Search Results (54)

Improving the accuracy of parking space recognition is crucial in the fields for Automated Valet Parking (AVP) of autonomous driving. In AVP, accurate free space recognition significantly impacts the safety and comfort of both the vehicles and drivers. To enhance parking space recognition and annotation in unknown environments, this paper proposes an automatic parking space annotation approach with tight coupling of Lidar and Inertial Measurement Unit (IMU). First, the pose of the Lidar frame was tightly coupled with high-frequency IMU data to compensate for vehicle motion, reducing its impact on the pose transformation of the Lidar point cloud. Next, simultaneous localization and mapping (SLAM) were performed using the compensated Lidar frame. By extracting two-dimensional polarized edge features and planar features from the three-dimensional Lidar point cloud, a polarized Lidar odometry was constructed. The polarized Lidar odometry factor and loop closure factor were jointly optimized in the iSAM2. Finally, the pitch angle of the constructed local map was evaluated to filter out ground points, and the regions of interest (ROI) were projected onto a grid map. The free space between adjacent vehicle point clouds was assessed on the grid map using convex hull detection and straight-line fitting. The experiments were conducted on both local and open datasets. The proposed method achieved an average precision and recall of 98.89% and 98.79% on the local dataset, respectively; it also achieved 97.08% and 99.40% on the nuScenes dataset. And it reduced storage usage by 48.38% while ensuring running time. Comparative experiments on open datasets show that the proposed method can adapt to various scenarios and exhibits strong robustness. Full article

Sea surface non-stationarity poses significant challenges to sea-surface small target detection, particularly in maintaining a stable false alarm rate (FAR). In dynamic maritime scenarios with non-stationary characteristics, the non-stationarity of sea clutter can easily cause significant changes in the clutter feature space, leading to a notable deviation between the preset FAR and the measured FAR. By analyzing the temporal and spatial variations in sea clutter, we model the relationship between the preset FAR and the measured FAR as a two-parameter linear function. To address the impact of sea surface non-stationarity on FAR, the model parameters are estimated in real time within the environment and used to guide the dynamic adjustment of the decision region. We applied the proposed method to both convex hull and support vector machine (SVM) detectors and conducted experiments using measured X-band sea-detecting datasets. Experiments demonstrate that the proposed method effectively reduces the deviation between the measured mean FAR and the preset FAR. When the preset FAR is 10⁻², the proposed method achieves an average FAR of 1.067 × 10⁻² with the convex hull detector and 1.043 × 10⁻² with the SVM detector. Full article

Assessing the quality of maize seedlings is crucial for field management and germplasm evaluation. Traditional methods for evaluating seedling quality mainly rely on manual field surveys, which are not only inefficient but also highly subjective, while large-scale satellite detection often lacks sufficient accuracy. To address these issues, this study proposes an innovative approach that combines the YOLO v8 object detection algorithm with Voronoi spatial analysis to rapidly evaluate maize seedling quality based on high-resolution drone imagery. The YOLO v8 model provides the maize coordinates, which are then used for Voronoi segmentation of the field after applying the Convex Hull difference method. From the generated Voronoi diagram, three key indicators are extracted: Voronoi Polygon Uniformity Index (VPUI), missing seedling rate, and repeated seedling rate to comprehensively evaluate maize seedling quality. The results show that this method effectively extracts the VPUI, missing seedling rate, and repeated seedling rate of maize in the target area. Compared to the traditional plant spacing variation coefficient, VPUI performs better in representing seedling uniformity. Additionally, the R² for the estimated missing seedling rate and replanting rate based on the Voronoi method were 0.773 and 0.940, respectively. Compared to using the plant spacing method, the R² increased by 0.09 and 0.544, respectively. The maize seedling quality evaluation method proposed in this study provides technical support for precision maize planting management and is of great significance for improving agricultural production efficiency and reducing labor costs. Full article

Scientific knowledge of image-based crack detection methods is limited in understanding their performance across diverse crack sizes, types, and environmental conditions. Builders and engineers often face difficulties with image resolution, detecting fine cracks, and differentiating between structural and non-structural issues. Enhanced algorithms and analysis techniques are needed for more accurate assessments. Hence, this research aims to generate an intelligent scheme that can recognize the presence of cracks and visualize the percentage of cracks from an image along with an explanation. The proposed method fuses features from concrete surface images through a ResNet-50 convolutional neural network (CNN) and curvelet transform handcrafted (HC) method, optimized by linear discriminant analysis (LDA), and the eXtreme gradient boosting (XGB) classifier then uses these features to recognize cracks. This study evaluates several CNN models, including VGG-16, VGG-19, Inception-V3, and ResNet-50, and various HC techniques, such as wavelet transform, counterlet transform, and curvelet transform for feature extraction. Principal component analysis (PCA) and LDA are assessed for feature optimization. For classification, XGB, random forest (RF), adaptive boosting (AdaBoost), and category boosting (CatBoost) are tested. To isolate and quantify the crack region, this research combines image thresholding, morphological operations, and contour detection with the convex hulls method and forms a novel algorithm. Two explainable AI (XAI) tools, local interpretable model-agnostic explanations (LIMEs) and gradient-weighted class activation mapping++ (Grad-CAM++) are integrated with the proposed method to enhance result clarity. This research introduces a novel feature fusion approach that enhances crack detection accuracy and interpretability. The method demonstrates superior performance by achieving 99.93% and 99.69% accuracy on two existing datasets, outperforming state-of-the-art methods. Additionally, the development of an algorithm for isolating and quantifying crack regions represents a significant advancement in image processing for structural analysis. The proposed approach provides a robust and reliable tool for real-time crack detection and assessment in concrete structures, facilitating timely maintenance and improving structural safety. By offering detailed explanations of the model’s decisions, the research addresses the critical need for transparency in AI applications, thus increasing trust and adoption in engineering practice. Full article

Aiming at the low observable target detection under sea clutter backgrounds, this paper emphasizes the exploration of distinguishable full-polarization features between target and sea clutter echoes. To overcome the shortcomings of the existing polarization feature-based methods, the full-polarization features of sea clutter are modeled and analyzed in detail by using Van Zyl polarization decomposition. Then, three polarimetric features (the relative surface scattering energy, the relative dihedral scattering energy and the relative diffuse scattering energy) are extracted from the fully polarimetric radar sea clutter echoes, which improve the feature differences between sea clutter and targets. And a tri-polarimetric feature detector with constant false alarm rate (CFAR) is constructed based on the fast convex hull learning algorithm. The experimental results on the real measured IPIX radar datasets prove that the proposed full-polarization feature detector obtains more competitive detection performance and lower computational complexity than the several existing feature-based detectors. Full article

This research paper presents a new test based on a novel approach for identifying clustered graphical passwords within the Passpoints scenario. Clustered graphical passwords are considered a weakness of graphical authentication systems, introduced by users during the registration phase, and thus it is necessary to have methods for the detection and prevention of such weaknesses. Graphical authentication methods serve as a viable alternative to the conventional alphanumeric password-based authentication method, which is susceptible to known weaknesses arising from user-generated passwords of this nature. The test proposed in this study is based on estimating the distributions of the perimeter of the convex hull, based on the hypothesis that the perimeter of the convex hull of a set of five clustered points is smaller than the one formed by random points. This convex hull is computed based on the points that users select as passwords within an image measuring 1920 × 1080 pixels, using the built-in function convhull in Matlab R2018a relying on the Qhull algorithm. The test was formulated by choosing the optimal distribution that fits the data from a total of 54 distributions, evaluated using the Kolmogorov–Smirnov, Anderson–Darling, and Chi-squared tests, thus achieving the highest reliability. Evaluating the effectiveness of the proposed test involves estimating type I and II errors, for five levels of significance α∈{0.01,0.02,0.05,0.1,0.2}, by simulating datasets of random and clustered graphical passwords with different levels of clustering. In this study, we compare the effectiveness and efficiency of the proposed test with existing tests from the literature that can detect this type of pattern in Passpoints graphical passwords. Our findings indicate that the new test demonstrates a significant improvement in effectiveness compared to previously published tests. Furthermore, the joint application of the two tests also shows improvement. Depending on the significance level determined by the user or system, the enhancement results in a higher detection rate of clustered passwords, ranging from 0.1% to 8% compared to the most effective previous methods. This improvement leads to a decrease in the estimated probability of committing a type II error. In terms of efficiency, the proposed test outperforms several previous tests; however, it falls short of being the most efficient, using computation time measured in seconds as a metric. It can be concluded that the newly developed test demonstrates the highest effectiveness and the second-highest efficiency level compared to the other tests available in the existing literature for the same purpose. The test was designed to be implemented in graphical authentication systems to prevent users from selecting weak graphical passwords, enhance password strength, and improve system security. Full article

In satellite imagery, clouds obstruct the ground information, directly impacting various downstream applications. Thus, cloud annotation/cloud detection serves as the initial preprocessing step in remote sensing image analysis. Recently, deep learning methods have significantly improved in the field of cloud detection, but training these methods necessitates abundant annotated data, which requires experts with professional domain knowledge. Moreover, the influx of remote sensing data from new satellites has further led to an increase in the cost of cloud annotation. To address the dependence on labeled datasets and professional domain knowledge, this paper proposes an automatic cloud annotation method for satellite remote sensing images, CloudAUE. Unlike traditional approaches, CloudAUE does not rely on labeled training datasets and can be operated by users without domain expertise. To handle the irregular shapes of clouds, CloudAUE firstly employs a convex hull algorithm for selecting cloud and non-cloud regions by polygons. When selecting convex hulls, the cloud region is first selected, and points at the edges of the cloud region are sequentially selected as polygon vertices to form a polygon that includes the cloud region. Then, the same selection is performed on non-cloud regions. Subsequently, the fast KD-Tree algorithm is used for pixel classification. Finally, an uncertainty method is proposed to evaluate the quality of annotation. When the confidence value of the image exceeds a preset threshold, the annotation process terminates and achieves satisfactory results. When the value falls below the threshold, the image needs to undergo a subsequent round of annotation. Through experiments on two labeled datasets, HRC and Landsat 8, CloudAUE demonstrates comparable or superior accuracy to deep learning algorithms, and requires only one to two annotations to obtain ideal results. An unlabeled self-built Google Earth dataset is utilized to validate the effectiveness and generalizability of CloudAUE. To show the extension capabilities in various fields, CloudAUE also achieves desirable results on a forest fire dataset. Finally, some suggestions are provided to improve annotation performance and reduce the number of annotations. Full article

This paper presents a method of pitting failure detection in toothed gears based on the reconstruction of the gear case vibrational signal. The effectiveness of the proposed method was tested in an experiment on a power circulation test stand. The autoencoder deep neural network architecture, semi-supervised training, and validation, along with the latent data convex hull-based clustering, are presented. The proposed method offers high efficiency (0.99 F1-measure) in gear state prediction (100% in failure detection, 98.9% in normal state prediction) and provides more capabilities in terms of generalization in comparison with linear machine learning techniques such as principal component analysis and nonlinear like the generative adversarial network. Moreover, it is distinguished by high sensitivity while also being able to detect even slight surface damage (initial pitting). These findings will be of particular relevance to a range of scientists and practitioners working with gear drives who are willing to implement machine learning in signal processing and diagnosis. Full article

Light detection and ranging (lidar) scanning tools are available that can make rapid digital estimations of biomass. Voxelization and convex hull are two algorithms used to calculate the volume of the scanned plant canopy, which is correlated with biomass, often the primary trait of interest. Voxelization splits the scans into regular-sized cubes, or voxels, whereas the convex hull algorithm creates a polygon mesh around the outermost points of the point cloud and calculates the volume within that mesh. In this study, digital estimates of biomass were correlated against hand-harvested biomass for field-grown corn, broom corn, and energy sorghum. Voxelization (r = 0.92) and convex hull (r = 0.95) both correlated well with plant dry biomass. Lidar data were also collected in a large breeding trial with nearly 900 genotypes of energy sorghum. In contrast to the manual harvest studies, digital biomass estimations correlated poorly with yield collected from a forage harvester for both voxel count (r = 0.32) and convex hull volume (r = 0.39). However, further analysis showed that the coefficient of variation (CV, a measure of variability) for harvester-based estimates of biomass was greater than the CV of the voxel and convex-hull-based biomass estimates, indicating that poor correlation was due to harvester imprecision, not digital estimations. Overall, results indicate that the lidar-based digital biomass estimates presented here are comparable or more precise than current approaches. Full article

Diameter at breast height (DBH) is a crucial parameter for forest inventory. However, accurately estimating DBH remains challenging due to the noisy and incomplete cross-sectional points. To address this, this paper proposed a reliable DBH estimation method using terrestrial LiDAR points through polar coordinate transformation and progressive outlier removal. In this paper, the initial center was initially detected by rasterizing the convex hull, and then the Cartesian coordinates were transformed into polar coordinates. In the polar coordinate system, the outliers were classified as low and high outliers according to the distribution of polar radius difference. Both types of outliers were then removed using adaptive thresholds and the moving least squares algorithm. Finally, DBH was estimated by calculating the definite integral of arc length in the polar coordinate system. Twenty publicly available individual trees were adopted for the test. Experimental results indicated that the proposed method performs better than the other four classical DBH estimation methods. Furthermore, several extreme cases scanned using terrestrial LiDAR in practice, such as cross-sectional points with lots of outliers or larger data gaps, were also tested. Experimental results demonstrate that the proposed method accurately calculates DBH even in these challenging cases. Full article

The PlantEye multispectral scanner is an optoelectrical sensor automatically applied to a mechatronic platform that allows the non-destructive, accurate, and high-throughput detection of morphological and physiological plant parameters. In this study, we describe how the advanced phenotyping platform precisely assesses changes in plant architecture and growth parameters of wild rocket salad (Diplotaxis tenuifolia L. [DC.]) under drought stress conditions. Four different irrigation supply levels from moderate to severe, required to keep 100, 70, 50, and 30% of the water-holding capacity, were adopted. Growth rate and plant architecture were recorded through the digital measure of biomass, leaf area, Canopy Light Penetration Depth, five convex hull traits, plant height, Surface Angle Average, and Voxel Volume Total. Vegetation color assessments included hue, lightness, and saturation. Vegetation and senescence indices were calculated from canopy reflectance in the red (620–645 nm), green (530–540 nm), blue (peak wavelength 460–485 nm), near-infrared (820–850 nm), and 3D laser (940 nm) ranges. The temperature, relative humidity, and solar radiation of the environment were also recorded. Overall, morphological parameters, color, multispectral data, and vegetation indices provided over 7200 data points through daily scans over three weeks of cultivation. Although a general decrease in growth parameters with increasing stress severity was observed, plants were able to maintain the same morpho-physiological performances as the control during the early growth stages, keeping both 70% and 50% of the total water-holding capacity. Among indices, the Normalized Differential Vegetation Index (NDVI) contributed the most to the differentiation between different stress levels during the cultivation cycle. Across the 3 weeks of growth, statistically significant differences were observed for all traits except for the Saturation Average. Comparisons with respect to the control highlighted the strong impact of drought stress on morphological plant traits. This study provided meaningful insights into the health status of wild rocket salad under increasing drought stress. Full article

A new algorithm is presented for detecting the local weak reflection symmetries in raster images. It uses contours extracted from the segmented image. A convex hull is constructed on the contours, and so-called anchor points are placed on it. The bundles of symmetry line candidates are placed in these points. Each line splits the plane into two open half-planes and arranges the contours into three sets: the first contains the contours pierced by the considered line, while the second and the third include the contours located in one or the other half-plane. The contours are then checked for the reflection symmetry. This means looking for self-symmetries in the first set, and symmetric pairs with one contour in the second set and one contour in the third set. The line which is evaluated as the best symmetry line is selected. After that, the symmetric contours are removed from sets two and three. The remaining contours are then checked again for symmetry. A multi-branch tree representing the hierarchy of the detected local symmetries is the result of the algorithm. Full article

Barriers are utilized for various tasks in security, environmental monitoring, penetration detection and reconnaissance. It is highly necessary to consider how to support pedestrian tracking and target detection in theme park areas having multiple obstacles. In this paper, we create security barriers through cooperation between mobile robots and UAVs for use in theme park areas where multiple obstacles of undetermined forms are placed. We formally define the problem and the goals. The goals are the following: to maximize the number of convex hull obstacle-aware tracking barriers using mobile robots and UAVs, to satisfy given detection accuracy, and to ensure that all environments are protected by convex hull obstacle-aware tracking barriers without disturbance from irregular obstacles. To address the problem, we propose two different algorithms, to improve security barriers and avoid various forms of obstacles, in a bid to work towards a 6G-enabled virtual emotion environment. Then, the proposed schemes are executed through simulations with various settings, and the numerical results evaluated with detailed discussions and demonstrations. Full article

Three-dimension green volume (3DGV) is a quantitative index that measures the crown space occupied by growing plants. It is often used to evaluate the environmental and climatic benefits of urban green space (UGS). We proposed the Mean of neighboring pixels (MNP) algorithm based on unmanned aerial vehicle (UAV) RGB images to estimate the 3DGV in YueYaTan Park in Kunming, China. First, we mapped the vegetated area by the RF algorithm based on visible vegetation indices and texture features, which obtained a producer accuracy (PA) of 98.24% and a user accuracy (UA) of 97.68%. Second, the Canopy Height Mode (CHM) of the vegetated area was built by using the Digital Surface Model (DSM) and Digital Terrain Model (DTM), and the vegetation coverage in specific cells (1.6 m × 1.6 m) was calculated based on the vegetation map. Then, we used the Mean of neighboring pixels (MNP) algorithm to estimate 3DGV based on the cell area, canopy height, and vegetation coverage. Third, the 3DGV based on the MNP algorithm (3DGV_MNP), the Convex hull algorithm (3DGV_Con), and the Voxel algorithm (3DGV_Voxel) were compared with the 3DGV based on the field data (3DGV_FD). Our results indicate that the deviation of 3DGV_MNP for plots (Relative Bias = 15.18%, Relative RMSE = 19.63%) is less than 3DGV_Con (Relative Bias = 24.12%, Relative RMSE = 29.56%) and 3DGV_Voxel (Relative Bias = 30.77%, Relative RMSE = 37.49%). In addition, the deviation of 3DGV_MNP (Relative Bias = 17.31%, Relative RMSE = 19.94%) is also less than 3DGV_Con (Relative Bias = 24.19%, Relative RMSE = 25.77%), and 3DGV_Voxel (Relative Bias = 27.81%, Relative RMSE = 29.57%) for individual trees. Therefore, it is concluded that the 3DGV estimation can be realized by using the Neighboring pixels algorithm. Further, this method performed better than estimation based on tree detection in UGS. There was 377,223.21 m³ of 3DGV in YueYaTan Park. This study provides a rapid and effective method for 3DGV estimation based on UAV RGB images. Full article

Microglia morphological studies have been limited to the process of reviewing the most common characteristics of a group of cells to conclude the likelihood of a “pathological” milieu. We have developed an Imaris-software-based analytical pipeline to address selection and operator biases, enabling use of highly reproducible machine-learning algorithms to quantify at single-cell resolution differences between groups. We hypothesized that this analytical pipeline improved our ability to detect subtle yet important differences between groups. Thus, we studied the temporal changes in Iba1⁺ microglia-like cell (MCL) populations in the CA1 between P10–P11 and P18–P19 in response to intrauterine growth restriction (IUGR) at E12.5 in mice, chorioamnionitis (chorio) at E18 in rats and neonatal hypoxia–ischemia (HI) at P10 in mice. Sholl and convex hull analyses differentiate stages of maturation of Iba1⁺ MLCs. At P10–P11, IUGR or HI MLCs were more prominently ‘ameboid’, while chorio MLCs were hyper-ramified compared to sham. At P18–P19, HI MLCs remained persistently ‘ameboid’ to ‘transitional’. Thus, we conclude that this unbiased analytical pipeline, which can be adjusted to other brain cells (i.e., astrocytes), improves sensitivity to detect previously elusive morphological changes known to promote specific inflammatory milieu and lead to worse outcomes and therapeutic responses. Full article