This article introduces the concept of load aggregation,which involves a comprehensive analysis of loads to acquire their external characteristics for the purpose of modeling and analyzing power systems.The online ide...This article introduces the concept of load aggregation,which involves a comprehensive analysis of loads to acquire their external characteristics for the purpose of modeling and analyzing power systems.The online identification method is a computer-involved approach for data collection,processing,and system identification,commonly used for adaptive control and prediction.This paper proposes a method for dynamically aggregating large-scale adjustable loads to support high proportions of new energy integration,aiming to study the aggregation characteristics of regional large-scale adjustable loads using online identification techniques and feature extraction methods.The experiment selected 300 central air conditioners as the research subject and analyzed their regulation characteristics,economic efficiency,and comfort.The experimental results show that as the adjustment time of the air conditioner increases from 5 minutes to 35 minutes,the stable adjustment quantity during the adjustment period decreases from 28.46 to 3.57,indicating that air conditioning loads can be controlled over a long period and have better adjustment effects in the short term.Overall,the experimental results of this paper demonstrate that analyzing the aggregation characteristics of regional large-scale adjustable loads using online identification techniques and feature extraction algorithms is effective.展开更多
Wheat rust diseases are one of the major types of fungal diseases that cause substantial yield quality losses of 15%–20%every year.The wheat rust diseases are identified either through experienced evaluators or compu...Wheat rust diseases are one of the major types of fungal diseases that cause substantial yield quality losses of 15%–20%every year.The wheat rust diseases are identified either through experienced evaluators or computerassisted techniques.The experienced evaluators take time to identify the disease which is highly laborious and too costly.If wheat rust diseases are predicted at the development stages,then fungicides are sprayed earlier which helps to increase wheat yield quality.To solve the experienced evaluator issues,a combined region extraction and cross-entropy support vector machine(CE-SVM)model is proposed for wheat rust disease identification.In the proposed system,a total of 2300 secondary source images were augmented through flipping,cropping,and rotation techniques.The augmented images are preprocessed by histogram equalization.As a result,preprocessed images have been applied to region extraction convolutional neural networks(RCNN);Fast-RCNN,Faster-RCNN,and Mask-RCNN models for wheat plant patch extraction.Different layers of region extraction models construct a feature vector that is later passed to the CE-SVM model.As a result,the Gaussian kernel function in CE-SVM achieves high F1-score(88.43%)and accuracy(93.60%)for wheat stripe rust disease classification.展开更多
Biometric identification was a kind of identity recognition technology by making use of the human's unique physiological or behavioral characteristics,it provided a high reliability and stability way for the ident...Biometric identification was a kind of identity recognition technology by making use of the human's unique physiological or behavioral characteristics,it provided a high reliability and stability way for the identification. Global threshold binarization palmprint image is used in this paper,and the bio-morphological methods are used to get the sensitive area of palmprint image's positioning point,so as to extract the region of interest. The palmprint collection is realized on the FPGA chip,and this kind of collection method uses the DSP Builder toolbox to realize visual programming in Matlab / Simulink and achieve fast modeling and development. The practice proves that this method is simple,flexible and its equipment is portable and fast.展开更多
This study adopted IKONOS remote sensing images and selected spectral characteristic areas, through regional pixel statistics and calculating weight coefficients of each band, processed the images with the spectral no...This study adopted IKONOS remote sensing images and selected spectral characteristic areas, through regional pixel statistics and calculating weight coefficients of each band, processed the images with the spectral normalized method, which made the features of islands, land and water features more obviously in the images. On this basis, the OTUS was used to determine the optimal segmentation threshold, and the normalization image binarization was made, thus the island coastline was extracted. This method used the characteristic curve method to separate the land and water, obtained the binarization images and maintained the original edge effectively. The coastline that was extracted by Binary Morphology was continuous, reliable and high signal-to-noise ratio. The results showed that this method could extract the coastline fast, simply and effectively, which had the practical value.展开更多
Based on the ideas of controlling relative quality and rearranging bitplanes, a new ROI coding method for JPEG2000 was proposed, which shifts and rearranges bitplanes in units of bitplane groups. It can code arbitrary...Based on the ideas of controlling relative quality and rearranging bitplanes, a new ROI coding method for JPEG2000 was proposed, which shifts and rearranges bitplanes in units of bitplane groups. It can code arbitrary shaped ROI without shape coding, and reserve almost arbitrary percent of background information. It also can control the relative quality of progressive decoded images. In addition, it is easy to be implemented and has low computational cost.展开更多
Autonomous lane keeping is an important technology in intelligent transportation,which is used to avoid unnecessary traffic accidents caused by lane departure.To adapt different lighting environment,and make up ordina...Autonomous lane keeping is an important technology in intelligent transportation,which is used to avoid unnecessary traffic accidents caused by lane departure.To adapt different lighting environment,and make up ordinary Hough transform’s shortcomings of tardiness and poor immunity,we propose an improved algorithm by using adaptive gray threshold and setting Region of interest(ROI),to do the quick Hough transform for tracking lane line,implementing autonomous lane keeping. The dynamic adaptive threshold method can be suitable with different lighting conditions and quickly,accurately remove most of the information not relative to lane line.Meanwhile setting ROI can let the program only care about the specific region which can provide useful information and further reduce the processing data.And then on the basic of identification,we put forward some efficient innovation strategy about the control logic of straight state,curve state and the transition state.The experiment proves that this solution greatly raises efficiency.展开更多
A novel mathematical morphological approach for region of interest(ROI) automatic determination and JPEG2000-based coding of microscopy image compression is presented.The algorithm is very fast and requires lower comp...A novel mathematical morphological approach for region of interest(ROI) automatic determination and JPEG2000-based coding of microscopy image compression is presented.The algorithm is very fast and requires lower computing power,which is particularly suitable for some irregular region-based cell microscopy images with poor qualities.Firstly,an active threshold-based method is discussed to create a rough mask of regions of interest(cells).And then some morphological operations are designed and applied to achieve the segmentation of cells.In addition,an extra morphological operation,dilation,is applied to create the final mask with some redundancies to avoid the"edge effect"after removing false cells.Finally,ROI and region of background(ROB) are obtained and encoded individually in different compression ratio flexibly based on the JPEG2000,which can adjust the quality between ROI and ROB without coding for ROI shape.The experimental results certify the effectiveness of the proposed algorithm,and compared with JPEG2000,the proposed algorithm has better performance in both subjective quality and objective quality at the same compression ratios.展开更多
Natural scene recognition has important significance and value in the fields of image retrieval,autonomous navigation,human-computer interaction and industrial automation.Firstly,the natural scene image non-text conte...Natural scene recognition has important significance and value in the fields of image retrieval,autonomous navigation,human-computer interaction and industrial automation.Firstly,the natural scene image non-text content takes up relatively high proportion;secondly,the natural scene images have a cluttered background and complex lighting conditions,angle,font and color.Therefore,how to extract text extreme regions efficiently from complex and varied natural scene images plays an important role in natural scene image text recognition.In this paper,a Text extremum region Extraction algorithm based on Joint-Channels(TEJC)is proposed.On the one hand,it can solve the problem that the maximum stable extremum region(MSER)algorithm is only suitable for gray images and difficult to process color images.On the other hand,it solves the problem that the MSER algorithm has high complexity and low accuracy when extracting the most stable extreme region.In this paper,the proposed algorithm is tested and evaluated on the ICDAR data set.The experimental results show that the method has superiority.展开更多
Water scarcity in arid regions poses significant challenges to sustainable development and human well-being. This article explores both existing and innovative technologies and methods to produce large amounts of wate...Water scarcity in arid regions poses significant challenges to sustainable development and human well-being. This article explores both existing and innovative technologies and methods to produce large amounts of water to address these challenges effectively. Key approaches include atmospheric water generation, advanced desalination techniques, innovative water collection methods such as fog nets and dew harvesting, geothermal water extraction, and water recycling and reuse. Each method is evaluated for its feasibility with existing technology, potential time of implementation, required investments, and specific challenges. By leveraging these technologies and combining them into a multifaceted water management strategy, it is possible to enhance water security, support agricultural and industrial activities, and improve living conditions in arid regions. Collaborative efforts between governments, private sector entities, and research institutions are crucial to advancing these technologies and ensuring their sustainable implementation. The article provides a comprehensive overview of the current state of these technologies, their potential for large-scale application, and recommendations for future research and development.展开更多
Height extraction for buildings is a fundamental step of 3D scene reconstruction in many virtual reality applications. In this paper, we propose an automatic method to extract the height of buildings in high resolutio...Height extraction for buildings is a fundamental step of 3D scene reconstruction in many virtual reality applications. In this paper, we propose an automatic method to extract the height of buildings in high resolution satellite imagery based on the length of shadow. Taking into account the limitation of traditional algorithms, we make use of the boundary information of a building to facilitate detecting and matching the shadow regions with higher accuracy. Then, we introduce a shadow-cast model to correct the shadow location in our system. The experimental result shows that when extracting the height of buildings from complex urban regions, our method has better accuracy.展开更多
感兴趣区域(Region of interest,ROI)提取在生物特征识别中,常用于减少后续处理的计算消耗,提高识别模型的准确性,是生物识别系统中预处理的关键步骤.针对生物识别数据,提出了一种鲁棒的ROI提取方法.方法使用语义分割模型作为基础,通过...感兴趣区域(Region of interest,ROI)提取在生物特征识别中,常用于减少后续处理的计算消耗,提高识别模型的准确性,是生物识别系统中预处理的关键步骤.针对生物识别数据,提出了一种鲁棒的ROI提取方法.方法使用语义分割模型作为基础,通过增加全局感知模块,与分割模型形成对抗结构,为模型提供先验知识,补充全局视觉模式信息,解决了语义分割模型的末端收敛困难问题,提高了模型的鲁棒性和泛化能力.在传统二维(2D)指纹、人脸、三维(3D)指纹和指纹汗孔数据集中验证了方法的有效性.实验结果表明,相比于现有方法,所提出的ROI提取方法更具鲁棒性和泛化能力,精度最高.展开更多
In order to make the humanoid robot walk freely in complicated circumstance, the reliable capabilities for obtaining plane information from its surroundings are demanded. A system for extracting planes from data taken...In order to make the humanoid robot walk freely in complicated circumstance, the reliable capabilities for obtaining plane information from its surroundings are demanded. A system for extracting planes from data taken by stereo vision was presented, After the depth image was obtained, the pixels of each line were scanned and split into straight line segments. The neighbouring relation of line segments was kept in link structure. The groups of three line segments were selected as seed regions. A queue was maintained for storing seed regions, and then the plane region was expanded around the seed region. The process of region growing continued until the queue of seed regions was empty. After trimming, the edges of the planes became smooth. In the end, extracted planes were obtained. In the experiment, two models were used: pipe and stairs. Two planes in pipe mode/and six planes in stairs model were extracted exactly. The speed and precision of algorithm can satisfy the demands of humanoid robot's navigation.展开更多
Road traffic is the important driving factor for economic and social development. With the rapid increase of vehicle population, road traffic problems such as traffic jam and traffic accident have become the bottlenec...Road traffic is the important driving factor for economic and social development. With the rapid increase of vehicle population, road traffic problems such as traffic jam and traffic accident have become the bottleneck which restricts economic development. In recent years, natural disasters frequently occur in China. Therefore, it is essential to extract road information to compute the degree of road damage for traffic emergency management. A road extraction method based on region growing and mathematical morphology from remote sensing images is proposed in this paper. According to the road features, the remote sensing image is preprocessed to separate road regions from non-road regions preliminarily. After image thresholding, region growing algorithm is used to extract connected regions. Then we sort connected regions by area to exclude the small regions which are probably non-road objects. Finally, the mathematical morphology algorithm is used to fill the holes inside the road regions. The experimental results show that the method proposed can effectively extract roads from remote sensing images. This research also has broad prospects in dealing with traffic emergency management by the government.展开更多
The Wyner-Ziv distributed video coding scheme is characterized for its intraframe encoder and interframe decoder which can also approach the efficiency of an interframe encoder-decoder system. In Wyner-Ziv residual co...The Wyner-Ziv distributed video coding scheme is characterized for its intraframe encoder and interframe decoder which can also approach the efficiency of an interframe encoder-decoder system. In Wyner-Ziv residual coding of video, the residual of a frame with respect to a reference frame is Wyner-Ziv encoded, which can reduces the input entropy and leads to a higher coding efficiency than directly encoding the original frame. In this paper, we propose a new approach of residual coding combined with Region Of Interest (ROI) extraction. Experimental results show that, the proposed scheme achieves better rate-distortion performance compared to conventional Wyner-Ziv coding scheme.展开更多
针对现有三维目标检测算法对存在遮挡及距离较远目标检测效果差的问题,以基于点云的三维目标检测算法(3D object proposal generation and detection from point cloud,PointRCNN)为基础,对网络进行改进,提高三维目标检测精度。对区域...针对现有三维目标检测算法对存在遮挡及距离较远目标检测效果差的问题,以基于点云的三维目标检测算法(3D object proposal generation and detection from point cloud,PointRCNN)为基础,对网络进行改进,提高三维目标检测精度。对区域生成网络(region proposal network,RPN)获取的提议区域(region of interest,ROI)体素化处理,同时构建不同尺度的区域金字塔来捕获更加广泛的兴趣点;加入点云Transformer模块来增强对网格中心点局部特征的学习;在网络中加入球查询半径预测模块,使得模型可以根据点云密度自适应调整球查询的范围。最后,对所提算法的有效性进行了试验验证,在KITTI数据集下对模型的性能进行评估测试,同时设计相应的消融试验验证模型中各模块的有效性。展开更多
基金supported by the State Grid Science&Technology Project(5100-202114296A-0-0-00).
文摘This article introduces the concept of load aggregation,which involves a comprehensive analysis of loads to acquire their external characteristics for the purpose of modeling and analyzing power systems.The online identification method is a computer-involved approach for data collection,processing,and system identification,commonly used for adaptive control and prediction.This paper proposes a method for dynamically aggregating large-scale adjustable loads to support high proportions of new energy integration,aiming to study the aggregation characteristics of regional large-scale adjustable loads using online identification techniques and feature extraction methods.The experiment selected 300 central air conditioners as the research subject and analyzed their regulation characteristics,economic efficiency,and comfort.The experimental results show that as the adjustment time of the air conditioner increases from 5 minutes to 35 minutes,the stable adjustment quantity during the adjustment period decreases from 28.46 to 3.57,indicating that air conditioning loads can be controlled over a long period and have better adjustment effects in the short term.Overall,the experimental results of this paper demonstrate that analyzing the aggregation characteristics of regional large-scale adjustable loads using online identification techniques and feature extraction algorithms is effective.
文摘Wheat rust diseases are one of the major types of fungal diseases that cause substantial yield quality losses of 15%–20%every year.The wheat rust diseases are identified either through experienced evaluators or computerassisted techniques.The experienced evaluators take time to identify the disease which is highly laborious and too costly.If wheat rust diseases are predicted at the development stages,then fungicides are sprayed earlier which helps to increase wheat yield quality.To solve the experienced evaluator issues,a combined region extraction and cross-entropy support vector machine(CE-SVM)model is proposed for wheat rust disease identification.In the proposed system,a total of 2300 secondary source images were augmented through flipping,cropping,and rotation techniques.The augmented images are preprocessed by histogram equalization.As a result,preprocessed images have been applied to region extraction convolutional neural networks(RCNN);Fast-RCNN,Faster-RCNN,and Mask-RCNN models for wheat plant patch extraction.Different layers of region extraction models construct a feature vector that is later passed to the CE-SVM model.As a result,the Gaussian kernel function in CE-SVM achieves high F1-score(88.43%)and accuracy(93.60%)for wheat stripe rust disease classification.
文摘Biometric identification was a kind of identity recognition technology by making use of the human's unique physiological or behavioral characteristics,it provided a high reliability and stability way for the identification. Global threshold binarization palmprint image is used in this paper,and the bio-morphological methods are used to get the sensitive area of palmprint image's positioning point,so as to extract the region of interest. The palmprint collection is realized on the FPGA chip,and this kind of collection method uses the DSP Builder toolbox to realize visual programming in Matlab / Simulink and achieve fast modeling and development. The practice proves that this method is simple,flexible and its equipment is portable and fast.
文摘This study adopted IKONOS remote sensing images and selected spectral characteristic areas, through regional pixel statistics and calculating weight coefficients of each band, processed the images with the spectral normalized method, which made the features of islands, land and water features more obviously in the images. On this basis, the OTUS was used to determine the optimal segmentation threshold, and the normalization image binarization was made, thus the island coastline was extracted. This method used the characteristic curve method to separate the land and water, obtained the binarization images and maintained the original edge effectively. The coastline that was extracted by Binary Morphology was continuous, reliable and high signal-to-noise ratio. The results showed that this method could extract the coastline fast, simply and effectively, which had the practical value.
基金Electronic Development Fund of Ministry ofInformation Industry of China(No[2004]479)
文摘Based on the ideas of controlling relative quality and rearranging bitplanes, a new ROI coding method for JPEG2000 was proposed, which shifts and rearranges bitplanes in units of bitplane groups. It can code arbitrary shaped ROI without shape coding, and reserve almost arbitrary percent of background information. It also can control the relative quality of progressive decoded images. In addition, it is easy to be implemented and has low computational cost.
文摘Autonomous lane keeping is an important technology in intelligent transportation,which is used to avoid unnecessary traffic accidents caused by lane departure.To adapt different lighting environment,and make up ordinary Hough transform’s shortcomings of tardiness and poor immunity,we propose an improved algorithm by using adaptive gray threshold and setting Region of interest(ROI),to do the quick Hough transform for tracking lane line,implementing autonomous lane keeping. The dynamic adaptive threshold method can be suitable with different lighting conditions and quickly,accurately remove most of the information not relative to lane line.Meanwhile setting ROI can let the program only care about the specific region which can provide useful information and further reduce the processing data.And then on the basic of identification,we put forward some efficient innovation strategy about the control logic of straight state,curve state and the transition state.The experiment proves that this solution greatly raises efficiency.
文摘A novel mathematical morphological approach for region of interest(ROI) automatic determination and JPEG2000-based coding of microscopy image compression is presented.The algorithm is very fast and requires lower computing power,which is particularly suitable for some irregular region-based cell microscopy images with poor qualities.Firstly,an active threshold-based method is discussed to create a rough mask of regions of interest(cells).And then some morphological operations are designed and applied to achieve the segmentation of cells.In addition,an extra morphological operation,dilation,is applied to create the final mask with some redundancies to avoid the"edge effect"after removing false cells.Finally,ROI and region of background(ROB) are obtained and encoded individually in different compression ratio flexibly based on the JPEG2000,which can adjust the quality between ROI and ROB without coding for ROI shape.The experimental results certify the effectiveness of the proposed algorithm,and compared with JPEG2000,the proposed algorithm has better performance in both subjective quality and objective quality at the same compression ratios.
基金This work is supported by State Grid Shandong Electric Power Company Science and Technology Project Funding under Grant Nos.520613180002,62061318C002the Fundamental Research Funds for the Central Universities(Grant No.HIT.NSRIF.201714)+1 种基金Weihai Science and Technology Development Program(2016DX GJMS15)Key Research and Development Program in Shandong Provincial(2017GGX90103).
文摘Natural scene recognition has important significance and value in the fields of image retrieval,autonomous navigation,human-computer interaction and industrial automation.Firstly,the natural scene image non-text content takes up relatively high proportion;secondly,the natural scene images have a cluttered background and complex lighting conditions,angle,font and color.Therefore,how to extract text extreme regions efficiently from complex and varied natural scene images plays an important role in natural scene image text recognition.In this paper,a Text extremum region Extraction algorithm based on Joint-Channels(TEJC)is proposed.On the one hand,it can solve the problem that the maximum stable extremum region(MSER)algorithm is only suitable for gray images and difficult to process color images.On the other hand,it solves the problem that the MSER algorithm has high complexity and low accuracy when extracting the most stable extreme region.In this paper,the proposed algorithm is tested and evaluated on the ICDAR data set.The experimental results show that the method has superiority.
文摘Water scarcity in arid regions poses significant challenges to sustainable development and human well-being. This article explores both existing and innovative technologies and methods to produce large amounts of water to address these challenges effectively. Key approaches include atmospheric water generation, advanced desalination techniques, innovative water collection methods such as fog nets and dew harvesting, geothermal water extraction, and water recycling and reuse. Each method is evaluated for its feasibility with existing technology, potential time of implementation, required investments, and specific challenges. By leveraging these technologies and combining them into a multifaceted water management strategy, it is possible to enhance water security, support agricultural and industrial activities, and improve living conditions in arid regions. Collaborative efforts between governments, private sector entities, and research institutions are crucial to advancing these technologies and ensuring their sustainable implementation. The article provides a comprehensive overview of the current state of these technologies, their potential for large-scale application, and recommendations for future research and development.
基金Supported by National Natural Science Foundation of China(61232014,61421062,61472010)the National Key Technology R&D Program of China(2015BAK01B06)
文摘Height extraction for buildings is a fundamental step of 3D scene reconstruction in many virtual reality applications. In this paper, we propose an automatic method to extract the height of buildings in high resolution satellite imagery based on the length of shadow. Taking into account the limitation of traditional algorithms, we make use of the boundary information of a building to facilitate detecting and matching the shadow regions with higher accuracy. Then, we introduce a shadow-cast model to correct the shadow location in our system. The experimental result shows that when extracting the height of buildings from complex urban regions, our method has better accuracy.
文摘感兴趣区域(Region of interest,ROI)提取在生物特征识别中,常用于减少后续处理的计算消耗,提高识别模型的准确性,是生物识别系统中预处理的关键步骤.针对生物识别数据,提出了一种鲁棒的ROI提取方法.方法使用语义分割模型作为基础,通过增加全局感知模块,与分割模型形成对抗结构,为模型提供先验知识,补充全局视觉模式信息,解决了语义分割模型的末端收敛困难问题,提高了模型的鲁棒性和泛化能力.在传统二维(2D)指纹、人脸、三维(3D)指纹和指纹汗孔数据集中验证了方法的有效性.实验结果表明,相比于现有方法,所提出的ROI提取方法更具鲁棒性和泛化能力,精度最高.
基金Project(60776816) supported by the National Natural Science Foundation of China and Civil Aviation Administration of ChinaProject(8251064101000005) supported by the Natural Science Foundation of Guangdong Province,China
文摘In order to make the humanoid robot walk freely in complicated circumstance, the reliable capabilities for obtaining plane information from its surroundings are demanded. A system for extracting planes from data taken by stereo vision was presented, After the depth image was obtained, the pixels of each line were scanned and split into straight line segments. The neighbouring relation of line segments was kept in link structure. The groups of three line segments were selected as seed regions. A queue was maintained for storing seed regions, and then the plane region was expanded around the seed region. The process of region growing continued until the queue of seed regions was empty. After trimming, the edges of the planes became smooth. In the end, extracted planes were obtained. In the experiment, two models were used: pipe and stairs. Two planes in pipe mode/and six planes in stairs model were extracted exactly. The speed and precision of algorithm can satisfy the demands of humanoid robot's navigation.
文摘Road traffic is the important driving factor for economic and social development. With the rapid increase of vehicle population, road traffic problems such as traffic jam and traffic accident have become the bottleneck which restricts economic development. In recent years, natural disasters frequently occur in China. Therefore, it is essential to extract road information to compute the degree of road damage for traffic emergency management. A road extraction method based on region growing and mathematical morphology from remote sensing images is proposed in this paper. According to the road features, the remote sensing image is preprocessed to separate road regions from non-road regions preliminarily. After image thresholding, region growing algorithm is used to extract connected regions. Then we sort connected regions by area to exclude the small regions which are probably non-road objects. Finally, the mathematical morphology algorithm is used to fill the holes inside the road regions. The experimental results show that the method proposed can effectively extract roads from remote sensing images. This research also has broad prospects in dealing with traffic emergency management by the government.
基金Supported by the National Natural Science Foundation of China (No.61003236, 61171053, 61170065)the Doctoral Fund of Ministry of Education of China (No.20113223110002)the Natural Science Major Program for Colleges and Universities in Jiangsu Province(No.11KJA520001)
文摘The Wyner-Ziv distributed video coding scheme is characterized for its intraframe encoder and interframe decoder which can also approach the efficiency of an interframe encoder-decoder system. In Wyner-Ziv residual coding of video, the residual of a frame with respect to a reference frame is Wyner-Ziv encoded, which can reduces the input entropy and leads to a higher coding efficiency than directly encoding the original frame. In this paper, we propose a new approach of residual coding combined with Region Of Interest (ROI) extraction. Experimental results show that, the proposed scheme achieves better rate-distortion performance compared to conventional Wyner-Ziv coding scheme.
文摘针对现有三维目标检测算法对存在遮挡及距离较远目标检测效果差的问题,以基于点云的三维目标检测算法(3D object proposal generation and detection from point cloud,PointRCNN)为基础,对网络进行改进,提高三维目标检测精度。对区域生成网络(region proposal network,RPN)获取的提议区域(region of interest,ROI)体素化处理,同时构建不同尺度的区域金字塔来捕获更加广泛的兴趣点;加入点云Transformer模块来增强对网格中心点局部特征的学习;在网络中加入球查询半径预测模块,使得模型可以根据点云密度自适应调整球查询的范围。最后,对所提算法的有效性进行了试验验证,在KITTI数据集下对模型的性能进行评估测试,同时设计相应的消融试验验证模型中各模块的有效性。