针对姿态任意、尺寸不一的物体以及抓取角度离散性问题,提出一种基于语义分割与旋转目标检测的单目位姿估计方法.阶段1:首先利用faster R-CNN (faster regions with convolutional neural networks features)进行抓取检测获取候选抓取框...针对姿态任意、尺寸不一的物体以及抓取角度离散性问题,提出一种基于语义分割与旋转目标检测的单目位姿估计方法.阶段1:首先利用faster R-CNN (faster regions with convolutional neural networks features)进行抓取检测获取候选抓取框;其次利用语义分割网络获取待抓取物体的轮廓信息;最后利用语义分割结果为每个待抓取物体筛选置信度最高的抓取框,同时完成角度粗估计.阶段2:利用旋转目标检测获取精细的抓取角度,以修正阶段1抓取框的偏转角.此外,考虑到抓取物具有多尺度的特点,提出一种多尺度特征融合模块,使金字塔的所有层共享相似的语义特征.针对智能算法求解逆运动学时出现迭代后期收敛速度慢的问题,利用牛顿法收敛速度快的优点,加快智能算法后期的收敛速度.基于V-REP仿真以及实际抓取检测实验表明,所提算法的抓取检测精度为98.4%,实际抓取成功率达到了88.3%,仿真抓取时的有害扭矩大小较修正前有所改善,能够满足机械臂抓取要求.展开更多
Background The continual and rapid development of techniques which are used for diagnosis and treatment makes management of colorectal cancer more difficult depending on single discipline.Colorectal cancer multidiscip...Background The continual and rapid development of techniques which are used for diagnosis and treatment makes management of colorectal cancer more difficult depending on single discipline.Colorectal cancer multidisciplinary team （MDT） working model is recommended by UK and other countries,but there is little information on the impact of MDT working on management of colorectal cancer in China.The aim of this study was to assess the effect on management of colorectal cancer after the inception of an MDT.Methods A total of 595 consecutive colorectal cancer patients were referred to the Department of Gastroenterological Surgery,the pre-MDT cohort include 297 patients,recruited from January 1999 to November 2002,and the MDT cohort had 298 patients enrolled from December 2002 to September 2006.Information recorded included：TNM stage from histological reports,degree of differentiation,the number of examined lymph nodes and CT TNM staging performed or not,and its accuracy,including local and distant recurrence.Results The number of examined lymph nodes and the accuracy of TNM staging by CT in the MDT group were significantly more than those in pre-MDT group.CT TNM staging was more accurate in the MDT group compared to the pre-MDT group （P=-0.044）.The rate of tumor recurrence in the MDT group was lower than pre-MDT group （log-rank test,P 〈0.001）.Multivariate analysis revealed that age （P=0.001）,management after inception of the MDT （P=0.002）,degree of differentiation （P=0.003）,number of examined lymph nodes （P=0.002）,and TNM stage （P=0.000） were important factors that independently influence overall survival.Conclusions The inception of MDT working improved the diagnostic accuracy and overall survival of colorectal cancer patients.MDT working promoted communication and cooperation between disciplines and ensured high-quality diagnosis,evidence-based decision making,and optimal treatment planning.展开更多
文摘针对姿态任意、尺寸不一的物体以及抓取角度离散性问题,提出一种基于语义分割与旋转目标检测的单目位姿估计方法.阶段1:首先利用faster R-CNN (faster regions with convolutional neural networks features)进行抓取检测获取候选抓取框;其次利用语义分割网络获取待抓取物体的轮廓信息;最后利用语义分割结果为每个待抓取物体筛选置信度最高的抓取框,同时完成角度粗估计.阶段2:利用旋转目标检测获取精细的抓取角度,以修正阶段1抓取框的偏转角.此外,考虑到抓取物具有多尺度的特点,提出一种多尺度特征融合模块,使金字塔的所有层共享相似的语义特征.针对智能算法求解逆运动学时出现迭代后期收敛速度慢的问题,利用牛顿法收敛速度快的优点,加快智能算法后期的收敛速度.基于V-REP仿真以及实际抓取检测实验表明,所提算法的抓取检测精度为98.4%,实际抓取成功率达到了88.3%,仿真抓取时的有害扭矩大小较修正前有所改善,能够满足机械臂抓取要求.
文摘Background The continual and rapid development of techniques which are used for diagnosis and treatment makes management of colorectal cancer more difficult depending on single discipline.Colorectal cancer multidisciplinary team （MDT） working model is recommended by UK and other countries,but there is little information on the impact of MDT working on management of colorectal cancer in China.The aim of this study was to assess the effect on management of colorectal cancer after the inception of an MDT.Methods A total of 595 consecutive colorectal cancer patients were referred to the Department of Gastroenterological Surgery,the pre-MDT cohort include 297 patients,recruited from January 1999 to November 2002,and the MDT cohort had 298 patients enrolled from December 2002 to September 2006.Information recorded included：TNM stage from histological reports,degree of differentiation,the number of examined lymph nodes and CT TNM staging performed or not,and its accuracy,including local and distant recurrence.Results The number of examined lymph nodes and the accuracy of TNM staging by CT in the MDT group were significantly more than those in pre-MDT group.CT TNM staging was more accurate in the MDT group compared to the pre-MDT group （P=-0.044）.The rate of tumor recurrence in the MDT group was lower than pre-MDT group （log-rank test,P 〈0.001）.Multivariate analysis revealed that age （P=0.001）,management after inception of the MDT （P=0.002）,degree of differentiation （P=0.003）,number of examined lymph nodes （P=0.002）,and TNM stage （P=0.000） were important factors that independently influence overall survival.Conclusions The inception of MDT working improved the diagnostic accuracy and overall survival of colorectal cancer patients.MDT working promoted communication and cooperation between disciplines and ensured high-quality diagnosis,evidence-based decision making,and optimal treatment planning.
