detection,because LiDAR data is less susceptible to visual noises. However,the main difficulty in introducing LiDAR information into visual image-based road detection is that LiDAR data and its extracted features do not share the same space with the visual data and visual features. Such gaps in spaces may limit the benefits of LiDAR information for road detection. To overcome this issue, we introduce a novel Progressive LiDAR adaptation-aided road detection(PLARD) approach to adapt LiDAR information into visual image-based road detection and improve detection performance. In PLARD, progressive LiDAR adaptation consists of two subsequent modules: 1) data space adaptation, which transforms the LiDAR data to the visual data space to align with the perspective view by applying altitude difference-based transformation; and 2) feature space adaptation, which adapts LiDAR features to visual features through a cascaded fusion structure. Comprehensive empirical studies on the well-known KITTI road detection benchmark demonstrate that PLARD takes advantage of both the visual and LiDAR information, achieving much more robust road detection even in challenging urban scenes. In particular, PLARD outperforms other state-of-theart road detection models and is currently top of the publicly accessible benchmark leader-board.
基金supported by National Natural Science Foundation of China (Grant Nos. 40975014 and 40975013)
文摘The mobile incoherent Doppler lidar （MIDL）, which was jointly developed by State Key Laboratory of Severe Weather （LaSW） of the Chinese Academy of Meteorological Sciences （CAMS） and Ocean University of China, provided meteorological services during the Olympic sailing events in Qingdao in 2008. In this study, two experiments were performed based on these measurements. First, the capabilities of MIDL detection of sea-surface winds were investigated by comparing its radial velocities with those from a sea buoy. MIDL radial velocity was almost consistent with sea-buoy data; both reflected the changes in wind with time. However, the MIDL data was 0.5 m s-1 lower on average than the sea-buoy data due to differences in detection principle, sample volume, sample interval, spatial and temporal resolution. Second, the wind fields during the Olympic sailing events were calculated using a four-dimensional variation data assimilation （4DVAR） algorithm and were evaluated by comparing them with data from a sea buoy. The results show that the calculations made with the 4DVAR wind retrieval method are able to simulate the fine retrieval of sea-surface wind data--the retrieved wind fields were consistent with those of sea-buoy data. Overall, the correlation coefficient of wind direction was 0.93, and the correlation coefficient of wind speed was 0.70. The distribution of retrieval wind fields was consistent with that of MIDL radial velocity; the root-mean-square error between them had an average of only 1.52 m s-1^.
基金Supported by National Natural Science Foundation of China(Grant Nos.U20A20333,61906076,51875255,U1764257,U1762264),Jiangsu Provincial Natural Science Foundation of China(Grant Nos.BK20180100,BK20190853)Six Talent Peaks Project of Jiangsu Province(Grant No.2018-TD-GDZB-022)+1 种基金China Postdoctoral Science Foundation(Grant No.2020T130258)Jiangsu Provincial Key Research and Development Program of China(Grant No.BE2020083-2).
文摘Radar and LiDAR are two environmental sensors commonly used in autonomous vehicles,Lidars are accurate in determining objects’positions but significantly less accurate as Radars on measuring their velocities.However,Radars relative to Lidars are more accurate on measuring objects velocities but less accurate on determining their positions as they have a lower spatial resolution.In order to compensate for the low detection accuracy,incomplete target attributes and poor environmental adaptability of single sensors such as Radar and LiDAR,in this paper,an effective method for high-precision detection and tracking of surrounding targets of autonomous vehicles.By employing the Unscented Kalman Filter,Radar and LiDAR information is effectively fused to achieve high-precision detection of the position and speed information of targets around the autonomous vehicle.Finally,the real vehicle test under various driving environment scenarios is carried out.The experimental results show that the proposed sensor fusion method can effectively detect and track the vehicle peripheral targets with high accuracy.Compared with a single sensor,it has obvious advantages and can improve the intelligence level of autonomous cars.
文摘针对现有机载LiDAR(light detection and ranging)点云滤波方法在地形起伏剧烈的林区适用性不足的问题,提出一种多分辨率层次布料模拟滤波方法。首先,通过多尺度形态学开运算选择大量种子地面点;然后,基于种子地面点,使用布料模拟法由低至高逐层构建参考地形,以快速获取高分辨率参考地形;最后,基于点至参考地形的高差区分地面点和非地面点。利用国际摄影测量和遥感学会提供的数据集和参考方法,评估该方法性能。利用在中国、美国多个代表性林区的点云数据,评估该方法的可推广性。结果表明,该方法的Kappa系数和运行时间是83.72%和34.11 s,精度和效率较经典布料模拟滤波方法提高10.49%和52.17%。相比8种参考方法,该方法能够获得更高精度,并且具有稳定的可推广性。
基金supported by the Future Challenge Program through the Agency for Defense Development funded by the Defense Acquisition Program Administration (No.UC200015RD)。
文摘Swarm robot systems are an important application of autonomous unmanned surface vehicles on water surfaces.For monitoring natural environments and conducting security activities within a certain range using a surface vehicle,the swarm robot system is more efficient than the operation of a single object as the former can reduce cost and save time.It is necessary to detect adjacent surface obstacles robustly to operate a cluster of unmanned surface vehicles.For this purpose,a LiDAR(light detection and ranging)sensor is used as it can simultaneously obtain 3D information for all directions,relatively robustly and accurately,irrespective of the surrounding environmental conditions.Although the GPS(global-positioning-system)error range exists,obtaining measurements of the surface-vessel position can still ensure stability during platoon maneuvering.In this study,a three-layer convolutional neural network is applied to classify types of surface vehicles.The aim of this approach is to redefine the sparse 3D point cloud data as 2D image data with a connotative meaning and subsequently utilize this transformed data for object classification purposes.Hence,we have proposed a descriptor that converts the 3D point cloud data into 2D image data.To use this descriptor effectively,it is necessary to perform a clustering operation that separates the point clouds for each object.We developed voxel-based clustering for the point cloud clustering.Furthermore,using the descriptor,3D point cloud data can be converted into a 2D feature image,and the converted 2D image is provided as an input value to the network.We intend to verify the validity of the proposed 3D point cloud feature descriptor by using experimental data in the simulator.Furthermore,we explore the feasibility of real-time object classification within this framework.
文摘For time-of-flight(TOF)light detection and ranging(LiDAR),a three-channel high-performance transimpedance amplifier(TIA)with high immunity to input load capacitance is presented.A regulated cascade(RGC)as the input stage is at the core of the complementary metal oxide semiconductor(CMOS)circuit chip,giving it more immunity to input photodiode detectors.A simple smart output interface acting as a feedback structure,which is rarely found in other designs,reduces the chip size and power consumption simultaneously.The circuit is designed using a 0.5μm CMOS process technology to achieve low cost.The device delivers a 33.87 dB?transimpedance gain at 350 MHz.With a higher input load capacitance,it shows a-3 dB bandwidth of 461 MHz,indicating a better detector tolerance at the front end of the system.Under a 3.3 V supply voltage,the device consumes 5.2 mW,and the total chip area with three channels is 402.8×597.0μm2(including the test pads).
文摘Individual tree detection (ITD) and the area-based approach (ABA) are combined to generate tree-lists using airborne LiDAR data. ITD based on the Canopy Height Model (CHM) was applied for overstory trees, while ABA based on nearest neighbor (NN) imputation was applied for understory trees. Our approach is intended to compensate for the weakness of LiDAR data and ITD in estimating understory trees, keeping the strength of ITD in estimating overstory trees in tree-level. We investigated the effects of three parameters on the performance of our proposed approach: smoothing of CHM, resolution of CHM, and height cutoff (a specific height that classifies trees into overstory and understory). There was no single combination of those parameters that produced the best performance for estimating stems per ha, mean tree height, basal area, diameter distribution and height distribution. The trees in the lowest LiDAR height class yielded the largest relative bias and relative root mean squared error. Although ITD and ABA showed limited explanatory powers to estimate stems per hectare and basal area, there could be improvements from methods such as using LiDAR data with higher density, applying better algorithms for ITD and decreasing distortion of the structure of LiDAR data. Automating the procedure of finding optimal combinations of those parameters is essential to expedite forest management decisions across forest landscapes using remote sensing data.
基金Sponsored by the National Natural Science Foundation of China(Grant No.61605033)the Natural Science Foundation of Shandong Province(Grant No.ZR2016FQ24)+1 种基金the Taishan Blue Industry Leadership Program,Project of Shandong Province(Grant No.[2015]1363)the Fundamental Research Funds for the Central Universities(Grant No.HIT.NSRIF.201719).
文摘This paper presents a novel laser⁃induced fluorescence(LIF)Lidar system for marine oil spilling detection.A bifurcated Y⁃type optical fiber and an optical collimating lens compose a coaxial configuration transceiver for this LIF⁃Lidar system.This LIF⁃Lidar system was further applied to measure the excitation spectra from floating oil slicks with different thicknesses on top of seawater at different distances.The system presents several advantages such as compact structure,stable optical path,and convenient operation,which offers a wide application prospect in ocean exploration.
基金supported by the National Key R&D Program of China,Grant No.2018YFA0306703.
文摘In the detection process of classic radars such as radar/lidar,the detection performance will be weakened due to the presence of background noise and loss.The quantum illumination protocol can use the spatial correlation between photon pairs to improve image quality and enhance radar detection performance,even in the presence of loss and noise.Based on this quantum illumination LIDAR,a theoretic scheme is developed for the detection and tracking of moving targets,and the trajectory of the object is analyzed.Illuminated by the quantum light source as Spontaneous Parametric Down-Conversion(SPDC),an opaque target can be identified from the background in the presence of strong noise.The static objects obtained by classical and quantum illumination are compared,respectively,and the advantages of quantum illumination are verified.The moving objects are taken at appropriate intervals to obtain the images of the moving objects,then the images are visualized as dynamic images,and the three-frame difference method is used to obtain the target contour.Finally,the image is performed by a series of processing on to obtain the trajectory of the target object.Several different motion situations are analyzed separately,and compared with the set object motion trajectory,which proves the effectiveness of the scheme.This scheme has potential practical application value.
文摘机载激光雷达(LiDAR)点云电力线提取过程中存在杆塔形状复杂、噪声影响大等问题,导致电力线点云提取精度低,本文提出一种基于点云分块处理、格网划分的曲面拟合滤波、自适应密度聚类算法的电力线点云提取与重建方法。首先,根据电力线走向,对整体点云进行分块处理;其次,在曲面拟合算法的基础上,引入格网划分思想,提出一种改进曲面拟合滤波算法并进行点云滤波;最后,通过给出自适应密度聚类解决方案精确提取电力线点云。借助点云库(PCL)、libLAS库与Visual Studio 2017 C++开发环境实现本文算法,基于实测点云数据对本文方法进行测试与精度评定。结果表明:电力线提取精确率为97.82%、召回率为99.76%、F1值为98.78%,一次便可实现电力线的成功提取,在保证提取精度的同时提升了提取效率,本文研究能够为电力线智能巡检提供良好的工程应用价值。
基金supported by grant number DTOS59-07-H-0005 from the United States Department of Transportation(USDOT), Research and Innovative Technology Administration (RITA)
文摘The health conditions of highway bridges is critical for sustained transportation operations.US federal government mandates that all bridges built with public funds are to be inspected visually every two years. There is a growing consensus that additional rapid and non-intrusive methods for bridge damage evaluation are needed.This paper explores the potential of applying ground-based laser scanners for bridge damage evaluation. LiDAR has the potential of providing high-density,full-field surface static imaging.Hence,it can generate volumetric quantification of concrete corrosion or steel erosion.By recording object surface topology,LiDAR can detect different damages on the bridge structure and differentiate damage types according to the surface flatness and smoothness.To determine the effectiveness of LiDAR damage detection,two damage detection algorithms are presented and compared using scans on actual bridge damages.The results demonstrate and validate LiDAR damage quantification,which can be a powerful tool for bridge condition evaluation.
