High-precision Map Research Articles

Hepatitis nursing robot based on RP-lidarA1 sensor

Background To alleviate the workload of medical staff and provide personalized care for hepatitis patients, this study focuses on developing a hepatitis care robot. Objective The objective of this study is to integrate the RP-lidarA1 sensor into a hepatitis care robot to achieve high-precision environmental perception, mapping, and navigation, thereby improving healthcare services. Methods The RP-lidarA1 sensor was utilized for environmental scanning, and the MPU6050 chip was used to collect attitude data. An improved RBPF-SLAM algorithm was employed for high-precision map construction. For positioning and navigation, a combination of the A* algorithm and Dynamic Window Approach (DWA) algorithm was used to optimize path planning and obstacle avoidance. Results Simulation experiments demonstrated that the improved algorithm reduced the number of particles to 50 in a 140 m2 area and shortened the map construction time to 1200 s. The A* algorithm effectively planned optimal paths, while the DWA algorithm improved navigation efficiency. Satisfaction surveys indicated that 92.4% of hepatitis patients and 81.8% of nurses were highly satisfied with the robot's performance. Conclusions The hepatitis care robot integrating the RP-lidarA1 sensor showed excellent performance in autonomous navigation, map construction, and obstacle avoidance, significantly enhancing the quality and efficiency of medical services.

Multi-Person Localization Based on a Thermopile Array Sensor with Machine Learning and a Generative Data Model.

Thermopile sensor arrays provide a sufficient counterbalance between person detection and localization while preserving privacy through low resolution. The latter is especially important in the context of smart building automation applications. Current research has shown that there are two machine learning-based algorithms that are particularly prominent for general object detection: You Only Look Once (YOLOv5) and Detection Transformer (DETR). Over the course of this paper, both algorithms are adapted to localize people in 32 × 32-pixel thermal array images. The drawbacks in precision due to the sparse amount of labeled data were counteracted with a novel generative image generator (IIG). This generator creates synthetic thermal frames from the sparse amount of available labeled data. Multiple robustness tests were performed during the evaluation process to determine the overall usability of the aforementioned algorithms as well as the advantage of the image generator. Both algorithms provide a high mean average precision (mAP) exceeding 98%. They also prove to be robust against disturbances of warm air streams, sun radiation, the replacement of the sensor with an equal type sensor, new persons, cold objects, movements along the image frame border and people standing still. However, the precision decreases for persons wearing thick layers of clothes, such as winter clothing, or in scenarios where the number of present persons exceeds the number of persons the algorithm was trained on. In summary, both algorithms are suitable for detection and localization purposes, although YOLOv5m has the advantage in real-time image processing capabilities, accompanied by a smaller model size and slightly higher precision.

A Deep Learning Approach to Plastic Bottle Waste Detection on the Water Surface using YOLOv6 and YOLOv7

Deep learning is a branch of machine learning with many layers, such as the You Only Look Once (YOLO) method. From various versions of YOLO, YOLOv6 and YOLOv7 are considered more prominent because they achieve high Mean Average Precision (mAP) values. Both versions of YOLO have been implemented into various problems, especially in the waste detection problem. Plastic bottle waste is one of the most common types of waste that pollutes Indonesian waters. This study aims to solve this problem by helping to sort waste in surface waters by applying YOLOv6 and YOLOv7. FloW-Img was used, obtained on request from the Orcaboat website. The dataset consists of 500,000 bottle objects in 2,000 images. The YOLOv6 and YOLOv7 models were evaluated using mAP and running time. The results show that YOLOv6 and YOLOv7 can handle bottle waste detection well, with mAP values of 0.873 and 0.512, respectively. In addition, YOLOv6 (4.21 m/s) has a higher detection speed than YOLOv7 (13.7 m/s). However, in tests with images that do not have bottle objects, YOLOv7 provides better detection accuracy and consistency results, making it more suitable for real-world applications that demand high accuracy in environments with much visual noise.

Visual SLAM based on visual odometry feature extraction and real-time rendering of neural radiance fields

Abstract In response to the limitation of traditional feature-based Visual SLAM, which focuses primarily on camera pose accuracy while neglecting the refinement of 3D map reconstruction, this paper proposes a Visual SLAM system called ON-SLAM (Simultaneous Localization and Mapping). The aim is to develop a Visual SLAM system that does not require pre-training, can quickly adapt to new and changing environments, and can generate dense point cloud maps in real time. Currently, both learning-based and non-learning-based methods fall short of these requirements due to their algorithmic limitations. The ON-SLAM framework integrates visual odometry technology with implicit neural representations to achieve real-time localization and high-precision map construction. This system is compatible with monocular cameras and relies solely on RGB inputs, demonstrating enhanced applicability in real-world scenarios. Experimental results show that ON-SLAM achieves state-of-the-art accuracy in both localization and map construction.

BA-CLM: A Globally Consistent 3D LiDAR Mapping Based on Bundle Adjustment Cost Factors.

Constructing a globally consistent high-precision map is essential for the application of mobile robots. Existing optimization-based mapping methods typically constrain robot states in pose space during the graph optimization process, without directly optimizing the structure of the scene, thereby causing the map to be inconsistent. To address the above issues, this paper presents a three-dimensional (3D) LiDAR mapping framework (i.e., BA-CLM) based on LiDAR bundle adjustment (LBA) cost factors. We propose a multivariate LBA cost factor, which is built from a multi-resolution voxel map, to uniformly constrain the robot poses within a submap. The framework proposed in this paper applies the LBA cost factors for both local and global map optimization. Experimental results on several public 3D LiDAR datasets and a self-collected 32-line LiDAR dataset demonstrate that the proposed method achieves accurate trajectory estimation and consistent mapping.

An Object-Centric Hierarchical Pose Estimation Method Using Semantic High-Definition Maps for General Autonomous Driving.

To achieve Level 4 and above autonomous driving, a robust and stable autonomous driving system is essential to adapt to various environmental changes. This paper aims to perform vehicle pose estimation, a crucial element in forming autonomous driving systems, more universally and robustly. The prevalent method for vehicle pose estimation in autonomous driving systems relies on Real-Time Kinematic (RTK) sensor data, ensuring accurate location acquisition. However, due to the characteristics of RTK sensors, precise positioning is challenging or impossible in indoor spaces or areas with signal interference, leading to inaccurate pose estimation and hindering autonomous driving in such scenarios. This paper proposes a method to overcome these challenges by leveraging objects registered in a high-precision map. The proposed approach involves creating a semantic high-definition (HD) map with added objects, forming object-centric features, recognizing locations using these features, and accurately estimating the vehicle's pose from the recognized location. This proposed method enhances the precision of vehicle pose estimation in environments where acquiring RTK sensor data is challenging, enabling more robust and stable autonomous driving. The paper demonstrates the proposed method's effectiveness through simulation and real-world experiments, showcasing its capability for more precise pose estimation.

ESMU: Efficient and Secure High-Precision Map Upload and Update Scheme in Intelligent IoT System

ESMU: Efficient and Secure High-Precision Map Upload and Update Scheme in Intelligent IoT System

Intelligent Detection of Muskmelon Ripeness in Greenhouse Environment Based on YOLO-RFEW

Accurate detection of muskmelon fruit ripeness is crucial to ensure fruit quality, optimize picking time, and enhance economic benefits. This study proposes an improved lightweight YOLO-RFEW model based on YOLOv8n, aiming to address the challenges of low efficiency in muskmelon fruit ripeness detection and the complexity of deploying a target detection model to a muskmelon picking robot. Firstly, the RFAConv replaces the Conv in the backbone part of YOLOv8n, allowing the network to focus more on regions with significant contributions in feature extraction. Secondly, the feature extraction and fusion capability are enhanced by improving the C2f module into a C2f-FE module based on FasterNet and an Efficient Multi-Scale attention (EMA) mechanism within the lightweight model. Finally, Weighted Intersection over Union (WIoU) is optimized as the loss function to improve target frame prediction capability and enhance target detection accuracy. The experimental results demonstrate that the YOLO-RFEW model achieves high accuracy, with precision, recall, F1 score, and mean Average Precision (mAP) values of 93.16%, 83.22%, 87.91%, and 90.82%, respectively. Moreover, it maintains a lightweight design and high efficiency with a model size of 4.75 MB and an inference time of 1.5 ms. Additionally, in the two types of maturity tests (M-u and M-r), APs of 87.70% and 93.94% are obtained, respectively, by the YOLO-RFEW model. Compared to YOLOv8n, significant improvements in detection accuracy have been achieved while reducing both model size and computational complexity using the proposed approach for muskmelon picking robots’ real-time detection requirements. Furthermore, when compared to lightweight models such as YOLOv3-Tiny, YOLOv4-Tiny, YOLOv5s, YOLOv7-Tiny, YOLOv8s, and YOLOv8n, the YOLO-RFEW model demonstrates superior performance with only 28.55%, 22.42%, 24.50%, 40.56%, 22.12%, and 79.83% of their respective model sizes, respectively, while achieving the highest F1 score and mAP values among these seven models. The feasibility and effectiveness of our improved scheme are verified through comparisons between thermograms generated by YOLOv8n and YOLO-RFEW as well as detection images. In summary, the YOLO-RFEW model not only improves the accuracy rate of muskmelon ripeness detection but also successfully realizes the lightweight and efficient performance, which has important theoretical support and application value in the field of muskmelon picking robot development.

Design and Test of Intelligent Farm Machinery Operation Control Platform for Unmanned Farms

The unmanned farm control platform is of great significance in promoting the supervision of farm production with less manpower or autonomous operation of farm machinery and the construction of farm informatization. Addressing the existing control platform for farm location information acquisition is time-consuming, labor-intensive, and lacks the whole process control of multiple types of farm machinery. In this paper, we propose an Internet of Things (IoT) control scheme for intelligent farm machinery operation of unmanned farms and design the access standards for multiple types of farm machinery, as well as realize the remote control of intelligent farm machinery operation by constructing a remote control model. A high-precision map construction method is designed to improve the DeepLabV3+ algorithm to identify fields and roads. The control models of path planning, remote task, remote control, and safety system are built to achieve the remote control of intelligent agricultural machinery operation. The proposed technology is implemented in the platform integration and application tests are carried out. The error of the constructed high-precision map is less than 3 cm, the completeness rate of the automatic boundary extraction rate is 96.71%, and the correctness rate is 95.63%, which can be used to obtain the boundary instead of manual labeling or on-site point picking. The use of the platform for the simultaneous control of three farm machinery operations reduces the number of people in operation and production and reduces the professional requirements of the personnel, which will promote the management of the entire farm by one person or even by no one in the future.

Goal-Guided Graph Attention Network with Interactive State Refinement for Multi-Agent Trajectory Prediction.

The accurate prediction of the future trajectories of traffic participants is crucial for enhancing the safety and decision-making capabilities of autonomous vehicles. Modeling social interactions among agents and revealing the inherent relationships is crucial for accurate trajectory prediction. In this context, we propose a goal-guided and interaction-aware state refinement graph attention network (SRGAT) for multi-agent trajectory prediction. This model effectively integrates high-precision map data and dynamic traffic states and captures long-term temporal dependencies through the Transformer network. Based on these dependencies, it generates multiple potential goals and Points of Interest (POIs). Through its dual-branch, multimodal prediction approach, the model not only proposes various plausible future trajectories associated with these POIs, but also rigorously assesses the confidence levels of each trajectory. This goal-oriented strategy enables SRGAT to accurately predict the future movement trajectories of other vehicles in complex traffic scenarios. Tested on the Argoverse and nuScenes datasets, SRGAT surpasses existing algorithms in key performance metrics by adeptly integrating past trajectories and current context. This goal-guided approach not only enhances long-term prediction accuracy, but also ensures its reliability, demonstrating a significant advancement in trajectory forecasting.

Optical detection of plastic waste through computer vision

An incredibly wide range of plastic products and enormous volumes of generated plastic wastes makes sorting technologies highly important. In order to enhance the efficiency and accuracy of sorting process, this article proposes an Internet of Video Things solution based on the deep learning algorithms for image recognition of plastic waste on a moving conveyor belt and embedded intelligence. In particular, the state-of-the-art object detection models, including Faster R-CNN, RetinaNet and YOLOv8 are used. Target categories of plastic are Polyethylene Terephthalate (PET) and Polypropylene (PP). Furthermore, we implemented quantization techniques for trained models on a commercial off-the-shelf embedded system for fast processing time. We achieved a high mean Average Precision (mAP) metric of 77.74% and accuracy of 95.67% on a test set and are fine-tuned and optimized for the deployment on an Nano embedded system providing 20 frames per second. This research contributes to the field of application of Internet of Things by demonstrating the efficacy of deep learning algorithms run on the embedded system in the industrial plastic waste sorting process. The findings highlight the practical applicability of these algorithms and offer insights into resource management and recycling practices.

High-Precision Map Construction in Degraded Long Tunnel Environments of Urban Subways

In response to the demand for high-precision point cloud mapping of subway trains in long tunnel degradation scenarios in major urban cities, we propose a map construction method based on LiDAR and inertial measurement sensors. This method comprises a tightly coupled frontend odometry system based on error Kalman filters and backend optimization using factor graphs. In the frontend odometry, inertial calculation results serve as predictions for the filter, and residuals between LiDAR points and local map plane point clouds are used for filter updates. The global pose graph is constructed based on inter-frame odometry and other constraint factors, followed by a smoothing optimization for map building. Multiple experiments in subway tunnel scenarios demonstrate that the proposed method achieves robust trajectory estimation in long tunnel scenes, where classical multi-sensor fusion methods fail due to sensor degradation. The proposed method achieves a trajectory consistency of 0.1 m in tunnel scenes, meeting the accuracy requirements for train arrival, parking, and interval operations. Additionally, in an industrial park scenario, the method is compared with ground truth provided by inertial navigation, showing an accumulated error of less than 0.2%, indicating high precision.

Cognitive Enhancement of Robot Path Planning and Environmental Perception Based on Gmapping Algorithm Optimization

In the logistics warehouse environment, the autonomous navigation and environment perception of the logistics sorting robot are two key challenges. To deal with the complex obstacles and cargo layout in a warehouse, this study focuses on improving the robot perception and navigation system to achieve efficient path planning and safe motion control. For this purpose, a scheme based on an improved Gmapping algorithm is proposed to construct a high-precision map inside a warehouse through the efficient scanning and processing of environmental data by robots. While the improved algorithm effectively integrates sensor data with robot position information to realize the real-time modeling and analysis of warehouse environments. Consequently, the precise mapping results provide a reliable navigation basis for the robot, enabling it to make intelligent path planning and obstacle avoidance decisions in unknown or dynamic environments. The experimental results show that the robot using the improved Gmapping algorithm has high accuracy and robustness in identifying obstacles and an effectively reduced navigation error, thus improving the intelligence level and efficiency of logistics operations. The improved algorithm significantly enhances obstacle detection rates, increasing them by 4.05%. Simultaneously, it successfully reduces map size accuracy errors by 1.4% and angle accuracy errors by 0.5%. Additionally, the accuracy of the robot’s travel distance improves by 2.4%, and the mapping time is reduced by nine seconds. Significant progress has been made in achieving high-precision environmental perception and intelligent navigation, providing reliable technical support and solutions for autonomous operations in logistics warehouses.

High precision map crowdsource update technology and SLAM technology - Application in autonomous driving

In response to the challenges faced by real-time dynamic updates of high-precision maps for autonomous driving in terms of high precision, high reliability, and high safety, this paper summarizes the difficulties and challenges currently faced by high-precision map updates. Accelerate the large-scale commercialization of autonomous driving high-precision maps. Thus, improving the safety and stability of intelligent vehicles and providing critical support for high-level autonomous driving. Firstly, the definition and connotation of autonomous driving maps were described, and the data characteristics and functional applications of autonomous driving maps were pointed out. Secondly, the development status and trends of high-precision map updates were reviewed, and the advantages and disadvantages of centralized map updates and crowdsourced map updates were summarized. Pointing out that crowdsource updates have become a new trend in the development of map updates. Once again, the basic architecture and key core modules of current crowdsource updates were summarized, and an analysis was conducted on key core technologies, summarizing the current status and trends of key technologies involved in crowdsource updates. The results indicate that the current technology still faces 7 main challenges, including map modeling, high-precision positioning, 3D reconstruction, fusion updates, data security, rapid review, and standard laws and regulations to address these challenges.

A High-Precision Map Matching Algorithm Based on Nonlinear Filtering Optimization for IOT Industrial Park

A High-Precision Map Matching Algorithm Based on Nonlinear Filtering Optimization for IOT Industrial Park

Adaptive path planning for unknown environment monitoring

The purpose of this paper is to offer a unique adaptive path planning framework to address a new challenge known as the Unknown environment Persistent Monitoring Problem (PMP). To identify the unknown events’ occurrence location and likelihood, an unmanned ground vehicle (UGV) equipped with a Light Detection and Ranging (LIDAR) and camera is used to record such events in agriculture land. A certain level of detecting capability must be the distinct monitoring priority in order to keep track of them to a certain distance. First, to formulate a model, we developed an event-oriented modelling strategy for unknown environment perception and the effect is enumerated by uncertainty, which takes into account the sensor’s detection capabilities, the detection interval, and monitoring weight. A mobile robot scheme utilizing LIDAR on integrative approach was created and experiments were carried out to solve the high equipment budget of Simultaneous Localization and Mapping (SLAM) for robotic systems. To map an unfamiliar location using the robotic operating system (ROS), the 3D visualization tool for Robot Operating System (RVIZ) was utilized, and GMapping software package was used for SLAM usage. The experimental results suggest that the mobile robot design pattern is viable to produce a high-precision map while lowering the cost of the mobile robot SLAM hardware. From a decision-making standpoint, we built a hybrid algorithm HSAStar (Hybrid SLAM & A Star) algorithm for path planning based on the event oriented modelling, allowing a UGV to continually monitor the perspectives of a path. The simulation results and analyses show that the proposed strategy is feasible and superior. The performance of the proposed hyb SLAM-A Star-APP method provides 34.95%, 27.38%, 33.21% and 29.68% lower execution time, 26.36%, 29.64% and 29.67% lower map duration compared with the existing methods, such as ACO-APF-APP, APFA-APP, GWO-APP and PSO-APP.

A fast and lightweight detection model for wheat fusarium head blight spikes in natural environments

Fusarium head blight (FHB) is one of the most common and destructive infections in wheat, posing a serious threat to food security and human health. Real-time detection and severity assessment of wheat FHB are crucial for effective management and loss assessment. In this study, we proposed a novel and advanced YOLOv5s model for fast and accurate detection of wheat FHB. Firstly, we replaced the original backbone with MobileNetV3 and integrated spatial pyramid pooling-fast (SPPF). Subsequently, we replaced the C3 modules with the C3Ghost to reduce the parameters and complexity of this model without compromising detection performance. The proposed model was trained and evaluated on the wheat FHB dataset, achieving a high mean average precision (mAP) of 97.15 % using only 3.64 M parameters and 4.77 G floating-point operations (FLOPs). Compared with the original YOLOv5, these values have decreased by 49.72 % and 71.32 %, respectively. To assess the severity of FHB damage, the diseased spike rate was calculated and the coefficient of determination (R2) was 0.9802, achieving a satisfactory statistical effect. These results validate the effectiveness of the improved YOLOv5s model for real-time detection of wheat FHB spikes. This study contributes to the development of accurate and efficient plant disease detection systems and provides a valuable reference for accurate quantitative assessment of crop losses, thus ensuring food security.

Evaluation of spatial downscaling for satellite retrieval of evapotranspiration from the nonparametric approach in an arid area

Evapotranspiration (ET) data is critical for monitoring the limited hydrological resources in arid areas. At present, the spatial resolution of ET derived by the thermal infrared images from satellite data is coarse (always more than 500 m). The low-resolution data cannot meet the needs of the high-precision mapping of ET. Therefore, it is important to undertake a downscaling procedure to improve the spatial resolution of ET. This paper selects the oasis region and surrounding deserts of Zhangye City of China as study area and compares with two downscaling procedures that include input and output downscaling procedure. The ET is estimated with the Remote Sensing-Non Parametric (RS-NP) model. The two downscaling procedures use Enhanced Spatial and Temporal Adaptive Reflectance Fusion Model (ESTARFM) to improve the spatial resolution of ET from 1-km to 100 m. Compared with the result derived from the output downscaling procedure, the high-resolution ET derived from the input downscaling procedure has a slightly better performance with R2 of 0.92 and RMSE of 41.8 W/m2, respectively. Neglectingthe downscaling of land surface temperature and broadband reflectance (BBR) result in larger errors of ET estimation with bias values of 73.0 W/m2 and 23.7 W/m2, respectively. Those values account for almost 1/3 and 1/10 of ET values, respectively. In non-vegetated areas, those proportions increase further around 90.6 % and 21.3 %, respectively. Furthermore, the influence of the neglect of the downscaling of the near-infrared reflectance on the ET estimation dominates that of BBR with a proportion of 42 %. The input downscaling procedure is suitable for generating the high-precision map of ET, especially in vegetated areas and during northern hemisphere summer months. Our study is helpful to obtain ET maps in fine spatial resolutions and contribute to the comprehensive understanding of the importance of the downscaling of each kind of input for reliable ET estimations.

Simulation-Based Self-Supervised Line Extraction for LiDAR Odometry in Urban Road Scenes

LiDAR odometry is a fundamental task for high-precision map construction and real-time and accurate localization in autonomous driving. However, point clouds in urban road scenes acquired by vehicle-borne lasers are of large amounts, “near dense and far sparse” density, and contain different dynamic objects, leading to low efficiency and low accuracy of existing LiDAR odometry methods. To address the above issues, a simulation-based self-supervised line extraction in urban road scene is proposed, as a pre-processing for LiDAR odometry to reduce the amount of input and the interference from dynamic objects. A simulated dataset is first constructed according to the characteristics of point clouds in urban road scenes; and then, an EdgeConv-based network, named LO-LineNet, is used for pre-training; finally, a model transferring strategy is adopted to transfer the pre-trained model from a simulated dataset to real-world scenes without ground-truth labels. Experimental results on the KITTI Odometry Dataset and the Apollo SouthBay Dataset indicate that the proposed method can accurately extract reliable lines in urban road scenes in a self-supervised way, and the use of the extracted reliable lines as input for odometry can significantly improve its accuracy and efficiency in urban road scenes.

RETRACTED ARTICLE: Unmanned Vehicle Fusion Positioning Technology Based on “5G + Beidou” and 3D Point Cloud Image

Unmanned vehicles need to know their location and direction information accurately to plan and navigate their paths. However, the positioning system is susceptible to interference from a variety of factors, which leads to increased positioning errors, thereby affecting the accuracy of unmanned vehicle positioning. An unmanned vehicle fusion positioning technology based on the "5G + Beidou" integrated positioning system was proposed. While using the "5G + Beidou" base station for positioning, the 3D point cloud image was fused, and the high-precision real-time positioning was carried out through the vehicle's autonomous navigation algorithm. This paper first analyzed the current situation and characteristics of GNSS technology and studied the key technologies and principles of the "5G + Beidou" integrated positioning system. Then, aiming at the difficulty of 5G base station deployment, the GNSS system parameter optimization scheme based on a multidimensional fusion structure was designed. Finally, in the experiment, it was verified that the fusion system could achieve higher precision positioning results compared with traditional single-dimensional GNSS and multi-dimensional GNSS. The technical advantages of "5G + Beidou" were used for data fusion processing of unmanned vehicles, and a positioning method based on the combination of 3D point cloud image and high-precision map was proposed. Through some experiments, it was concluded that the fusion location method could control the error below 0.1, which showed the accuracy of the fusion location.