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Dynamic SLAM Visual Odometry Based on Instance Segmentation:A Comprehensive Review

Computers, Materials & Continua 2024年第1期78卷 167-196页

作者： Jiansheng Peng Qing Yang Dunhua Chen Chengjun Yang Yong Xu Yong Qin College of Automation Guangxi University of Science and TechnologyLiuzhou545000China Department of Artificial Intelligence and Manufacturing Hechi UniversityHechi547000China

Dynamic Simultaneous Localization and Mapping(SLAM)in visual scenes is currently a major research area in fields such as robot navigation and autonomous ***,in the face of complex real-world envi-ronments,current dynamic SLAM systems struggle to achieve precise localization and map *** the advancement of deep learning,there has been increasing interest in the development of deep learning-based dynamic SLAM visual odometry in recent years,and more researchers are turning to deep learning techniques to address the challenges of dynamic *** to dynamic SLAM systems based on deep learning methods such as object detection and semantic segmentation,dynamic SLAM systems based on instance segmentation can not only detect dynamic objects in the scene but also distinguish different instances of the same type of object,thereby reducing the impact of dynamic objects on the SLAM system’s *** article not only introduces traditional dynamic SLAM systems based on mathematical models but also provides a comprehensive analysis of existing instance segmentation algorithms and dynamic SLAM systems based on instance segmentation,comparing and summarizing their advantages and *** comparisons on datasets,it is found that instance segmentation-based methods have significant advantages in accuracy and robustness in dynamic ***,the real-time performance of instance segmentation algorithms hinders the widespread application of dynamic SLAM *** recent years,the rapid development of single-stage instance segmentationmethods has brought hope for the widespread application of dynamic SLAM systems based on instance ***,possible future research directions and improvementmeasures are discussed for reference by relevant professionals.

关键词： Dynamic SLAM instance segmentation visual odometry

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Design of Silkworm Cocoon Picking Mechanical System Based on ADAMS

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International Journal of Plant Engineering and Management 2024年第2期29卷 97-114页

作者： ZHOU Guoguang SUN Jixin WANG Bo LEI Huazhen HUANG Huang FAN Haoxin DENG Anwu School of Artificial Intelligence and Manufacturing Hechi UniversityHechi 546300China

This project to state cocoon to pick up object,by studying the cocoon stress performance and structure *** the basis of the picking up work process,vig virtual prototype technology to design and study a kind of mechanical used to cocoon picking,by using ADAMS,Soliworks software to complete the whole process of mechanical system design,simulation,can meet the premise of stable,reliable cocoon picking,and cocoon picking mechanical system design,low cost and simple structure.

关键词： mechanical system structural design ADAMS kinematic simulation

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RRT Autonomous Detection Algorithm Based on Multiple Pilot Point Bias Strategy and Karto SLAM Algorithm

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Computers, Materials & Continua 2024年第2期78卷 2111-2136页

作者： Lieping Zhang Xiaoxu Shi Liu Tang Yilin Wang Jiansheng Peng Jianchu Zou Key Laboratory of Advanced Manufacturing and Automation Technology(Guilin university of Technology) Education Department of Guangxi Zhuang Autonomous RegionGuilin541006China College of Mechanical and Control Engineering Guilin University of TechnologyGuilin541006China Guilin Mingfu Robot Technology Company Limited Guilin541199China Key Laboratory of AI and Information Processing(hechi university) Education Department of Guangxi Zhuang Autonomous RegionYizhou546300China

A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile ***,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random *** that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT *** algorithm simulation platform based on the Gazebo platform was *** simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more ***,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different *** experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.

关键词： Autonomous detection RRT algorithm mobile robot ROS Karto SLAM algorithm

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Visual SLAM Based on Object Detection Network:A Review

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Computers, Materials & Continua 2023年第12期77卷 3209-3236页

作者： Jiansheng Peng Dunhua Chen Qing Yang Chengjun Yang Yong Xu Yong Qin College of Automation Guangxi University of Science and TechnologyLiuzhou545000China Department of Artificial Intelligence and Manufacturing Hechi UniversityHechi547000China

Visual simultaneous localization and mapping(SLAM)is crucial in robotics and autonomous ***,traditional visual SLAM faces challenges in dynamic *** address this issue,researchers have proposed semantic SLAM,which combines object detection,semantic segmentation,instance segmentation,and visual *** the growing body of literature on semantic SLAM,there is currently a lack of comprehensive research on the integration of object detection and visual ***,this study aims to gather information from multiple databases and review relevant literature using specific *** focuses on visual SLAM based on object detection,covering different ***,it discusses the current research status and challenges in this field,highlighting methods for incorporating semantic information from object detection networks into mileage measurement,closed-loop detection,and map *** also compares the characteristics and performance of various visual SLAM object detection ***,it provides an outlook on future research directions and emerging trends in visual *** has shown that visual SLAM based on object detection has significant improvements compared to traditional SLAM in dynamic point removal,data association,point cloud segmentation,and other *** can improve the robustness and accuracy of the entire SLAM system and can run in real *** the continuous optimization of algorithms and the improvement of hardware level,object visual SLAM has great potential for development.

关键词： Object detection visual SLAM visual odometry loop closure detection semantic map

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A Lightweight Road Scene Semantic Segmentation Algorithm

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Computers, Materials & Continua 2023年第11期77卷 1929-1948页

作者： Jiansheng Peng Qing Yang Yaru Hou College of Automation Guangxi University of Science and TechnologyLiuzhou545000China Department of Artificial Intelligence and Manufacturing Hechi UniversityHechi547000China

In recent years,with the continuous deepening of smart city construction,there have been significant changes and improvements in the field of intelligent *** semantic segmentation of road scenes has important practical significance in the fields of automatic driving,transportation planning,and intelligent transportation ***,the current mainstream lightweight semantic segmentation models in road scene segmentation face problems such as poor segmentation performance of small targets and insufficient refinement of segmentation ***,this article proposes a lightweight semantic segmentation model based on the LiteSeg model improvement to address these *** model uses the lightweight backbone network MobileNet instead of the LiteSeg backbone network to reduce the network parameters and computation,and combines the Coordinate Attention(CA)mechanism to help the network capture long-distance *** the same time,by combining the dependencies of spatial information and channel information,the Spatial and Channel Network(SCNet)attention mechanism is proposed to improve the feature extraction ability of the ***,a multiscale transposed attention encoding(MTAE)module was proposed to obtain features of different resolutions and perform feature *** this paper,the proposed model is verified on the Cityscapes *** experimental results show that the addition of SCNet and MTAE modules increases the mean Intersection over Union(mIoU)of the original LiteSeg model by 4.69%.On this basis,the backbone network is replaced with MobileNet,and the CA model is added at the same *** the cost of increasing the minimum model parameters and computing costs,the mIoU of the original LiteSeg model is increased by 2.46%.This article also compares the proposed model with some current lightweight semantic segmentation models,and experiments show that the comprehensive performance of the proposed model is the best,especially in

关键词： Semantic segmentation lightweight road scenes multi-scale transposition attention encoding(MTAE)

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Multi-Robot Privacy-Preserving Algorithms Based on Federated Learning:A Review

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Computers, Materials & Continua 2023年第12期77卷 2971-2994页

作者： Jiansheng Peng Jinsong Guo Fengbo Bao Chengjun Yang Yong Xu Yong Qin College of Automation Guangxi University of Science and TechnologyLiuzhou545000China Department of Artificial Intelligence and Manufacturing Hechi UniversityHechi547000China

The robotics industry has seen rapid development in recent years due to the Corona Virus Disease *** the development of sensors and smart devices,factories and enterprises have accumulated a large amount of data in their daily production,which creates extremely favorable conditions for robots to perform machine ***,in recent years,people’s awareness of data privacy has been increasing,leading to the inability to circulate data between different enterprises,resulting in the emergence of data *** emergence of federated learning provides a feasible solution to this problem,and the combination of federated learning and multi-robot systems can break down data silos and improve the overall performance of ***,as scholars have studied more deeply,they found that federated learning has very limited privacy ***,how to protect data privacy from infringement remains an important *** this paper,we first give a brief introduction to the current development of multi-robot and federated learning;second,we review three aspects of privacy protection methods commonly used,privacy protection methods for multi-robot,and Other Problems Faced by Multi-robot Systems,focusing on method comparisons and challenges;and finally draw conclusions and predict possible future research directions.

关键词： Federated learning multi-robot privacy protection gradient leakage attacks

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Positive effects of applying endophytic bacteria in eggplant-Sedum intercropping system on Cd phytoremediation and vegetable production in cadmium polluted greenhouse

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Journal of Environmental Sciences 2022年第5期34卷 383-391页

作者： Luyao Ma Lukuan Huang Qizhen Liu Shunan Xu Zheyu Wen Shuai Qin Tingqiang Li Ying Feng MOE Key Laboratory of Environment Remediation and Ecological Health College of Environmental and Resource SciencesZhejiang UniversityHangzhou 310058China Agriculture and Rural Bureau of Jinchengjiang District HechiGuangxi 547000China

The combination of intercropping and phytoremediation in the remediation of cadmium contaminated soil is an emerging model in recent years,but the results of previous studies are *** the field experiment,eggplant was intercropped with hyperaccumula-tor Sedum alfredii Hance(inoculated or not inoculated with endophytic bacteria)to study the effects of intercropping on vegetable safety production,phytoremediation efficiency of hyperaccumulator and variation of soil available *** results showed that the in-tercropping treatment had a negative effect on the growth of eggplant and Sedum,but en-dophyte SaMR12 alleviated the inhibition of intercropping on plant *** treatment increases the Cd concentration in edible part of eggplant to 1.34 mg/kg compared with eggplant monoculture(1.19 mg/kg).While the application of SaMR12 reduces the Cd concentration of eggplant fruit to 0.95 mg/kg and significantly promotes the Cd uptake by ***'s more surprising is that compared with eggplant monocropping,the con-tent of soil available nitrogen,phosphorus and potassium in the treatment of intercropping with inoculated Sedum increased *** according to the correlation analysis of various indexes of plants and soil,the Cd content of eggplant is negatively correlated with the available phosphorus and potassium in the soil,while the Cd content of Sedum is positively correlated with it,which suggested that the application of phosphorus and potas-sium fertilizers in this experimental site was beneficial to reduce Cd content in eggplant and improve Cd phytoextraction of ***,in the daily production of moderately Cd-contaminated soil,intercropping eggplant with Sedum inoculated with endophytic bacteria is an excellent Phytoextraction Coupled with Agro-safe-production(PCA)pattern.

关键词： Endophytic bacteria Solanum melongena L. Cd pollution Phytoremediation Soil fertility

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Ordering polygonal chains with respect to Hosoya index

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Applied Mathematics(A Journal of Chinese Universities) 2012年第3期27卷 305-319页

作者： QIAO You-fu ZHAN Pu-qin Department of Mathematics Hechi UniversityYizhou 546300China

The Hosoya index of a graph is defined as the total number of the matching of the graph. In this paper, the ordering of polygonal chains with respect to Hosoya index is characterized.

关键词： Hosoya index matching polygonal chain

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Uranyl oxamate hydrates: hydrothermal synthesis, crystal structure, photophysical properties, and selective crystallization

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Science China Chemistry 2016年第6期59卷 740-745页

作者： Yubo Shu Weisheng Liu College of Chemistry and Chemical Engineering Lanzhou University School of Chemical and Biological Engineering Hechi University

Presented here are two isostructural uranyl coordination polymers [UO_2(EDO)(H_2O)]?H_2O(1) and [UO_2(BDO)(H_2O)]?2H2_O(2)(EDO^(2-)=ethylene-1,2-dioxamate; BDO^(2-)=butylene-1,2-dioxamate) with identical stepwise zigzag chain structure and distinct interchain hydrogen bonding interaction, prepared from hydrothermal reaction of DEEDO or DEBDO(DEEDO= diethyl ethylene-1,2-dioxamate; DEBDO=diethyl butylene-1,2-dioxamate) with uranyl ions. The monomeric uranyl-based fluorescence emissions of compounds 1 and 2 are red-shifted by about 6 and 5 nm respectively, compared to that of uranyl nitrate hexahydrate. Compound 1 has stronger emission than compound 2, but both their emissions exhibit triple-exponential decay. The photophysics of uranyl oxalate trihydrate was also investigated for comparison. The selective crystallization of compound 1 in alkaline solution was applied to the sequestration of uranyl ions, showing a kinetic preference.

关键词：铀酰配合物水热合成晶体结构水合物物理性质结晶氨酸盐铀化合物

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Double Penalized Variable Selection Procedure for Partially Linear Models with Longitudinal Data

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Acta Mathematica Sinica,English Series 2014年第11期30卷 1963-1976页

作者： Pei Xin ZHAO An Min TANG Nian Sheng TANG College of Mathematics and Statistics Hechi University Department of Statistics Yunnan University

Based on the double penalized estimation method,a new variable selection procedure is proposed for partially linear models with longitudinal *** proposed procedure can avoid the effects of the nonparametric estimator on the variable selection for the parameters *** some regularity conditions,the rate of convergence and asymptotic normality of the resulting estimators are *** addition,to improve efficiency for regression coefficients,the estimation of the working covariance matrix is involved in the proposed iterative *** simulation studies are carried out to demonstrate that the proposed method performs well.

关键词： Partially linear model variable selection penalized estimation longitudinal data

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