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A novel robotic visual perception framework for underwater operation

Frontiers of Information Technology & Electronic Engineering 2022年第11期23卷 1602-1619页

作者： Yue LU Xingyu CHEN Zhengxing WU Junzhi YU Li WEN State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Ytech Kuaishou TechnologyBeijing 100085China State Key Laboratory for Turbulence and Complex Systems Department of Advanced Manufacturing and RoboticsCollege of EngineeringPeking UniversityBeijing 100871China School of Mechanical Engineering and Automation Beihang UniversityBeijing 100191China

Underwater robotic operation usually requires visual perception(e.g.,object detection and tracking),but underwater scenes have poor visual quality and represent a special domain which can affect the accuracy of visual *** addition,detection continuity and stability are important for robotic perception,but the commonly used static accuracy based evaluation(i.e.,average precision)is insufficient to reflect detector performance across *** response to these two problems,we present a design for a novel robotic visual perception ***,we generally investigate the relationship between a quality-diverse data domain and visual restoration in detection *** a result,although domain quality has an ignorable effect on within-domain detection accuracy,visual restoration is beneficial to detection in real sea scenarios by reducing the domain ***,non-reference assessments are proposed for detection continuity and stability based on object ***,online tracklet refinement is developed to improve the temporal performance of ***,combined with visual restoration,an accurate and stable underwater robotic visual perception framework is ***-overlap suppression is proposed to extend video object detection(VID)methods to a single-object tracking task,leading to the flexibility to switch between detection and *** experiments were conducted on the ImageNet VID dataset and real-world robotic tasks to verify the correctness of our analysis and the superiority of our proposed *** codes are available at https://***/yrqs/VisPerception.

关键词： Underwater operation Robotic perception visual restoration Video object detection

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Human melanopsin-AAV2/8 transfection to retina transiently restores visual function in rd1 mice

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International Journal of Ophthalmology(English edition) 2016年第5期9卷 655-661页

作者： Ming-Ming Liu Jia-Man Dai Wen-Yi Liu Cong-Jian Zhao Bin Lin Zheng-Qin Yin Southwest Hospital Southwest Eye Hospital Third Military Medical University Chongqing 400038 China Key Lab of visual Damage and Regeneration and restoration of Chongqing Chongqing 400038 China Departments of Anatomy and Ophthalmology Li Ka Shing Faculty of Medicine the University of Hong Kong Hong Kong 200131 China

AIM： To explore whether ectopic expression of human melanopsin can effectively and safely restore visual function in rd1 mice.· METHODS： Hematoxylin-eosin staining of retinal sections from rd1 mice was used to detect the thickness of the outer nuclear layer to determine the timing of surgery. We constructed a human melanopsinAAV2/8 viral vector and injected it into the subretinal space of rd1 mice. The Phoenix Micron IV system was used to exclude the aborted injections, and immunohistochemistry was used to validate the ectopic expression of human melanopsin. Furthermore, visual electrophysiology and behavioral tests were used to detect visual function 30 and 45 d after the injection. The structure of the retina was compared between the human melanopsin-injected group and phosphate buffer saline（PBS）-injected group.·RESULTS： Retinas of rd1 mice lost almost all of their photoreceptors on postnatal day 28（P28）. We therefore injected the human melanopsin-adeno-associated virus（AAV） 2/8 viral vector into P30 rd1 mice. After excluding aborted injections, we used immunohistochemistry of the whole mount retina to confirm the ectopic expression of human melanopsin by co-expression of human melanopsin and YFP that was carried by a viral vector. At30 d post-injection, visual electrophysiology and the behavioral test significantly improved. However,restoration of vision disappeared 45 d after human melanopsin injection. Notably, human melanopsin-injected mice did not show any structural differences in their retinas compared with PBS-injected mice.·CONCLUSION： Ectopic expression of human melanopsin effectively and safely restores visual function in rd1

关键词： human melanopsin retinal degenerative diseases visual restoration

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