An Improved Non-Parametric Method for Multiple Moving Objects Detection in the Markov Random Field

Detecting moving objects in the stationary background is an important problem in visual surveillance systems.However,the traditional background subtraction method fails when the background is not completely stationary and involves certain dynamic changes.In this paper,according to the basic steps of the background subtraction method,a novel non-parametric moving object detection method is proposed based on an improved ant colony algorithm by using the Markov random field.Concretely,the contributions are as follows:1)A new nonparametric strategy is utilized to model the background,based on an improved kernel density estimation;this approach uses an adaptive bandwidth,and the fused features combine the colours,gradients and positions.2)A Markov random field method based on this adaptive background model via the constraint of the spatial context is proposed to extract objects.3)The posterior function is maximized efficiently by using an improved ant colony system algorithm.Extensive experiments show that the proposed method demonstrates a better performance than many existing state-of-the-art methods.

MULTIPLE KERNEL RELEVANCE VECTOR MACHINE FOR GEOSPATIAL OBJECTS DETECTION IN HIGH-RESOLUTION REMOTE SENSING IMAGES

Geospatial objects detection within complex environment is a challenging problem in remote sensing area. In this paper, we derive an extension of the Relevance Vector Machine (RVM) technique to multiple kernel version. The proposed method learns an optimal kernel combination and the associated classifier simultaneously. Two feature types are extracted from images, forming basis kernels. Then these basis kernels are weighted combined and resulted the composite kernel exploits interesting points and appearance information of objects simultaneously. Weights and the detection model are finally learnt by a new algorithm. Experimental results show that the proposed method improve detection accuracy to above 88%, yields good interpretation for the selected subset of features and appears sparser than traditional single-kernel RVMs.

A review of occluded objects detection in real complex scenarios for autonomous driving

Autonomous driving is a promising way to future safe,efficient,and low-carbon transportation.Real-time ac-curate target detection is an essential precondition for the generation of proper following decision and control signals.However,considering the complex practical scenarios,accurate recognition of occluded targets is a major challenge of target detection for autonomous driving with limited computational capability.To reveal the overlap and difference between various occluded object detection by sharing the same available sensors,this paper presents a review of detection methods for occluded objects in complex real-driving scenarios.Considering the rapid development of autonomous driving technologies,the research analyzed in this study is limited to the recent five years.The study of occluded object detection is divided into three parts,namely occluded vehicles,pedes-trians and traffic signs.This paper provided a detailed summary of the target detection methods used in these three parts according to the differences in detection methods and ideas,which is followed by the comparison of advantages and disadvantages of different detection methods for the same object.Finally,the shortcomings and limitations of the existing detection methods are summarized,and the challenges and future development prospects in this field are discussed.

Automatic detection of small bowel lesions with different bleeding risks based on deep learning models

BACKGROUND Deep learning provides an efficient automatic image recognition method for small bowel(SB)capsule endoscopy(CE)that can assist physicians in diagnosis.However,the existing deep learning models present some unresolved challenges.AIM To propose a novel and effective classification and detection model to automatically identify various SB lesions and their bleeding risks,and label the lesions accurately so as to enhance the diagnostic efficiency of physicians and the ability to identify high-risk bleeding groups.METHODS The proposed model represents a two-stage method that combined image classification with object detection.First,we utilized the improved ResNet-50 classification model to classify endoscopic images into SB lesion images,normal SB mucosa images,and invalid images.Then,the improved YOLO-V5 detection model was utilized to detect the type of lesion and its risk of bleeding,and the location of the lesion was marked.We constructed training and testing sets and compared model-assisted reading with physician reading.RESULTS The accuracy of the model constructed in this study reached 98.96%,which was higher than the accuracy of other systems using only a single module.The sensitivity,specificity,and accuracy of the model-assisted reading detection of all images were 99.17%,99.92%,and 99.86%,which were significantly higher than those of the endoscopists’diagnoses.The image processing time of the model was 48 ms/image,and the image processing time of the physicians was 0.40±0.24 s/image(P<0.001).CONCLUSION The deep learning model of image classification combined with object detection exhibits a satisfactory diagnostic effect on a variety of SB lesions and their bleeding risks in CE images,which enhances the diagnostic efficiency of physicians and improves the ability of physicians to identify high-risk bleeding groups.

A Novel Tensor Decomposition-Based Efficient Detector for Low-Altitude Aerial Objects With Knowledge Distillation Scheme

Unmanned aerial vehicles(UAVs) have gained significant attention in practical applications, especially the low-altitude aerial(LAA) object detection imposes stringent requirements on recognition accuracy and computational resources. In this paper, the LAA images-oriented tensor decomposition and knowledge distillation-based network(TDKD-Net) is proposed,where the TT-format TD(tensor decomposition) and equalweighted response-based KD(knowledge distillation) methods are designed to minimize redundant parameters while ensuring comparable performance. Moreover, some robust network structures are developed, including the small object detection head and the dual-domain attention mechanism, which enable the model to leverage the learned knowledge from small-scale targets and selectively focus on salient features. Considering the imbalance of bounding box regression samples and the inaccuracy of regression geometric factors, the focal and efficient IoU(intersection of union) loss with optimal transport assignment(F-EIoU-OTA)mechanism is proposed to improve the detection accuracy. The proposed TDKD-Net is comprehensively evaluated through extensive experiments, and the results have demonstrated the effectiveness and superiority of the developed methods in comparison to other advanced detection algorithms, which also present high generalization and strong robustness. As a resource-efficient precise network, the complex detection of small and occluded LAA objects is also well addressed by TDKD-Net, which provides useful insights on handling imbalanced issues and realizing domain adaptation.

YOLO-MFD:Remote Sensing Image Object Detection with Multi-Scale Fusion Dynamic Head

Remote sensing imagery,due to its high altitude,presents inherent challenges characterized by multiple scales,limited target areas,and intricate backgrounds.These inherent traits often lead to increased miss and false detection rates when applying object recognition algorithms tailored for remote sensing imagery.Additionally,these complexities contribute to inaccuracies in target localization and hinder precise target categorization.This paper addresses these challenges by proposing a solution:The YOLO-MFD model(YOLO-MFD:Remote Sensing Image Object Detection withMulti-scale Fusion Dynamic Head).Before presenting our method,we delve into the prevalent issues faced in remote sensing imagery analysis.Specifically,we emphasize the struggles of existing object recognition algorithms in comprehensively capturing critical image features amidst varying scales and complex backgrounds.To resolve these issues,we introduce a novel approach.First,we propose the implementation of a lightweight multi-scale module called CEF.This module significantly improves the model’s ability to comprehensively capture important image features by merging multi-scale feature information.It effectively addresses the issues of missed detection and mistaken alarms that are common in remote sensing imagery.Second,an additional layer of small target detection heads is added,and a residual link is established with the higher-level feature extraction module in the backbone section.This allows the model to incorporate shallower information,significantly improving the accuracy of target localization in remotely sensed images.Finally,a dynamic head attentionmechanism is introduced.This allows themodel to exhibit greater flexibility and accuracy in recognizing shapes and targets of different sizes.Consequently,the precision of object detection is significantly improved.The trial results show that the YOLO-MFD model shows improvements of 6.3%,3.5%,and 2.5%over the original YOLOv8 model in Precision,map@0.5 and map@0.5:0.95,separately.These results illustrate the clear advantages of the method.

Enhanced Object Detection and Classification via Multi-Method Fusion

Advances in machine vision systems have revolutionized applications such as autonomous driving,robotic navigation,and augmented reality.Despite substantial progress,challenges persist,including dynamic backgrounds,occlusion,and limited labeled data.To address these challenges,we introduce a comprehensive methodology toenhance image classification and object detection accuracy.The proposed approach involves the integration ofmultiple methods in a complementary way.The process commences with the application of Gaussian filters tomitigate the impact of noise interference.These images are then processed for segmentation using Fuzzy C-Meanssegmentation in parallel with saliency mapping techniques to find the most prominent regions.The Binary RobustIndependent Elementary Features(BRIEF)characteristics are then extracted fromdata derived fromsaliency mapsand segmented images.For precise object separation,Oriented FAST and Rotated BRIEF(ORB)algorithms areemployed.Genetic Algorithms(GAs)are used to optimize Random Forest classifier parameters which lead toimproved performance.Our method stands out due to its comprehensive approach,adeptly addressing challengessuch as changing backdrops,occlusion,and limited labeled data concurrently.A significant enhancement hasbeen achieved by integrating Genetic Algorithms(GAs)to precisely optimize parameters.This minor adjustmentnot only boosts the uniqueness of our system but also amplifies its overall efficacy.The proposed methodologyhas demonstrated notable classification accuracies of 90.9%and 89.0%on the challenging Corel-1k and MSRCdatasets,respectively.Furthermore,detection accuracies of 87.2%and 86.6%have been attained.Although ourmethod performed well in both datasets it may face difficulties in real-world data especially where datasets havehighly complex backgrounds.Despite these limitations,GAintegration for parameter optimization shows a notablestrength in enhancing the overall adaptability and performance of our system.

Probability-Enhanced Anchor-Free Detector for Remote-Sensing Object Detection

Anchor-free object-detection methods achieve a significant advancement in field of computer vision,particularly in the realm of real-time inferences.However,in remote sensing object detection,anchor-free methods often lack of capability in separating the foreground and background.This paper proposes an anchor-free method named probability-enhanced anchor-free detector(ProEnDet)for remote sensing object detection.First,a weighted bidirectional feature pyramid is used for feature extraction.Second,we introduce probability enhancement to strengthen the classification of the object’s foreground and background.The detector uses the logarithm likelihood as the final score to improve the classification of the foreground and background of the object.ProEnDet is verified using the DIOR and NWPU-VHR-10 datasets.The experiment achieved mean average precisions of 61.4 and 69.0 on the DIOR dataset and NWPU-VHR-10 dataset,respectively.ProEnDet achieves a speed of 32.4 FPS on the DIOR dataset,which satisfies the real-time requirements for remote-sensing object detection.

A Study on Enhancing Chip Detection Efficiency Using the Lightweight Van-YOLOv8 Network

In pursuit of cost-effective manufacturing,enterprises are increasingly adopting the practice of utilizing recycled semiconductor chips.To ensure consistent chip orientation during packaging,a circular marker on the front side is employed for pin alignment following successful functional testing.However,recycled chips often exhibit substantial surface wear,and the identification of the relatively small marker proves challenging.Moreover,the complexity of generic target detection algorithms hampers seamless deployment.Addressing these issues,this paper introduces a lightweight YOLOv8s-based network tailored for detecting markings on recycled chips,termed Van-YOLOv8.Initially,to alleviate the influence of diminutive,low-resolution markings on the precision of deep learning models,we utilize an upscaling approach for enhanced resolution.This technique relies on the Super-Resolution Generative Adversarial Network with Extended Training(SRGANext)network,facilitating the reconstruction of high-fidelity images that align with input specifications.Subsequently,we replace the original YOLOv8smodel’s backbone feature extraction network with the lightweight VanillaNetwork(VanillaNet),simplifying the branch structure to reduce network parameters.Finally,a Hybrid Attention Mechanism(HAM)is implemented to capture essential details from input images,improving feature representation while concurrently expediting model inference speed.Experimental results demonstrate that the Van-YOLOv8 network outperforms the original YOLOv8s on a recycled chip dataset in various aspects.Significantly,it demonstrates superiority in parameter count,computational intricacy,precision in identifying targets,and speed when compared to certain prevalent algorithms in the current landscape.The proposed approach proves promising for real-time detection of recycled chips in practical factory settings.

CAW-YOLO:Cross-Layer Fusion and Weighted Receptive Field-Based YOLO for Small Object Detection in Remote Sensing

In recent years,there has been extensive research on object detection methods applied to optical remote sensing images utilizing convolutional neural networks.Despite these efforts,the detection of small objects in remote sensing remains a formidable challenge.The deep network structure will bring about the loss of object features,resulting in the loss of object features and the near elimination of some subtle features associated with small objects in deep layers.Additionally,the features of small objects are susceptible to interference from background features contained within the image,leading to a decline in detection accuracy.Moreover,the sensitivity of small objects to the bounding box perturbation further increases the detection difficulty.In this paper,we introduce a novel approach,Cross-Layer Fusion and Weighted Receptive Field-based YOLO(CAW-YOLO),specifically designed for small object detection in remote sensing.To address feature loss in deep layers,we have devised a cross-layer attention fusion module.Background noise is effectively filtered through the incorporation of Bi-Level Routing Attention(BRA).To enhance the model’s capacity to perceive multi-scale objects,particularly small-scale objects,we introduce a weightedmulti-receptive field atrous spatial pyramid poolingmodule.Furthermore,wemitigate the sensitivity arising from bounding box perturbation by incorporating the joint Normalized Wasserstein Distance(NWD)and Efficient Intersection over Union(EIoU)losses.The efficacy of the proposedmodel in detecting small objects in remote sensing has been validated through experiments conducted on three publicly available datasets.The experimental results unequivocally demonstrate the model’s pronounced advantages in small object detection for remote sensing,surpassing the performance of current mainstream models.

Learning Discriminatory Information for Object Detection on Urine Sediment Image

In clinical practice,the microscopic examination of urine sediment is considered an important in vitro examination with many broad applications.Measuring the amount of each type of urine sediment allows for screening,diagnosis and evaluation of kidney and urinary tract disease,providing insight into the specific type and severity.However,manual urine sediment examination is labor-intensive,time-consuming,and subjective.Traditional machine learning based object detection methods require hand-crafted features for localization and classification,which have poor generalization capabilities and are difficult to quickly and accurately detect the number of urine sediments.Deep learning based object detection methods have the potential to address the challenges mentioned above,but these methods require access to large urine sediment image datasets.Unfortunately,only a limited number of publicly available urine sediment datasets are currently available.To alleviate the lack of urine sediment datasets in medical image analysis,we propose a new dataset named UriSed2K,which contains 2465 high-quality images annotated with expert guidance.Two main challenges are associated with our dataset:a large number of small objects and the occlusion between these small objects.Our manuscript focuses on applying deep learning object detection methods to the urine sediment dataset and addressing the challenges presented by this dataset.Specifically,our goal is to improve the accuracy and efficiency of the detection algorithm and,in doing so,provide medical professionals with an automatic detector that saves time and effort.We propose an improved lightweight one-stage object detection algorithm called Discriminatory-YOLO.The proposed algorithm comprises a local context attention module and a global background suppression module,which aid the detector in distinguishing urine sediment features in the image.The local context attention module captures context information beyond the object region,while the global background suppression module emphasizes objects in uninformative backgrounds.We comprehensively evaluate our method on the UriSed2K dataset,which includes seven categories of urine sediments,such as erythrocytes(red blood cells),leukocytes(white blood cells),epithelial cells,crystals,mycetes,broken erythrocytes,and broken leukocytes,achieving the best average precision(AP)of 95.3%while taking only 10 ms per image.The source code and dataset are available at https://github.com/binghuiwu98/discriminatoryyolov5.

MSC-YOLO:Improved YOLOv7 Based on Multi-Scale Spatial Context for Small Object Detection in UAV-View

Accurately identifying small objects in high-resolution aerial images presents a complex and crucial task in thefield of small object detection on unmanned aerial vehicles(UAVs).This task is challenging due to variations inUAV flight altitude,differences in object scales,as well as factors like flight speed and motion blur.To enhancethe detection efficacy of small targets in drone aerial imagery,we propose an enhanced You Only Look Onceversion 7(YOLOv7)algorithm based on multi-scale spatial context.We build the MSC-YOLO model,whichincorporates an additional prediction head,denoted as P2,to improve adaptability for small objects.We replaceconventional downsampling with a Spatial-to-Depth Convolutional Combination(CSPDC)module to mitigatethe loss of intricate feature details related to small objects.Furthermore,we propose a Spatial Context Pyramidwith Multi-Scale Attention(SCPMA)module,which captures spatial and channel-dependent features of smalltargets acrossmultiple scales.This module enhances the perception of spatial contextual features and the utilizationof multiscale feature information.On the Visdrone2023 and UAVDT datasets,MSC-YOLO achieves remarkableresults,outperforming the baseline method YOLOv7 by 3.0%in terms ofmean average precision(mAP).The MSCYOLOalgorithm proposed in this paper has demonstrated satisfactory performance in detecting small targets inUAV aerial photography,providing strong support for practical applications.

Two-Layer Attention Feature Pyramid Network for Small Object Detection

Effective small object detection is crucial in various applications including urban intelligent transportation and pedestrian detection.However,small objects are difficult to detect accurately because they contain less information.Many current methods,particularly those based on Feature Pyramid Network(FPN),address this challenge by leveraging multi-scale feature fusion.However,existing FPN-based methods often suffer from inadequate feature fusion due to varying resolutions across different layers,leading to suboptimal small object detection.To address this problem,we propose the Two-layerAttention Feature Pyramid Network(TA-FPN),featuring two key modules:the Two-layer Attention Module(TAM)and the Small Object Detail Enhancement Module(SODEM).TAM uses the attention module to make the network more focused on the semantic information of the object and fuse it to the lower layer,so that each layer contains similar semantic information,to alleviate the problem of small object information being submerged due to semantic gaps between different layers.At the same time,SODEM is introduced to strengthen the local features of the object,suppress background noise,enhance the information details of the small object,and fuse the enhanced features to other feature layers to ensure that each layer is rich in small object information,to improve small object detection accuracy.Our extensive experiments on challenging datasets such as Microsoft Common Objects inContext(MSCOCO)and Pattern Analysis Statistical Modelling and Computational Learning,Visual Object Classes(PASCAL VOC)demonstrate the validity of the proposedmethod.Experimental results show a significant improvement in small object detection accuracy compared to state-of-theart detectors.

An Underwater Target Detection Algorithm Based on Attention Mechanism and Improved YOLOv7

For underwater robots in the process of performing target detection tasks,the color distortion and the uneven quality of underwater images lead to great difficulties in the feature extraction process of the model,which is prone to issues like error detection,omission detection,and poor accuracy.Therefore,this paper proposed the CER-YOLOv7(CBAM-EIOU-RepVGG-YOLOv7)underwater target detection algorithm.To improve the algorithm’s capability to retain valid features from both spatial and channel perspectives during the feature extraction phase,we have added a Convolutional Block Attention Module(CBAM)to the backbone network.The Reparameterization Visual Geometry Group(RepVGG)module is inserted into the backbone to improve the training and inference capabilities.The Efficient Intersection over Union(EIoU)loss is also used as the localization loss function,which reduces the error detection rate and missed detection rate of the algorithm.The experimental results of the CER-YOLOv7 algorithm on the UPRC(Underwater Robot Prototype Competition)dataset show that the mAP(mean Average Precision)score of the algorithm is 86.1%,which is a 2.2%improvement compared to the YOLOv7.The feasibility and validity of the CER-YOLOv7 are proved through ablation and comparison experiments,and it is more suitable for underwater target detection.

A Review on the Application of Deep Learning Methods in Detection and Identification of Rice Diseases and Pests

In rice production,the prevention and management of pests and diseases have always received special attention.Traditional methods require human experts,which is costly and time-consuming.Due to the complexity of the structure of rice diseases and pests,quickly and reliably recognizing and locating them is difficult.Recently,deep learning technology has been employed to detect and identify rice diseases and pests.This paper introduces common publicly available datasets;summarizes the applications on rice diseases and pests from the aspects of image recognition,object detection,image segmentation,attention mechanism,and few-shot learning methods according to the network structure differences;and compares the performances of existing studies.Finally,the current issues and challenges are explored fromthe perspective of data acquisition,data processing,and application,providing possible solutions and suggestions.This study aims to review various DL models and provide improved insight into DL techniques and their cutting-edge progress in the prevention and management of rice diseases and pests.

Multi-Stream Temporally Enhanced Network for Video Salient Object Detection

Video salient object detection(VSOD)aims at locating the most attractive objects in a video by exploring the spatial and temporal features.VSOD poses a challenging task in computer vision,as it involves processing complex spatial data that is also influenced by temporal dynamics.Despite the progress made in existing VSOD models,they still struggle in scenes of great background diversity within and between frames.Additionally,they encounter difficulties related to accumulated noise and high time consumption during the extraction of temporal features over a long-term duration.We propose a multi-stream temporal enhanced network(MSTENet)to address these problems.It investigates saliency cues collaboration in the spatial domain with a multi-stream structure to deal with the great background diversity challenge.A straightforward,yet efficient approach for temporal feature extraction is developed to avoid the accumulative noises and reduce time consumption.The distinction between MSTENet and other VSOD methods stems from its incorporation of both foreground supervision and background supervision,facilitating enhanced extraction of collaborative saliency cues.Another notable differentiation is the innovative integration of spatial and temporal features,wherein the temporal module is integrated into the multi-stream structure,enabling comprehensive spatial-temporal interactions within an end-to-end framework.Extensive experimental results demonstrate that the proposed method achieves state-of-the-art performance on five benchmark datasets while maintaining a real-time speed of 27 fps(Titan XP).Our code and models are available at https://github.com/RuJiaLe/MSTENet.

Depth-Guided Vision Transformer With Normalizing Flows for Monocular 3D Object Detection

Monocular 3D object detection is challenging due to the lack of accurate depth information.Some methods estimate the pixel-wise depth maps from off-the-shelf depth estimators and then use them as an additional input to augment the RGB images.Depth-based methods attempt to convert estimated depth maps to pseudo-LiDAR and then use LiDAR-based object detectors or focus on the perspective of image and depth fusion learning.However,they demonstrate limited performance and efficiency as a result of depth inaccuracy and complex fusion mode with convolutions.Different from these approaches,our proposed depth-guided vision transformer with a normalizing flows(NF-DVT)network uses normalizing flows to build priors in depth maps to achieve more accurate depth information.Then we develop a novel Swin-Transformer-based backbone with a fusion module to process RGB image patches and depth map patches with two separate branches and fuse them using cross-attention to exchange information with each other.Furthermore,with the help of pixel-wise relative depth values in depth maps,we develop new relative position embeddings in the cross-attention mechanism to capture more accurate sequence ordering of input tokens.Our method is the first Swin-Transformer-based backbone architecture for monocular 3D object detection.The experimental results on the KITTI and the challenging Waymo Open datasets show the effectiveness of our proposed method and superior performance over previous counterparts.

A Secure and Cost-Effective Training Framework Atop Serverless Computing for Object Detection in Blasting

The data analysis of blasting sites has always been the research goal of relevant researchers.The rise of mobile blasting robots has aroused many researchers’interest in machine learning methods for target detection in the field of blasting.Serverless Computing can provide a variety of computing services for people without hardware foundations and rich software development experience,which has aroused people’s interest in how to use it in the field ofmachine learning.In this paper,we design a distributedmachine learning training application based on the AWS Lambda platform.Based on data parallelism,the data aggregation and training synchronization in Function as a Service(FaaS)are effectively realized.It also encrypts the data set,effectively reducing the risk of data leakage.We rent a cloud server and a Lambda,and then we conduct experiments to evaluate our applications.Our results indicate the effectiveness,rapidity,and economy of distributed training on FaaS.

Enhancing Dense Small Object Detection in UAV Images Based on Hybrid Transformer

Transformer-based models have facilitated significant advances in object detection.However,their extensive computational consumption and suboptimal detection of dense small objects curtail their applicability in unmanned aerial vehicle(UAV)imagery.Addressing these limitations,we propose a hybrid transformer-based detector,H-DETR,and enhance it for dense small objects,leading to an accurate and efficient model.Firstly,we introduce a hybrid transformer encoder,which integrates a convolutional neural network-based cross-scale fusion module with the original encoder to handle multi-scale feature sequences more efficiently.Furthermore,we propose two novel strategies to enhance detection performance without incurring additional inference computation.Query filter is designed to cope with the dense clustering inherent in drone-captured images by counteracting similar queries with a training-aware non-maximum suppression.Adversarial denoising learning is a novel enhancement method inspired by adversarial learning,which improves the detection of numerous small targets by counteracting the effects of artificial spatial and semantic noise.Extensive experiments on the VisDrone and UAVDT datasets substantiate the effectiveness of our approach,achieving a significant improvement in accuracy with a reduction in computational complexity.Our method achieves 31.9%and 21.1%AP on the VisDrone and UAVDT datasets,respectively,and has a faster inference speed,making it a competitive model in UAV image object detection.

Local saliency consistency-based label inference for weakly supervised salient object detection using scribble annotations

Recently,weak supervision has received growing attention in the field of salient object detection due to the convenience of labelling.However,there is a large performance gap between weakly supervised and fully supervised salient object detectors because the scribble annotation can only provide very limited foreground/background information.Therefore,an intuitive idea is to infer annotations that cover more complete object and background regions for training.To this end,a label inference strategy is proposed based on the assumption that pixels with similar colours and close positions should have consistent labels.Specifically,k-means clustering algorithm was first performed on both colours and coordinates of original annotations,and then assigned the same labels to points having similar colours with colour cluster centres and near coordinate cluster centres.Next,the same annotations for pixels with similar colours within each kernel neighbourhood was set further.Extensive experiments on six benchmarks demonstrate that our method can significantly improve the performance and achieve the state-of-the-art results.