The observation of oxygen(O)-and nitrogen(N)-bearing molecules gives an idea about the complex prebiotic chemistry in the interstellar medium.Recent millimeter and submillimeter wavelength observations have shown the ...The observation of oxygen(O)-and nitrogen(N)-bearing molecules gives an idea about the complex prebiotic chemistry in the interstellar medium.Recent millimeter and submillimeter wavelength observations have shown the presence of complex O-and N-bearing molecules in the star formation regions.So,the investigation of those molecules is crucial to understanding the chemical complexity in the star-forming regions.In this article,we present the identification of the rotational emission lines of N-bearing molecules ethyl cyanide(C_(2)H_(5)CN)and cyanoacetylene(HC_(3)N),and O-bearing molecule methyl formate(CH_(3)OCHO)toward high-mass protostar IRAS18089–1732 using the Atacama Compact Array.We also detected the emission lines of both the N-and O-bearing molecule formamide(NH_(2)CHO)in the envelope of IRAS 18089–1732.We have detected the v=0 and 1 state rotational emission lines of CH_(3)OCHO.We also detected the two vibrationally excited states of HC_(3)N(v7=1 and v7=2).The estimated fractional abundances of C_(2)H_(5)CN,HC_(3)N(v7=1),HC_(3)N(v7=2),and NH_(2)CHO toward IRAS 18089–1732 are(1.40±0.5)×10^(-10),(7.5±0.7)×10^(-11),(3.1±0.4)×10^(-11),and(6.25±0.82)×10^(-11)respectively.Similarly,the estimated fractional abundances of CH_(3)OCHO(v=0)and CH_(3)OCHO(v=1)are(1.90±0.9)×10^(-9)and(8.90±0.8)×10^(-10),respectively.We also created the integrated emission maps of the detected molecules,and the observed molecules may have originated from the extended envelope of the protostar.We show that C_(2)H_(5)CNand HC_(3)N are most probably formed via the subsequential hydrogenation of the CH_(2)CHCNand the reaction between C_(2)H_(2)and CN on the grain surface of IRAS 18089–1732.We found that NH_(2)CHO is probably produced due to the reaction between NH_(2)and H_(2)CO in the gas phase.Similarly,CH_(3)OCHO is possibly created via the reaction between radical CH_(3)O and radical HCO on the grain surface of IRAS 18089–1732.展开更多
Insulator defect detection plays a vital role in maintaining the secure operation of power systems.To address the issues of the difficulty of detecting small objects and missing objects due to the small scale,variable...Insulator defect detection plays a vital role in maintaining the secure operation of power systems.To address the issues of the difficulty of detecting small objects and missing objects due to the small scale,variable scale,and fuzzy edge morphology of insulator defects,we construct an insulator dataset with 1600 samples containing flashovers and breakages.Then a simple and effective surface defect detection method of power line insulators for difficult small objects is proposed.Firstly,a high-resolution featuremap is introduced and a small object prediction layer is added so that the model can detect tiny objects.Secondly,a simplified adaptive spatial feature fusion(SASFF)module is introduced to perform cross-scale spatial fusion to improve adaptability to variable multi-scale features.Finally,we propose an enhanced deformable attention mechanism(EDAM)module.By integrating a gating activation function,the model is further inspired to learn a small number of critical sampling points near reference points.And the module can improve the perception of object morphology.The experimental results indicate that concerning the dataset of flashover and breakage defects,this method improves the performance of YOLOv5,YOLOv7,and YOLOv8.In practical application,it can simply and effectively improve the precision of power line insulator defect detection and reduce missing detection for difficult small objects.展开更多
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 computati...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.展开更多
Introduction: Cranioencephalic trauma caused by bladed weapons is rare, and that caused by sharp objects is exceptional. The aim of our study was to describe the clinical, therapeutic and evolutionary aspects. Materia...Introduction: Cranioencephalic trauma caused by bladed weapons is rare, and that caused by sharp objects is exceptional. The aim of our study was to describe the clinical, therapeutic and evolutionary aspects. Materials and method: This was a descriptive and analytical study over a 48-month period at CHU la Renaissance from January 1, 2018 to December 31, 2021, concerning patients admitted for penetrating cranioencephalic trauma by pointed object. Results: Twelve cases, all male, of penetrating cranioencephalic sharp-force trauma were identified. The mean age was 34 ± 7 years, with extremes of 11 and 60 years. Farmers and herders accounted for 31% and 25% of cases respectively. The average admission time was 47 hours. Brawls were the circumstances of occurrence in 81.2% of cases. Knives (33%), arrows (25%) and iron bars (16.6%) were the objects used. Altered consciousness was present in 43.8% of cases, and focal deficit in 50%. Scannographic lesions were fracture and/or embarrhment (12 cases), intra-parenchymal haematomas (6 cases) and presence of object in place (4 cases). Surgery was performed in 11 patients. Postoperative outcome was favorable in 9 patients. After 12 months, 2 patients were declared unfit. Conclusion: Penetrating head injuries caused by sharp objects are common in Chad. Urgent surgery can prevent disabling after-effects.展开更多
This article presents an analysis of the patterns of interactions resulting from the positive and negative emotional events that occur in cities,considering them as complex systems.It explores,from the imaginaries,how...This article presents an analysis of the patterns of interactions resulting from the positive and negative emotional events that occur in cities,considering them as complex systems.It explores,from the imaginaries,how certain urban objects can act as emotional agents and how these events affect the urban system as a whole.An adaptive complex systems perspective is used to analyze these patterns.The results show patterns in the processes and dynamics that occur in cities based on the objects that affect the emotions of the people who live there.These patterns depend on the characteristics of the emotional charge of urban objects,but they can be generalized in the following process:(1)immediate reaction by some individuals;(2)emotions are generated at the individual level which begins to generalize,permuting to a collective emotion;(3)a process of reflection is detonated in some individuals from the reading of collective emotions;(4)integration/significance in the community both at the individual and collective level,on the concepts,roles and/or functions that give rise to the process in the system.Therefore,it is clear that emotions play a significant role in the development of cities and these aspects should be considered in the design strategies of all kinds of projects for the city.Future extensions of this work could include a deeper analysis of specific emotional events in urban environments,as well as possible implications for urban policy and decision making.展开更多
In this paper,the open-sourced computational fluid dynamics software,OpenFOAM~?,is used to study the fluctuation phenomenon of the water body inside a horizontally one-dimensional enclosed harbor basin with constant w...In this paper,the open-sourced computational fluid dynamics software,OpenFOAM~?,is used to study the fluctuation phenomenon of the water body inside a horizontally one-dimensional enclosed harbor basin with constant water depth triggered by falling wedges with various horizontal falling positions,initial falling velocities and masses.Based on both Fourier transfo rm analysis and wavelet spectrum analysis for the time series of the free surface elevations inside the harbor basin,it is found for the first time that the wedge falling inside the harbor can directly trigger harbor resonance.The influences of the three factors(including the horizontal falling position,the initial falling velocity,and the mass)on the response amplitudes of the lowest three resonant modes are also investigated.The results show that when the wedge falls on one of the nodal points of a resonant mode,the mode would be remarkably suppressed.Conversely,when the wedge falls on one of the anti-nodal points of a resonant mode,the mode would be evidently triggered.The initial falling velocity of the wedge mainly has a remarkable effect on the response amplitude of the most significant mode,and the latter shows a gradual increase trend with the increase of the former.While for the other two less significant modes,their response amplitudes fluctuate around certain constant values as the initial falling velocity rises.In general,the response amplitudes of all the lowest three modes are shown to gradually increase with the mass of the wedge.展开更多
The amount of needed control messages in wireless sensor networks(WSN)is affected by the storage strategy of detected events.Because broadcasting superfluous control messages consumes excess energy,the network lifespa...The amount of needed control messages in wireless sensor networks(WSN)is affected by the storage strategy of detected events.Because broadcasting superfluous control messages consumes excess energy,the network lifespan can be extended if the quantity of control messages is decreased.In this study,an optimized storage technique having low control overhead for tracking the objects in WSN is introduced.The basic concept is to retain observed events in internal memory and preserve the relationship between sensed information and sensor nodes using a novel inexpensive data structure entitled Ordered Binary Linked List(OBLL).Whenever an object passes over the sensor area,the recognizing sensor can immediately produce an OBLL along the object’s route.To retrieve the entire information,the OBLL can be traversed with logarithmic complexity which is much less than the traversing complexity of existing linked list structures.Performance evaluation and simulations were carried out to ensure that the suggested technique minimizes the number of messages and thus saving energy and extending the network life.展开更多
Three-dimensional(3D) scanning technology has undergone remarkable developments in recent years.Data acquired by 3D scanning have the form of 3D point clouds.The 3D scanned point clouds have data sizes that can be con...Three-dimensional(3D) scanning technology has undergone remarkable developments in recent years.Data acquired by 3D scanning have the form of 3D point clouds.The 3D scanned point clouds have data sizes that can be considered big data.They also contain measurement noise inherent in measurement data.These properties of 3D scanned point clouds make many traditional CG/visualization techniques difficult.This paper reviewed our recent achievements in developing varieties of high-quality visualizations suitable for the visual analysis of 3D scanned point clouds.We demonstrated the effectiveness of the method by applying the visualizations to various cultural heritage objects.The main visualization targets used in this paper are the floats in the Gion Festival in Kyoto(the float parade is on the UNESCO Intangible Cultural Heritage List) and Borobudur Temple in Indonesia(a UNESCO World Heritage Site).展开更多
The transmission of video content over a network raises various issues relating to copyright authenticity,ethics,legality,and privacy.The protection of copyrighted video content is a significant issue in the video ind...The transmission of video content over a network raises various issues relating to copyright authenticity,ethics,legality,and privacy.The protection of copyrighted video content is a significant issue in the video industry,and it is essential to find effective solutions to prevent tampering and modification of digital video content during its transmission through digital media.However,there are stillmany unresolved challenges.This paper aims to address those challenges by proposing a new technique for detectingmoving objects in digital videos,which can help prove the credibility of video content by detecting any fake objects inserted by hackers.The proposed technique involves using two methods,the H.264 and the extraction color features methods,to embed and extract watermarks in video frames.The study tested the performance of the system against various attacks and found it to be robust.The evaluation was done using different metrics such as Peak-Signal-to-Noise Ratio(PSNR),Mean Squared Error(MSE),Structural Similarity Index Measure(SSIM),Bit Correction Ratio(BCR),and Normalized Correlation.The accuracy of identifying moving objects was high,ranging from 96.3%to 98.7%.The system was also able to embed a fragile watermark with a success rate of over 93.65%and had an average capacity of hiding of 78.67.The reconstructed video frames had high quality with a PSNR of at least 65.45 dB and SSIMof over 0.97,making them imperceptible to the human eye.The system also had an acceptable average time difference(T=1.227/s)compared with other state-of-the-art methods.展开更多
公路洒落物是影响交通安全的重要因素之一,为了解决中小尺度公路洒落物检测中的漏检、误检以及难以定位等问题,本文提出了一种图像引导和点云空间约束的公路洒落物检测定位方法。该方法使用改进的YOLOv7-OD网络处理图像数据获取二维目...公路洒落物是影响交通安全的重要因素之一,为了解决中小尺度公路洒落物检测中的漏检、误检以及难以定位等问题,本文提出了一种图像引导和点云空间约束的公路洒落物检测定位方法。该方法使用改进的YOLOv7-OD网络处理图像数据获取二维目标预测框信息,将目标预测框投影到激光雷达坐标系下得到锥形感兴趣区域(region of interest,ROI)。在ROI区域内的点云空间约束下,联合点云聚类和点云生成算法获得不同尺度的洒落物在三维空间中的检测定位结果。实验表明:改进的YOLOv7-OD网络在中尺度目标上的召回率和平均精度分别为85.4%和82.0%,相比YOLOv7网络分别提升6.6和8.0个百分点;在小尺度目标上的召回率和平均精度分别为66.8%和57.3%,均提升5.3个百分点;洒落物定位方面,对于距离检测车辆30~40 m处的目标,深度定位误差为0.19 m,角度定位误差为0.082°,实现了多尺度公路洒落物的检测和定位。展开更多
基金the Swami Vivekananda Merit-cum-Means Scholarship(SVMCM)for financial support for this research。
文摘The observation of oxygen(O)-and nitrogen(N)-bearing molecules gives an idea about the complex prebiotic chemistry in the interstellar medium.Recent millimeter and submillimeter wavelength observations have shown the presence of complex O-and N-bearing molecules in the star formation regions.So,the investigation of those molecules is crucial to understanding the chemical complexity in the star-forming regions.In this article,we present the identification of the rotational emission lines of N-bearing molecules ethyl cyanide(C_(2)H_(5)CN)and cyanoacetylene(HC_(3)N),and O-bearing molecule methyl formate(CH_(3)OCHO)toward high-mass protostar IRAS18089–1732 using the Atacama Compact Array.We also detected the emission lines of both the N-and O-bearing molecule formamide(NH_(2)CHO)in the envelope of IRAS 18089–1732.We have detected the v=0 and 1 state rotational emission lines of CH_(3)OCHO.We also detected the two vibrationally excited states of HC_(3)N(v7=1 and v7=2).The estimated fractional abundances of C_(2)H_(5)CN,HC_(3)N(v7=1),HC_(3)N(v7=2),and NH_(2)CHO toward IRAS 18089–1732 are(1.40±0.5)×10^(-10),(7.5±0.7)×10^(-11),(3.1±0.4)×10^(-11),and(6.25±0.82)×10^(-11)respectively.Similarly,the estimated fractional abundances of CH_(3)OCHO(v=0)and CH_(3)OCHO(v=1)are(1.90±0.9)×10^(-9)and(8.90±0.8)×10^(-10),respectively.We also created the integrated emission maps of the detected molecules,and the observed molecules may have originated from the extended envelope of the protostar.We show that C_(2)H_(5)CNand HC_(3)N are most probably formed via the subsequential hydrogenation of the CH_(2)CHCNand the reaction between C_(2)H_(2)and CN on the grain surface of IRAS 18089–1732.We found that NH_(2)CHO is probably produced due to the reaction between NH_(2)and H_(2)CO in the gas phase.Similarly,CH_(3)OCHO is possibly created via the reaction between radical CH_(3)O and radical HCO on the grain surface of IRAS 18089–1732.
基金State Grid Jiangsu Electric Power Co.,Ltd.of the Science and Technology Project(Grant No.J2022004).
文摘Insulator defect detection plays a vital role in maintaining the secure operation of power systems.To address the issues of the difficulty of detecting small objects and missing objects due to the small scale,variable scale,and fuzzy edge morphology of insulator defects,we construct an insulator dataset with 1600 samples containing flashovers and breakages.Then a simple and effective surface defect detection method of power line insulators for difficult small objects is proposed.Firstly,a high-resolution featuremap is introduced and a small object prediction layer is added so that the model can detect tiny objects.Secondly,a simplified adaptive spatial feature fusion(SASFF)module is introduced to perform cross-scale spatial fusion to improve adaptability to variable multi-scale features.Finally,we propose an enhanced deformable attention mechanism(EDAM)module.By integrating a gating activation function,the model is further inspired to learn a small number of critical sampling points near reference points.And the module can improve the perception of object morphology.The experimental results indicate that concerning the dataset of flashover and breakage defects,this method improves the performance of YOLOv5,YOLOv7,and YOLOv8.In practical application,it can simply and effectively improve the precision of power line insulator defect detection and reduce missing detection for difficult small objects.
基金supported in part by the National Natural Science Foundation of China (62073271)the Natural Science Foundation for Distinguished Young Scholars of the Fujian Province of China (2023J06010)the Fundamental Research Funds for the Central Universities of China(20720220076)。
文摘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.
文摘Introduction: Cranioencephalic trauma caused by bladed weapons is rare, and that caused by sharp objects is exceptional. The aim of our study was to describe the clinical, therapeutic and evolutionary aspects. Materials and method: This was a descriptive and analytical study over a 48-month period at CHU la Renaissance from January 1, 2018 to December 31, 2021, concerning patients admitted for penetrating cranioencephalic trauma by pointed object. Results: Twelve cases, all male, of penetrating cranioencephalic sharp-force trauma were identified. The mean age was 34 ± 7 years, with extremes of 11 and 60 years. Farmers and herders accounted for 31% and 25% of cases respectively. The average admission time was 47 hours. Brawls were the circumstances of occurrence in 81.2% of cases. Knives (33%), arrows (25%) and iron bars (16.6%) were the objects used. Altered consciousness was present in 43.8% of cases, and focal deficit in 50%. Scannographic lesions were fracture and/or embarrhment (12 cases), intra-parenchymal haematomas (6 cases) and presence of object in place (4 cases). Surgery was performed in 11 patients. Postoperative outcome was favorable in 9 patients. After 12 months, 2 patients were declared unfit. Conclusion: Penetrating head injuries caused by sharp objects are common in Chad. Urgent surgery can prevent disabling after-effects.
文摘This article presents an analysis of the patterns of interactions resulting from the positive and negative emotional events that occur in cities,considering them as complex systems.It explores,from the imaginaries,how certain urban objects can act as emotional agents and how these events affect the urban system as a whole.An adaptive complex systems perspective is used to analyze these patterns.The results show patterns in the processes and dynamics that occur in cities based on the objects that affect the emotions of the people who live there.These patterns depend on the characteristics of the emotional charge of urban objects,but they can be generalized in the following process:(1)immediate reaction by some individuals;(2)emotions are generated at the individual level which begins to generalize,permuting to a collective emotion;(3)a process of reflection is detonated in some individuals from the reading of collective emotions;(4)integration/significance in the community both at the individual and collective level,on the concepts,roles and/or functions that give rise to the process in the system.Therefore,it is clear that emotions play a significant role in the development of cities and these aspects should be considered in the design strategies of all kinds of projects for the city.Future extensions of this work could include a deeper analysis of specific emotional events in urban environments,as well as possible implications for urban policy and decision making.
基金financially supported by the National Natural Science Foundation of China (Grant No.51911530205)the Natural Science Foundation of Jiangsu Province (Grant No.BK20201455)+5 种基金the Guangdong Basic and Applied Basic Research Foundation (Grant No.2023A1515010890)the Key Laboratory of PortWaterway and Sedimentation Engineering of MOT (Grant No.YK222001-2)the Open Research Fund of Key Laboratory of Water Security Guarantee in Guangdong-Hong Kong-Marco Greater Bay Area of Ministry of Water Resources (Grant No.WSGBAKJ202309)the Qing Lan Project of Jiangsu Universitiesthe Royal Society (Grant No.IECNSFC181321)。
文摘In this paper,the open-sourced computational fluid dynamics software,OpenFOAM~?,is used to study the fluctuation phenomenon of the water body inside a horizontally one-dimensional enclosed harbor basin with constant water depth triggered by falling wedges with various horizontal falling positions,initial falling velocities and masses.Based on both Fourier transfo rm analysis and wavelet spectrum analysis for the time series of the free surface elevations inside the harbor basin,it is found for the first time that the wedge falling inside the harbor can directly trigger harbor resonance.The influences of the three factors(including the horizontal falling position,the initial falling velocity,and the mass)on the response amplitudes of the lowest three resonant modes are also investigated.The results show that when the wedge falls on one of the nodal points of a resonant mode,the mode would be remarkably suppressed.Conversely,when the wedge falls on one of the anti-nodal points of a resonant mode,the mode would be evidently triggered.The initial falling velocity of the wedge mainly has a remarkable effect on the response amplitude of the most significant mode,and the latter shows a gradual increase trend with the increase of the former.While for the other two less significant modes,their response amplitudes fluctuate around certain constant values as the initial falling velocity rises.In general,the response amplitudes of all the lowest three modes are shown to gradually increase with the mass of the wedge.
文摘The amount of needed control messages in wireless sensor networks(WSN)is affected by the storage strategy of detected events.Because broadcasting superfluous control messages consumes excess energy,the network lifespan can be extended if the quantity of control messages is decreased.In this study,an optimized storage technique having low control overhead for tracking the objects in WSN is introduced.The basic concept is to retain observed events in internal memory and preserve the relationship between sensed information and sensor nodes using a novel inexpensive data structure entitled Ordered Binary Linked List(OBLL).Whenever an object passes over the sensor area,the recognizing sensor can immediately produce an OBLL along the object’s route.To retrieve the entire information,the OBLL can be traversed with logarithmic complexity which is much less than the traversing complexity of existing linked list structures.Performance evaluation and simulations were carried out to ensure that the suggested technique minimizes the number of messages and thus saving energy and extending the network life.
文摘Three-dimensional(3D) scanning technology has undergone remarkable developments in recent years.Data acquired by 3D scanning have the form of 3D point clouds.The 3D scanned point clouds have data sizes that can be considered big data.They also contain measurement noise inherent in measurement data.These properties of 3D scanned point clouds make many traditional CG/visualization techniques difficult.This paper reviewed our recent achievements in developing varieties of high-quality visualizations suitable for the visual analysis of 3D scanned point clouds.We demonstrated the effectiveness of the method by applying the visualizations to various cultural heritage objects.The main visualization targets used in this paper are the floats in the Gion Festival in Kyoto(the float parade is on the UNESCO Intangible Cultural Heritage List) and Borobudur Temple in Indonesia(a UNESCO World Heritage Site).
文摘The transmission of video content over a network raises various issues relating to copyright authenticity,ethics,legality,and privacy.The protection of copyrighted video content is a significant issue in the video industry,and it is essential to find effective solutions to prevent tampering and modification of digital video content during its transmission through digital media.However,there are stillmany unresolved challenges.This paper aims to address those challenges by proposing a new technique for detectingmoving objects in digital videos,which can help prove the credibility of video content by detecting any fake objects inserted by hackers.The proposed technique involves using two methods,the H.264 and the extraction color features methods,to embed and extract watermarks in video frames.The study tested the performance of the system against various attacks and found it to be robust.The evaluation was done using different metrics such as Peak-Signal-to-Noise Ratio(PSNR),Mean Squared Error(MSE),Structural Similarity Index Measure(SSIM),Bit Correction Ratio(BCR),and Normalized Correlation.The accuracy of identifying moving objects was high,ranging from 96.3%to 98.7%.The system was also able to embed a fragile watermark with a success rate of over 93.65%and had an average capacity of hiding of 78.67.The reconstructed video frames had high quality with a PSNR of at least 65.45 dB and SSIMof over 0.97,making them imperceptible to the human eye.The system also had an acceptable average time difference(T=1.227/s)compared with other state-of-the-art methods.
文摘公路洒落物是影响交通安全的重要因素之一,为了解决中小尺度公路洒落物检测中的漏检、误检以及难以定位等问题,本文提出了一种图像引导和点云空间约束的公路洒落物检测定位方法。该方法使用改进的YOLOv7-OD网络处理图像数据获取二维目标预测框信息,将目标预测框投影到激光雷达坐标系下得到锥形感兴趣区域(region of interest,ROI)。在ROI区域内的点云空间约束下,联合点云聚类和点云生成算法获得不同尺度的洒落物在三维空间中的检测定位结果。实验表明:改进的YOLOv7-OD网络在中尺度目标上的召回率和平均精度分别为85.4%和82.0%,相比YOLOv7网络分别提升6.6和8.0个百分点;在小尺度目标上的召回率和平均精度分别为66.8%和57.3%,均提升5.3个百分点;洒落物定位方面,对于距离检测车辆30~40 m处的目标,深度定位误差为0.19 m,角度定位误差为0.082°,实现了多尺度公路洒落物的检测和定位。