This paper proposes a sensor failure detection method based on artificial neural network and signal processing,in comparison with other methods,which does not need any redundancy information among sensor outputs and d...This paper proposes a sensor failure detection method based on artificial neural network and signal processing,in comparison with other methods,which does not need any redundancy information among sensor outputs and divides the output of a sensor into'Signal dominant component'and'Noise dominant component'because the pattern of sensor failure often appears in the'Noise dominant component'.With an ARMA model built for'Noise dominant component'using artificial neural network,such sensor failures as bias failure,hard failure,drift failure,spike failure and cyclic failure may be detected through residual analysis,and the type of sensor failure can be indicated by an appropriate indicator.The failure detection procedure for a temperature sensor in a hovercraft engine is simulated to prove the applicability of the method proposed in this paper.展开更多
An approach by using neural network signal processing in associate with embedded fiberoptic sensing array for the newly developed “smart material systems and structures” is discussed in this paper.The principle,stru...An approach by using neural network signal processing in associate with embedded fiberoptic sensing array for the newly developed “smart material systems and structures” is discussed in this paper.The principle,structure of this approach and suitable neural network algorithms are described.The results of simulation experiments are also given.展开更多
A new concept, the generalized inverse group (GIG) of signal, is firstly proposed and its properties, leaking coefficients and implementation with neural networks are presented. Theoretical analysis and computational ...A new concept, the generalized inverse group (GIG) of signal, is firstly proposed and its properties, leaking coefficients and implementation with neural networks are presented. Theoretical analysis and computational simulation have shown that (1) there is a group of finite length of generalized inverse signals for any given finite signal, which forms the GIG; (2) each inverse group has different leaking coefficients, thus different abnormal states; (3) each GIG can be implemented by a grouped and improved single-layer perceptron which appears with fast convergence. When used in deconvolution, the proposed GIG can form a new parallel finite length of filtering deconvolution method. On off-line processing, the computational time is reduced to O(N) from O(N2). And the less the leaking coefficient is, the more reliable the deconvolution will be.展开更多
Effective vibration recognition can improve the performance of vibration control and structural damage detection and is in high demand for signal processing and advanced classification.Signal-processing methods can ex...Effective vibration recognition can improve the performance of vibration control and structural damage detection and is in high demand for signal processing and advanced classification.Signal-processing methods can extract the potent time-frequency-domain characteristics of signals;however,the performance of conventional characteristics-based classification needs to be improved.Widely used deep learning algorithms(e.g.,convolutional neural networks(CNNs))can conduct classification by extracting high-dimensional data features,with outstanding performance.Hence,combining the advantages of signal processing and deep-learning algorithms can significantly enhance vibration recognition performance.A novel vibration recognition method based on signal processing and deep neural networks is proposed herein.First,environmental vibration signals are collected;then,signal processing is conducted to obtain the coefficient matrices of the time-frequency-domain characteristics using three typical algorithms:the wavelet transform,Hilbert-Huang transform,and Mel frequency cepstral coefficient extraction method.Subsequently,CNNs,long short-term memory(LSTM)networks,and combined deep CNN-LSTM networks are trained for vibration recognition,according to the time-frequencydomain characteristics.Finally,the performance of the trained deep neural networks is evaluated and validated.The results confirm the effectiveness of the proposed vibration recognition method combining signal preprocessing and deep learning.展开更多
In this study,we developed a system based on deep space–time neural networks for gesture recognition.When users change or the number of gesture categories increases,the accuracy of gesture recognition decreases consi...In this study,we developed a system based on deep space–time neural networks for gesture recognition.When users change or the number of gesture categories increases,the accuracy of gesture recognition decreases considerably because most gesture recognition systems cannot accommodate both user differentiation and gesture diversity.To overcome the limitations of existing methods,we designed a onedimensional parallel long short-term memory–fully convolutional network(LSTM–FCN)model to extract gesture features of different dimensions.LSTM can learn complex time dynamic information,whereas FCN can predict gestures efficiently by extracting the deep,abstract features of gestures in the spatial dimension.In the experiment,50 types of gestures of five users were collected and evaluated.The experimental results demonstrate the effectiveness of this system and robustness to various gestures and individual changes.Statistical analysis of the recognition results indicated that an average accuracy of approximately 98.9% was achieved.展开更多
This paper describes a modified speed-sensorless control for induction motor (IM) based on space vector pulse width modulation and neural network. An Elman ANN method to identify the IM speed is proposed, with IM para...This paper describes a modified speed-sensorless control for induction motor (IM) based on space vector pulse width modulation and neural network. An Elman ANN method to identify the IM speed is proposed, with IM parameters employed as associated elements. The BP algorithm is used to provide an adaptive estimation of the motor speed. The effectiveness of the proposed method is verified by simulation results. The implementation on TMS320F240 fixed DSP is provided.展开更多
Speech recognition or speech to text includes capturing and digitizing the sound waves, transformation of basic linguistic units or phonemes, constructing words from phonemes and contextually analyzing the words to en...Speech recognition or speech to text includes capturing and digitizing the sound waves, transformation of basic linguistic units or phonemes, constructing words from phonemes and contextually analyzing the words to ensure the correct spelling of words that sounds the same. Approach: Studying the possibility of designing a software system using one of the techniques of artificial intelligence applications neuron networks where this system is able to distinguish the sound signals and neural networks of irregular users. Fixed weights are trained on those forms first and then the system gives the output match for each of these formats and high speed. The proposed neural network study is based on solutions of speech recognition tasks, detecting signals using angular modulation and detection of modulated techniques.展开更多
An improved pulse width modulation (PWM) neural network VLSI circuit for fault diagnosis is presented, which differs from the software-based fault diagnosis approach and exploits the merits of neural network VLSI circ...An improved pulse width modulation (PWM) neural network VLSI circuit for fault diagnosis is presented, which differs from the software-based fault diagnosis approach and exploits the merits of neural network VLSI circuit. A simple synapse multiplier is introduced, which has high precision, large linear range and less switching noise effects. A voltage-mode sigmoid circuit with adjustable gain is introduced for realization of different neuron activation functions. A voltage-pulse conversion circuit required for PWM is also introduced, which has high conversion precision and linearity. These 3 circuits are used to design a PWM VLSI neural network circuit to solve noise fault diagnosis for a main bearing. It can classify the fault samples directly. After signal processing, feature extraction and neural network computation for the analog noise signals including fault information,each output capacitor voltage value of VLSI circuit can be obtained, which represents Euclid distance between the corresponding fault signal template and the diagnosing signal, The real-time online recognition of noise fault signal can also be realized.展开更多
Natural language processing technologies have become more widely available in recent years,making them more useful in everyday situations.Machine learning systems that employ accessible datasets and corporate work to ...Natural language processing technologies have become more widely available in recent years,making them more useful in everyday situations.Machine learning systems that employ accessible datasets and corporate work to serve the whole spectrum of problems addressed in computational linguistics have lately yielded a number of promising breakthroughs.These methods were particularly advantageous for regional languages,as they were provided with cut-ting-edge language processing tools as soon as the requisite corporate information was generated.The bulk of modern people are unconcerned about the importance of reading.Reading aloud,on the other hand,is an effective technique for nour-ishing feelings as well as a necessary skill in the learning process.This paper pro-posed a novel approach for speech recognition based on neural networks.The attention mechanism isfirst utilized to determine the speech accuracy andfluency assessments,with the spectrum map as the feature extraction input.To increase phoneme identification accuracy,reading precision,for example,employs a new type of deep speech.It makes use of the exportchapter tool,which provides a corpus,as well as the TensorFlow framework in the experimental setting.The experimentalfindings reveal that the suggested model can more effectively assess spoken speech accuracy and readingfluency than the old model,and its evalua-tion model’s score outcomes are more accurate.展开更多
It is due to the need to ensure the security and integrity of equipment, that the non-destructive tests have been increasingly used in the industrial sector. Among these, the ultrasonic pulse echo technique is the mos...It is due to the need to ensure the security and integrity of equipment, that the non-destructive tests have been increasingly used in the industrial sector. Among these, the ultrasonic pulse echo technique is the most used in industry, mainly for its simplicity and efficiency. With one transducer only, it is possible to emit the ultrasonic and receive the echo pulse. The ANNs (artificial neural networks) are artificial intelligence techniques that, when properly trained, align themselves to inspection tests becoming a powerful tool in the detection and fault identification. In this work, the echo pulse technique was used to detect discontinuities in welds, where ANNs were fed from the information obtained by digital signal processing techniques (Fourier transform), to identify and classify three distinct classes of defects. Results showed that with the combination of feature extraction by Fourier transformation and classification with neural networks, it is possible to obtain an automatic defect detection system in welded joints with average efficiency.展开更多
In this paper we used two new features i.e. T-wave integral and total integral as extracted feature from one cycle of normal and patient ECG signals to detection and localization of myocardial infarction (MI) in left ...In this paper we used two new features i.e. T-wave integral and total integral as extracted feature from one cycle of normal and patient ECG signals to detection and localization of myocardial infarction (MI) in left ventricle of heart. In our previous work we used some features of body surface potential map data for this aim. But we know the standard ECG is more popular, so we focused our detection and localization of MI on standard ECG. We use the T-wave integral because this feature is important impression of T-wave in MI. The second feature in this research is total integral of one ECG cycle, because we believe that the MI affects the morphology of the ECG signal which leads to total integral changes. We used some pattern recognition method such as Artificial Neural Network (ANN) to detect and localize the MI, because this method has very good accuracy for classification of normal signal and abnormal signal. We used one type of Radial Basis Function (RBF) that called Probabilistic Neural Network (PNN) because of its nonlinearity property, and used other classifier such as k-Nearest Neighbors (KNN), Multilayer Perceptron (MLP) and Naive Bayes Classification. We used PhysioNet database as our training and test data. We reached over 76% for accuracy in test data for localization and over 94% for detection of MI. Main advantages of our method are simplicity and its good accuracy. Also we can improve the accuracy of classification by adding more features in this method. A simple method based on using only two features which were extracted from standard ECG is presented and has good accuracy in MI localization.展开更多
Parkinson’s disease(PD),one of whose symptoms is dysphonia,is a prevalent neurodegenerative disease.The use of outdated diagnosis techniques,which yield inaccurate and unreliable results,continues to represent an obs...Parkinson’s disease(PD),one of whose symptoms is dysphonia,is a prevalent neurodegenerative disease.The use of outdated diagnosis techniques,which yield inaccurate and unreliable results,continues to represent an obstacle in early-stage detection and diagnosis for clinical professionals in the medical field.To solve this issue,the study proposes using machine learning and deep learning models to analyze processed speech signals of patients’voice recordings.Datasets of these processed speech signals were obtained and experimented on by random forest and logistic regression classifiers.Results were highly successful,with 90%accuracy produced by the random forest classifier and 81.5%by the logistic regression classifier.Furthermore,a deep neural network was implemented to investigate if such variation in method could add to the findings.It proved to be effective,as the neural network yielded an accuracy of nearly 92%.Such results suggest that it is possible to accurately diagnose early-stage PD through merely testing patients’voices.This research calls for a revolutionary diagnostic approach in decision support systems,and is the first step in a market-wide implementation of healthcare software dedicated to the aid of clinicians in early diagnosis of PD.展开更多
The features of non-voice signals on public communication nets are analyzed and an approach to distinguish such signals is introduced in this paper. It is the first time for the system to meet three key targets: large...The features of non-voice signals on public communication nets are analyzed and an approach to distinguish such signals is introduced in this paper. It is the first time for the system to meet three key targets: large-scale, high recognition rate and low false alarm at the same time.展开更多
点云的处理、传输、语义分割等是3维计算机视觉领域重要的分析任务.现如今,图神经网络和图结构在点云研究方面的有效性已被证实,基于图的点云(graph-based point cloud,GPC)研究不断涌现.因此,一种统一的研究角度、框架和方法论亟待形成...点云的处理、传输、语义分割等是3维计算机视觉领域重要的分析任务.现如今,图神经网络和图结构在点云研究方面的有效性已被证实,基于图的点云(graph-based point cloud,GPC)研究不断涌现.因此,一种统一的研究角度、框架和方法论亟待形成.系统性梳理了GPC研究的各种应用场景,包括配准、降噪、压缩、表示学习、分类、分割、检测等任务,概括出GPC研究的一般性框架,提出了一条覆盖当前GPC全域研究的技术路线.具体来说,给出了GPC研究的分层概念范畴,包括底层数据处理、中层表示学习、高层识别任务;综述了各领域中的GPC模型或算法,包括静态和动态点云的处理算法、有监督和无监督的表示学习模型、传统或机器学习的GPC识别算法;总结了其中代表性的成果及其核心思想,譬如动态更新每层特征空间对应的最近邻图、分层以及参数共享的动态点聚合模块,结合图划分和图卷积提高分割精度;对比了模型性能,包括总体精度(overall accuracy,OA)、平均精度(mean accuracy,mAcc)、平均交并比(mean intersection over union,mIoU);在分析比较现有模型和方法的基础上,归纳了GPC目前面临的主要挑战,提出相应的研究问题,并展望未来的研究方向.建立的GPC研究框架具有一般性和通用性,为后续研究者从事GPC这个新型交叉领域研究提供了领域定位、技术总结及宏观视角.点云研究的出现,是探测器硬件技术长足进步后应运而生的结果;点云研究的现状表明在理论和实践之间存在一些挑战,一些关键问题还有待解决.同时,点云研究的发展将推动人工智能进入新的时代.展开更多
文摘This paper proposes a sensor failure detection method based on artificial neural network and signal processing,in comparison with other methods,which does not need any redundancy information among sensor outputs and divides the output of a sensor into'Signal dominant component'and'Noise dominant component'because the pattern of sensor failure often appears in the'Noise dominant component'.With an ARMA model built for'Noise dominant component'using artificial neural network,such sensor failures as bias failure,hard failure,drift failure,spike failure and cyclic failure may be detected through residual analysis,and the type of sensor failure can be indicated by an appropriate indicator.The failure detection procedure for a temperature sensor in a hovercraft engine is simulated to prove the applicability of the method proposed in this paper.
文摘An approach by using neural network signal processing in associate with embedded fiberoptic sensing array for the newly developed “smart material systems and structures” is discussed in this paper.The principle,structure of this approach and suitable neural network algorithms are described.The results of simulation experiments are also given.
基金Supported partly by Natural Science Foundation of ChinaAviation Science Grant of China
文摘A new concept, the generalized inverse group (GIG) of signal, is firstly proposed and its properties, leaking coefficients and implementation with neural networks are presented. Theoretical analysis and computational simulation have shown that (1) there is a group of finite length of generalized inverse signals for any given finite signal, which forms the GIG; (2) each inverse group has different leaking coefficients, thus different abnormal states; (3) each GIG can be implemented by a grouped and improved single-layer perceptron which appears with fast convergence. When used in deconvolution, the proposed GIG can form a new parallel finite length of filtering deconvolution method. On off-line processing, the computational time is reduced to O(N) from O(N2). And the less the leaking coefficient is, the more reliable the deconvolution will be.
文摘Effective vibration recognition can improve the performance of vibration control and structural damage detection and is in high demand for signal processing and advanced classification.Signal-processing methods can extract the potent time-frequency-domain characteristics of signals;however,the performance of conventional characteristics-based classification needs to be improved.Widely used deep learning algorithms(e.g.,convolutional neural networks(CNNs))can conduct classification by extracting high-dimensional data features,with outstanding performance.Hence,combining the advantages of signal processing and deep-learning algorithms can significantly enhance vibration recognition performance.A novel vibration recognition method based on signal processing and deep neural networks is proposed herein.First,environmental vibration signals are collected;then,signal processing is conducted to obtain the coefficient matrices of the time-frequency-domain characteristics using three typical algorithms:the wavelet transform,Hilbert-Huang transform,and Mel frequency cepstral coefficient extraction method.Subsequently,CNNs,long short-term memory(LSTM)networks,and combined deep CNN-LSTM networks are trained for vibration recognition,according to the time-frequencydomain characteristics.Finally,the performance of the trained deep neural networks is evaluated and validated.The results confirm the effectiveness of the proposed vibration recognition method combining signal preprocessing and deep learning.
基金supported in part by the National Natural Science Foundation of China under Grant 61461013in part of the Natural Science Foundation of Guangxi Province under Grant 2018GXNSFAA281179in part of the Dean Project of Guangxi Key Laboratory of Wireless Broadband Communication and Signal Processing under Grant GXKL06160103.
文摘In this study,we developed a system based on deep space–time neural networks for gesture recognition.When users change or the number of gesture categories increases,the accuracy of gesture recognition decreases considerably because most gesture recognition systems cannot accommodate both user differentiation and gesture diversity.To overcome the limitations of existing methods,we designed a onedimensional parallel long short-term memory–fully convolutional network(LSTM–FCN)model to extract gesture features of different dimensions.LSTM can learn complex time dynamic information,whereas FCN can predict gestures efficiently by extracting the deep,abstract features of gestures in the spatial dimension.In the experiment,50 types of gestures of five users were collected and evaluated.The experimental results demonstrate the effectiveness of this system and robustness to various gestures and individual changes.Statistical analysis of the recognition results indicated that an average accuracy of approximately 98.9% was achieved.
基金This project was supported by the National Natural Science Foundation of China (No. 69874086).
文摘This paper describes a modified speed-sensorless control for induction motor (IM) based on space vector pulse width modulation and neural network. An Elman ANN method to identify the IM speed is proposed, with IM parameters employed as associated elements. The BP algorithm is used to provide an adaptive estimation of the motor speed. The effectiveness of the proposed method is verified by simulation results. The implementation on TMS320F240 fixed DSP is provided.
文摘Speech recognition or speech to text includes capturing and digitizing the sound waves, transformation of basic linguistic units or phonemes, constructing words from phonemes and contextually analyzing the words to ensure the correct spelling of words that sounds the same. Approach: Studying the possibility of designing a software system using one of the techniques of artificial intelligence applications neuron networks where this system is able to distinguish the sound signals and neural networks of irregular users. Fixed weights are trained on those forms first and then the system gives the output match for each of these formats and high speed. The proposed neural network study is based on solutions of speech recognition tasks, detecting signals using angular modulation and detection of modulated techniques.
基金Supported by National Natural Science Foundation (60274015) the "863" Program of P, R. China (2002AA412420)
文摘An improved pulse width modulation (PWM) neural network VLSI circuit for fault diagnosis is presented, which differs from the software-based fault diagnosis approach and exploits the merits of neural network VLSI circuit. A simple synapse multiplier is introduced, which has high precision, large linear range and less switching noise effects. A voltage-mode sigmoid circuit with adjustable gain is introduced for realization of different neuron activation functions. A voltage-pulse conversion circuit required for PWM is also introduced, which has high conversion precision and linearity. These 3 circuits are used to design a PWM VLSI neural network circuit to solve noise fault diagnosis for a main bearing. It can classify the fault samples directly. After signal processing, feature extraction and neural network computation for the analog noise signals including fault information,each output capacitor voltage value of VLSI circuit can be obtained, which represents Euclid distance between the corresponding fault signal template and the diagnosing signal, The real-time online recognition of noise fault signal can also be realized.
基金the Deanship of Scientific Research at Umm Al-Qura University for supporting this work by Grant Code:(22UQU4170008DSR06).
文摘Natural language processing technologies have become more widely available in recent years,making them more useful in everyday situations.Machine learning systems that employ accessible datasets and corporate work to serve the whole spectrum of problems addressed in computational linguistics have lately yielded a number of promising breakthroughs.These methods were particularly advantageous for regional languages,as they were provided with cut-ting-edge language processing tools as soon as the requisite corporate information was generated.The bulk of modern people are unconcerned about the importance of reading.Reading aloud,on the other hand,is an effective technique for nour-ishing feelings as well as a necessary skill in the learning process.This paper pro-posed a novel approach for speech recognition based on neural networks.The attention mechanism isfirst utilized to determine the speech accuracy andfluency assessments,with the spectrum map as the feature extraction input.To increase phoneme identification accuracy,reading precision,for example,employs a new type of deep speech.It makes use of the exportchapter tool,which provides a corpus,as well as the TensorFlow framework in the experimental setting.The experimentalfindings reveal that the suggested model can more effectively assess spoken speech accuracy and readingfluency than the old model,and its evalua-tion model’s score outcomes are more accurate.
文摘It is due to the need to ensure the security and integrity of equipment, that the non-destructive tests have been increasingly used in the industrial sector. Among these, the ultrasonic pulse echo technique is the most used in industry, mainly for its simplicity and efficiency. With one transducer only, it is possible to emit the ultrasonic and receive the echo pulse. The ANNs (artificial neural networks) are artificial intelligence techniques that, when properly trained, align themselves to inspection tests becoming a powerful tool in the detection and fault identification. In this work, the echo pulse technique was used to detect discontinuities in welds, where ANNs were fed from the information obtained by digital signal processing techniques (Fourier transform), to identify and classify three distinct classes of defects. Results showed that with the combination of feature extraction by Fourier transformation and classification with neural networks, it is possible to obtain an automatic defect detection system in welded joints with average efficiency.
文摘In this paper we used two new features i.e. T-wave integral and total integral as extracted feature from one cycle of normal and patient ECG signals to detection and localization of myocardial infarction (MI) in left ventricle of heart. In our previous work we used some features of body surface potential map data for this aim. But we know the standard ECG is more popular, so we focused our detection and localization of MI on standard ECG. We use the T-wave integral because this feature is important impression of T-wave in MI. The second feature in this research is total integral of one ECG cycle, because we believe that the MI affects the morphology of the ECG signal which leads to total integral changes. We used some pattern recognition method such as Artificial Neural Network (ANN) to detect and localize the MI, because this method has very good accuracy for classification of normal signal and abnormal signal. We used one type of Radial Basis Function (RBF) that called Probabilistic Neural Network (PNN) because of its nonlinearity property, and used other classifier such as k-Nearest Neighbors (KNN), Multilayer Perceptron (MLP) and Naive Bayes Classification. We used PhysioNet database as our training and test data. We reached over 76% for accuracy in test data for localization and over 94% for detection of MI. Main advantages of our method are simplicity and its good accuracy. Also we can improve the accuracy of classification by adding more features in this method. A simple method based on using only two features which were extracted from standard ECG is presented and has good accuracy in MI localization.
文摘Parkinson’s disease(PD),one of whose symptoms is dysphonia,is a prevalent neurodegenerative disease.The use of outdated diagnosis techniques,which yield inaccurate and unreliable results,continues to represent an obstacle in early-stage detection and diagnosis for clinical professionals in the medical field.To solve this issue,the study proposes using machine learning and deep learning models to analyze processed speech signals of patients’voice recordings.Datasets of these processed speech signals were obtained and experimented on by random forest and logistic regression classifiers.Results were highly successful,with 90%accuracy produced by the random forest classifier and 81.5%by the logistic regression classifier.Furthermore,a deep neural network was implemented to investigate if such variation in method could add to the findings.It proved to be effective,as the neural network yielded an accuracy of nearly 92%.Such results suggest that it is possible to accurately diagnose early-stage PD through merely testing patients’voices.This research calls for a revolutionary diagnostic approach in decision support systems,and is the first step in a market-wide implementation of healthcare software dedicated to the aid of clinicians in early diagnosis of PD.
文摘The features of non-voice signals on public communication nets are analyzed and an approach to distinguish such signals is introduced in this paper. It is the first time for the system to meet three key targets: large-scale, high recognition rate and low false alarm at the same time.
文摘点云的处理、传输、语义分割等是3维计算机视觉领域重要的分析任务.现如今,图神经网络和图结构在点云研究方面的有效性已被证实,基于图的点云(graph-based point cloud,GPC)研究不断涌现.因此,一种统一的研究角度、框架和方法论亟待形成.系统性梳理了GPC研究的各种应用场景,包括配准、降噪、压缩、表示学习、分类、分割、检测等任务,概括出GPC研究的一般性框架,提出了一条覆盖当前GPC全域研究的技术路线.具体来说,给出了GPC研究的分层概念范畴,包括底层数据处理、中层表示学习、高层识别任务;综述了各领域中的GPC模型或算法,包括静态和动态点云的处理算法、有监督和无监督的表示学习模型、传统或机器学习的GPC识别算法;总结了其中代表性的成果及其核心思想,譬如动态更新每层特征空间对应的最近邻图、分层以及参数共享的动态点聚合模块,结合图划分和图卷积提高分割精度;对比了模型性能,包括总体精度(overall accuracy,OA)、平均精度(mean accuracy,mAcc)、平均交并比(mean intersection over union,mIoU);在分析比较现有模型和方法的基础上,归纳了GPC目前面临的主要挑战,提出相应的研究问题,并展望未来的研究方向.建立的GPC研究框架具有一般性和通用性,为后续研究者从事GPC这个新型交叉领域研究提供了领域定位、技术总结及宏观视角.点云研究的出现,是探测器硬件技术长足进步后应运而生的结果;点云研究的现状表明在理论和实践之间存在一些挑战,一些关键问题还有待解决.同时,点云研究的发展将推动人工智能进入新的时代.