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LiDAR-Visual SLAM with Integrated Semantic and Texture Information for Enhanced Ecological Monitoring Vehicle Localization

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Computers, Materials & Continua 2025年第1期82卷 1401-1416页

作者： Yiqing Lu Liutao Zhao Qiankun Zhao Foreign Environmental Cooperation Center Ministry of Ecology and Environment of PRCBeijing100035China beijing Computing Center Co. Ltd.Beijing Academy of Science and TechnologyBeijing100083China beijing Guyu Interactive Artificial Intelligence Application Co. Ltd.Beijing100024China

Ecological monitoring vehicles are equipped with a range of sensors and monitoring devices designed to gather data on ecological and environmental *** vehicles are crucial in various fields,including environmental science research,ecological and environmental monitoring projects,disaster response,and emergency management.A key method employed in these vehicles for achieving high-precision positioning is LiDAR(lightlaser detection and ranging)-Visual Simultaneous Localization and Mapping(SLAM).However,maintaining highprecision localization in complex scenarios,such as degraded environments or when dynamic objects are present,remains a significant *** address this issue,we integrate both semantic and texture information from LiDAR and cameras to enhance the robustness and efficiency of data ***,semantic information simplifies the modeling of scene elements,reducing the reliance on dense point clouds,which can be less ***,visual texture information complements LiDAR-Visual localization by providing additional contextual *** incorporating semantic and texture details frompaired images and point clouds,we significantly improve the quality of data association,thereby increasing the success rate of *** approach not only enhances the operational capabilities of ecological monitoring vehicles in complex environments but also contributes to improving the overall efficiency and effectiveness of ecological monitoring and environmental protection efforts.

关键词： LiDAR-Visual simultaneous localization and mapping integrated semantic texture information

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Disease distribution and medical resources during the beijing 2008 Olympic and Paralympic Games

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Chinese Medical Journal 2011年第7期124卷 1031-1036页

作者： LIANG Xue-ya LAN Ling CHEN Wei-na ZHANG Ai-ping LU Chao-ying LU Yan-wei DAI Jian-ping Department of Gastroenterology Beijing Jishuitan Hospital Beijing 100035 China Department of Endocrinology Beijing Jishuitan Hospital Beijing 100035 China Capital Institute of Physical Education Beijing 100191 China Games Services Department Beijing Organizing Committee for the Games of XXIX Olympiad Beijing Organizing Committee for Olympic Games for Short Beijing 100035 China Medical Services Division Beijing Organizing Committee for Olympic Games beijing Municipal Health Bureau Beijing 100053 China Clinical Statistics and Epidemiology Research Office Beijing Research Institute of Tranmatology and Orthopaedics Beijing 100035 China Department of Radiology Tiantan Hospital Beijing 100050 China

Background Appropriate planning and staffing for medical services at large-scale athletic events is essential to provide for a safe and successful competition. There are few well-documented accounts describing the demand for such services. The present study provided the data from the beijing 2008 Olympics and Paralympics, with a view to provide the guidance for planning future events.

关键词： Olympic Games ParaIympic Games disease distribution athletes

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Characteristics of Adult Fractures in Emergency Department in beijing Jishuitan Hospital during 2009-2016

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Chinese Medical Journal 2018年第3期131卷 359-360页

作者： Zhi-Wei Liu Bin Zhao Department of Emergency Medicine Beijing Jishuitan Hospital Beijing 100035 China

Fracture was a common injury in ***,the number of fractures showed an increasing trend in previous *** bring suffering and enormous financial burdens to patients and their families. As the development of urbanization,the incidence of fractures increases ***,the research on the spectrum of adult fractures has not been enough in *** a trauma emergency center of beijing,Jishuitan Hospital is a center for adults＇ first aid and treatment of fractures,we designed this study to provide a reliable basis for better adjustment of adult fractures treatment and prevention.

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The beijing Desheng Diabetic Eye Study:rationale,design,methodology and baseline data

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International Journal of Ophthalmology(English edition) 2018年第1期11卷 108-116页

作者： Yun-Yun Li Xiu-Fen Yang Hong Gu Xi-Pu Liu Torkel Snellingen Ning-Pu Liu beijing Tongren Eye Center Beijing Tongren HospitalCapital Medical UniversityBeijing Ophthalmology and VisualSciences Key LaboratoryBeijing 100730China Department of Ophthalmology Friendship HospitalCapitalMedical UniversityBeijing 100050China Department of Ophthalmology Ningbo Medical TreatmentCenter Lihuili HospitalNingbo 315040Zhejiang ProvinceChina Sekwa Institute of Medicine Beijing 100035China

AIM： To present the rationale, design, methodology, and the baseline data of the beijing Desheng Diabetic Eye Study（BDDES）, and to determine the prevalence of diabetic retinopathy（DR） and possible risk factors in patients with type 2 diabetes mellitus（T2DM） in an urban community of beijing, ***： Community-based prospective cohort study of persons diagnosed with T2DM aged 30 y or older. The main variables of interest are the presence and progression of DR as determined by the standardized ETDRS grading of seven fields fundus photographs. The presence and severity of DR were analyzed for possible correlations to non-genetic and genetic ***： A total of 1438 participants with data available for analysis, the prevalence of any DR was 35.4%. The prevalence of mild non-proliferative diabetic retinopathy（NPDR）, moderate NPDR, severe NPDR, and proliferative diabetic retinopathy was 27.7%, 2.6%, 0.5% and 4.5%, respectively. By multiple logistic regression analysis, risk factors for the presence of any DR included male（P=0.031）, lower income level（P=0.011）, lower education background（P=0.022）, longer duration of diabetes（P=0.001）, younger age at diabetic onset（P=0.001）, higher systolic blood pressure（P=0.007）, higher glycosylated hemoglobin A1 c levels（P=0.001）, high albuminuria（P=0.03）, and use of insulin（P〈0.001）. For vision-threatening DR, four factors were significant： younger age at diabetic onset（P〈0.001）,higher systolic blood pressure（P=0.042）, high albuminuria（P〈0.001）, and use of insulin（P〈0.001）. CONCLUSION： The BDDES is the first large-scale ongoing cohort study of a Chinese urban population of persons with type 2 diabetes. Using standardized grading system comparable to large cohort studies from western populations, our baseline data shows that the prevalence of DR and major risk factors in this Chinese ethnic population are comparable to that found in the western population studies.

关键词： type 2 diabetes mellitus diabetic retinopathy risk factors cohort study

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Living near a Major Road in beijing： Association with Lower Lung Function, Airway Acidification, and Chronic Cough

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Chinese Medical Journal 2016年第18期129卷 2184-2190页

作者： Zhan-Wei Hu Yan-Ni Zhao Yuan Cheng Cui-Yan Guo Xi Wang Nan Li Jun-Qing Liu Hui Kang Guo-Guang Xia Ping Hu Ping-Ji Zhang Jing Ma Ying Liu Cheng Zhang Li Su Guang-Fa Wang Department of Respiratory and Critical Care Medicine Peking University First Hospital Beijing 100034 China Department of Internal Medicine Shichahai Community Health Care Center Beijing 100035 China Department of Respiratory and Critical Care Medicine Beijing Jishuitan Hospital Beijing 100035 China

Background： The effects of near-road pollution on lung function in China have not been well studied. We aimed to investigate the effects of long-term exposure to traffic-related air pollution on lung function, airway inflammation, and respiratory symptoms. Methods： We enrolled 1003 residents aged 57.96 ± 8.99 years living in the Shichahai Community in beijing. Distances between home addresses and the nearest major roads were measured to calculate home-road distance. We used the distance categories 1, 2, and 3, representing 〈100 m, 100-200 m, and 〉200 m, respectively, as the dose indicator for traffic-related air pollution exposure. Lung function, exhaled breath condensate （EBC） pH, and interleukin 6 levels were measured. As a follow-up, 398 participants had a second lung function assessment about 3 years later, and lung function decline was also examined as an outcome. We used regression analysis to assess the impacts of home-road distance on lung function and respiratory symptoms. As the EBC biomarker data were not normally distributed, we performed correlation analysis between home-road distance categories and EBC biomarkers. Results： Participants living a shorter distance from major roads had lower percentage of predicted value of forced expiratory volume in 1 s （FEV1% -1.54, 95% confidence interval [CI]： -0.20 to -2.89）. The odds ratio for chronic cough was 2.54 （95% CI： 1.57-4.10） for category 1 and 1.97 （95% CI： 1.16-3.37） for category 2, compared with category 3. EBC pH was positively correlated with road distance （rank correlation coefficient of Spearman [rs] = 0.176, P 〈 0.001 ）. Conclusions： Long-term exposure to traffic-related air pollution in people who live near major roads in beijing is associated with lower lung function, airway acidification, and a higher prevalence of chronic cough. EBC pH is a potential useful biomarker for evaluating air pollution exposure.

关键词： Air Pollution Airway Inflammation Chronic Cough Exhaled Breath Condensate Lung Function

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Free Flow-through Anterolateral Thigh Flaps for Wrist High-tension Electrical Burns:A Retrospective Case Series

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Biomedical and Environmental Sciences 2020年第7期33卷 510-517页

作者： WANG Cheng SHEN Yu Ming QIN Feng Jun HU Xiao Hua Department of Burns Beijing Jishuitan HospitalBeijing 100035China

Objective The objective of this report was to demonstrate the clinical application of free flow-through anterolateral thigh flaps for the treatment of high-tension electrical wrist *** We collected the data of 8 patients with high-tension electrical wrist burns admitted to beijing Jishuitan Hospital from January 2014 to December *** clinical and pathological data were extracted from electronic hospital medical *** obtained follow-up information through clinic *** The injury sites for all 8 patients were the wrists,specifically 5 right and 3 left wrists,all of which were on the flexor *** patients had ulnar artery embolism necrosis and patency,with injury to the radial *** patients had ulnar and radial arterial embolization and *** last patient had ulnar arterial embolization and necrosis with a normal radial *** debridement,the wound area ranged from 12 cm×9 cm to 25 cm×16 *** diagnoses for the eight patients were type II to type III high-tension electrical wrist *** flow-through anterolateral thigh flaps(combined with great saphenous vein transplantation if necessary)were used to repair the *** prognosis for all patients was good after six months to one year of *** Treating wrist types II and III high-tension electrical burns is still challenging in clinical *** use of free flow-through anterolateral thigh flaps(combined with great saphenous vein transplantation if necessary)to repair the wound and to restore the blood supply for the hand at the same time is a good choice for treating severe wrist electrical burns.

关键词： High-tension electrical burns Wrist flap surgery Free flow-through anterolateral thigh flaps

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Application of a pre-filled tissue expander for preventing soft tissue incarceration during tibial distraction osteogenesis

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World Journal of Clinical Cases 2020年第11期8卷 2181-2189页

作者： Hui Chen Xing Teng Xiao-Hua Hu Lin Cheng Wei-Li Du Yu-Ming Shen Department of Burns and Plastic Surgery Beijing Jishuitan HospitalBeijing 100035China Department of Traumatic Orthopedics Beijing Jishuitan HospitalBeijing 100035China

BACKGROUND Bone transport and distraction osteogenesis has been widely used to treat bone defects after traumatic surgery,but,skin and soft tissue incarceration can be as high as 27.6%.AIM To investigate the efficacy of inserting a tissue expander to prevent soft tissue *** Between January 2016 and December 2018,12 patients underwent implantation of a tissue expander in the subcutaneous layer in the vicinity of a tibial defect to maintain the soft tissue in position.A certain amount of normal saline was injected into the tissue expander during surgery and was then gradually extracted to shrink the expander during the course of transport distraction *** tissue expander was removed when the two ends of the tibial defect were close *** In all 12 patients,the expanders remained intact in the subcutaneous layer of the bone defect area during the course of transport distraction *** bone transport was adequate,the expander was removed and the bone transport process was *** the whole process,there was no incarceration of skin and soft tissue in the bone defect *** occurred in one patient,who experienced poor wound *** The pre-filled expander technique can effectively avoid soft tissue *** authors’primary success with this method indicates that it may be a valuable tool in the management of incarcerated soft tissue.

关键词： Tissue expander Tibial defect Bone transport Skin and soft tissue incarceration Distraction osteogenesis

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Guidelines for navigation-assisted spine surgery

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Frontiers of Medicine 2020年第4期14卷 518-527页

作者： Wei Tian Bo Liu Da He Yajun Liu Xiaoguang Han Jingwei Zhao Mingxing Fan International Society for Computer Assisted Orthopaedic Surgery 1 Department of Spine Surgery Beijing Jishuitan HospitalBeijing 100035China beijing Key Laboratory of Robotic Orthopaedics Beijing 100035China

Spinal surgery is a technically demanding and challenging procedure because of the complicated anatomical structures of the spine and its proximity to several important *** landmarks and fluoroscopy have been used for pedicle screw insertion but are found to produce inaccuracies in *** the safety and accuracy of spinal surgery has increasingly become a clinical *** navigation is an extension and application of precision medicine in orthopaedic surgery and has significantly improved the accuracy of spinal ***,no clinical guidelines have been published for this relatively new and fast-growing technique,thus potentially limiting its *** accordance with the consensus of consultant specialists,literature reviews,and our local experience,these guidelines include the basic concepts of the navigation system,workflow of navigation-assisted spinal surgery,some common pitfalls,and recommended *** work helps to standardize navigation-assisted spinal surgery,improve its clinical efficiency and precision,and shorten the clinical learning curve.

关键词： guidelines spine surgery computer-assisted navigation

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Distribution and drug resistance of pathogens in burn patients in China from 2006 to 2019

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World Journal of Clinical Cases 2021年第10期9卷 2228-2237页

作者： Hui Chen Lin Yang Lin Cheng Xiao-Hua Hu Yu-Ming Shen Department of Burns and Plastic Surgery Beijing Jishuitan HospitalBeijing 100035China Department of Healthcare Associated Infection Control Beijing Jishuitan HospitalBeijing 100035China

BACKGROUND In this study,recent trends in the distribution and drug resistance of pathogenic bacteria isolated from patients treated at a burn ward between 2006 and 2019 were *** To develop more effective clinical strategies and techniques for the prevention and treatment of bacterial infections in burn *** Clinical samples with positive bacteria were collected from patients at the burn ward in beijing Jishuitan Hospital in China between January 2006 and December *** samples were retrospectively analyzed,the distribution of pathogenic bacteria was determined,and the trends and changes in bacterial drug resistance during different period were *** resistance in several main pathogenic bacteria from 2006 to 2011 and from 2012 to 2019 was comparatively summarized and *** Samples from 17119 patients were collected and analyzed from 2006 to ***,a total of 7960 strains of different pathogenic bacteria were isolated at this *** these bacteria,87.98%(7003/7960)of the strains were isolated from burn wounds,and only 1.34%(107/7960)were isolated from the blood of *** addition,49.70%(3956/7960)were identified as Grampositive bacteria,48.13%(3831/7960)were Gram-negative bacteria,and the remaining 2.17%(173/7960)were classified as fungi or other ***,Staphylococcus aureus(21.68%),Pseudomonas aeruginosa(14.23%),and Staphylococcus epidermidis (9.61%) were the top three pathogens most frequentlyisolated from *** In patients treated at the burn ward in this hospital from 2006 to 2019,Staphylococcus aureus and Pseudomonas aeruginosa were the predominant clinicalpathogens responsible for bacterial infections. The circumstantial detection anddetailed monitoring of the intensity and growth of different pathogenic bacteria inclinical patients as well as tests of drug sensitivity during burn recovery areparticularly important to provide guidelines for the application of an

关键词： Drug resistance Pathogen distribution Burn Bacterial species Infection

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Current advances for bone regeneration based on tissue engineering strategies

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Frontiers of Medicine 2019年第2期13卷 160-188页

作者： Rui Shi Yuelong Huang Chi Ma Chengai Wu Wei Tian Institute of Traumatology and Orthopaedics Beijing Laboratory of Biomedical MaterialsBeijing Jishuitan HospitalBeijing 100035 China Department of Spine Surgery of beijing Jishuitan Hospital The Fourth Clinical Medical College of Peking UniversityBeijing 100035China

Bone tissue engineering (BTE) is a rapidly developing strategy for repairing critical-sized bone defects to address the unmet need for bone augmentation and skeletal repair. Effective therapies for bone regeneration primarily require the coordinated combination of innovative scaffolds, seed cells, and biological factors. However, current techniques in bone tissue engineering have not yet reached valid translation into clinical applications because of several limitations, such as weaker osteogenic differentiation, inadequate vascularization of scaffolds, and inefficient growth factor delivery. Therefore, further standardized protocols and innovative measures are required to overcome these shortcomings and facilitate the clinical application of these techniques to enhance bone regeneration. Given the deficiency of comprehensive studies in the development in BTE, our review systematically introduces the new types of biomimetic and bifunctional scaffolds. We describe the cell sources, biology of seed cells, growth factors, vascular development, and the interactions of relevant molecules. Furthermore, we discuss the challenges and perspectives that may propel the direction of future clinical delivery in bone regeneration.

关键词： bone tissue engineering stem cell bone scaffold growth factor bone regeneration

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