Object Information Research Articles

Hyper‐Sampling Imaging by Measurement of Intra‐Pixel Quantum Efficiency Using Steady Wave Field

AbstractThe transition from optical film to digital image sensors (DIS) in imaging systems has brought great convenience to human life. However, the sampling resolution of DIS is considerably lower than that of optical film due to the limitation that the pixels are significantly larger than the silver halide molecules. How to break DIS's sampling limit and achieve high‐resolution imaging is highly desired for imaging applications. In the research, a novel mechanism that allows for a significant reduction in the smallest sampling unit of DIS to as small as 1/16th of a pixel, or even smaller, through measuring the intra‐pixel quantum efficiency for the first time and recomputing the image — a technique referred to as hyper‐sampling imaging (HSI) is developed. Employing the HSI method, the physical sampling resolution of regular DIS can be enhanced by 4 × 4 times or potentially higher, and detailed object information can be acquired. The HSI method has undergone rigorous testing in real‐world imaging scenarios, demonstrating its robustness and efficiency in overcoming the sampling constraints of conventional DIS. This advancement is particularly beneficial for applications such as remote sensing, long‐range reconnaissance, and astronomical observations, where the ability to capture fine details is paramount.

Modified Multiresolution Convolutional Neural Network for Quasi-Periodic Noise Reduction in Phase Shifting Profilometry for 3D Reconstruction

Fringe profilometry is a method that obtains the 3D information of objects by projecting a pattern of fringes. The three-step technique uses only three images to acquire the 3D information from an object, and many studies have been conducted to improve this technique. However, there is a problem that is inherent to this technique, and that is the quasi-periodic noise that appears due to this technique and considerably affects the final 3D object reconstructed. Many studies have been carried out to tackle this problem to obtain a 3D object close to the original one. The application of deep learning in many areas of research presents a great opportunity to to reduce or eliminate the quasi-periodic noise that affects images. Therefore, a model of convolutional neural network along with four different patterns of frequencies projected in the three-step technique is researched in this work. The inferences produced by models trained with different frequencies are compared with the original ones both qualitatively and quantitatively.

Adaptive Granularity-Fused Keypoint Detection for 6D Pose Estimation of Space Targets

Estimating the 6D pose of a space target is an intricate task due to factors such as occlusions, changes in visual appearance, and background clutter. Accurate pose determination requires robust algorithms capable of handling these complexities while maintaining reliability under various environmental conditions. Conventional pose estimation for space targets unfolds in two stages: establishing 2D–3D correspondences using keypoint detection networks and 3D models, followed by pose estimation via the perspective-n-point algorithm. The accuracy of this process hinges critically on the initial keypoint detection, which is currently limited by predominantly singular-scale detection techniques and fails to exploit sufficient information. To tackle the aforementioned challenges, we propose an adaptive dual-stream aggregation network (ADSAN), which enables the learning of finer local representations and the acquisition of abundant spatial and semantic information by merging features from both inter-layer and intra-layer perspectives through a multi-grained approach, consolidating features within individual layers and amplifying the interaction of distinct resolution features between layers. Furthermore, our ADSAN implements the selective keypoint focus module (SKFM) algorithm to alleviate problems caused by partial occlusions and viewpoint alterations. This mechanism places greater emphasis on the most challenging keypoints, ensuring the network prioritizes and optimizes its learning around these critical points. Benefiting from the finer and more robust information of space objects extracted by the ADSAN and SKFM, our method surpasses the SOTA method PoET (5.8°, 8.1°/0.0351%, 0.0744%) by 0.5°, 0.9°, and 0.0084%, 0.0354%, achieving 5.3°, 7.2° in rotation angle errors and 0.0267%, 0.0390% in normalized translation errors on the Speed and SwissCube datasets, respectively.

The scope and limits of fine-grained image and category information in the ventral visual pathway.

Humans can easily abstract incoming visual information into discrete semantic categories. Previous research employing functional MRI (fMRI) in humans has identified cortical organizing principles that allow not only for coarse-scale distinctions such as animate versus inanimate objects but also more fine-grained distinctions at the level of individual objects. This suggests that fMRI carries rather fine-grained information about individual objects. However, most previous work investigating fine-grained category representations either additionally included coarse-scale category comparisons of objects, which confounds fine-grained and coarse-scale distinctions, or only used a single exemplar of each object, which confounds visual and semantic information. To address these challenges, here we used multisession human fMRI (female and male) paired with a broad yet homogenous stimulus class of 48 terrestrial mammals, with 2 exemplars per mammal. Multivariate decoding and representational similarity analysis (RSA) revealed high image-specific reliability in low- and high-level visual regions, indicating stable representational patterns at the image level. In contrast, analyses across exemplars of the same animal yielded only small effects in the lateral occipital complex (LOC), indicating rather subtle category effects in this region. Variance partitioning with a deep neural network and shape model showed that across exemplar effects in EVC were largely explained by low-level visual appearance, while representations in LOC appeared to also contain higher category-specific information. These results suggest that representations typically measured with fMRI are dominated by image-specific visual or coarse-grained category information but indicate that commonly employed fMRI protocols may reveal subtle yet reliable distinctions between individual objects.Significance Statement While it has been suggested that functional MRI (fMRI) responses in ventral visual cortex carry fine-grained information about individual objects, much previous research has confounded fine-grained with coarse-scale category information or only used individual visual exemplars, which potentially confounds semantic and visual object information. Here we address these challenges in a multisession fMRI study where participants viewed a highly homogenous stimulus set of 48 land mammals with 2 exemplars per animal. Our results reveal a strong dominance of image-specific effects and additionally indicate subtle yet reliable category-specific effects in lateral occipital complex, underscoring the capacity of commonly employed fMRI protocols to uncover fine-grained visual information.

TSOM: Small object motion detection neural network inspired by avian visual circuit

Detecting small moving objects in complex backgrounds from an overhead perspective is a highly challenging task for machine vision systems. As an inspiration from nature, the avian visual system is capable of processing motion information in various complex aerial scenes, and the Retina-OT-Rt visual circuit of birds is highly sensitive to capturing the motion information of small objects from high altitudes. However, more needs to be done on small object motion detection algorithms based on the avian visual system. In this paper, we conducted mathematical description based on extensive studies of the biological mechanisms of the Retina-OT-Rt visual circuit. Based on this, we proposed a novel tectum small object motion detection neural network (TSOM). The TSOM neural network includes the retina, SGC dendritic, SGC Soma, and Rt layers, each corresponding to neurons in the visual pathway for precise topographic projection, spatial–temporal encoding, motion feature selection, and multi-directional motion integration. Extensive experiments on pigeon neurophysiological experiments and image sequence data showed that the TSOM is biologically interpretable and effective in extracting reliable small object motion features from complex high-altitude backgrounds.

Registered Report Stage II: Decoding the category information from evoked potentials to visible and invisible visual objects

Previous studies that use decoding methods and EEG to investigate the neural representation of the category information of visual objects focused mainly on consciously processed visual objects. It remains unclear whether the category information of unconsciously processed visual objects can be decoded and whether the decoding performance is different for consciously and unconsciously processed visual objects. The present study compared the neural decoding of the animacy category of visible and invisible visual objects via EEG and decoding methods. The results revealed that the animacy of visible visual objects could be decoded above the chance level by the P200, N300, and N400, but not by the early N/P100. However, the animacy of invisible visual objects could not be decoded above the chance level by neither early nor late ERP components. The decoding accuracy was greater for visible visual objects than that for invisible visual objects for the P200, N300 and N400. These results suggested that access to animacy category information for visual objects requires conscious processing.

Analyzing Dwelling in the Fuchun Mountains from a Pictorial Perspective

From the perspective of iconography, this paper presents an in-depth analysis of Dwelling in the Fuchun Mountains, a classic work of traditional Chinese landscape painting. This work has been highly respected since the Tang Dynasty and is regarded as one of the important representatives in the history of Chinese painting. Its rich connotation and artistic value have always been the focus of scholars' research. The thesis aims to deeply interpret the historical and cultural connotations and artistic symbolism embedded in Dwelling in the Fuchun Mountains through the iconographic method, from the levels of ex-iconography, iconography and iconographic analysis, to reveal its important position and value in Chinese traditional art. Adopting the iconographic method, the analysis is divided into three main levels. First, through pre-imaginative analysis, we focus on the physical facts and visual representations on the surface of the work; second, we use imaginative analysis to explore the information of the specific objects in the work and explore their connections and themes; and finally, we carry out imaginative analysis to reveal the deeper historical and cultural connotations and symbolic meanings of the work. Through in-depth iconographic analysis, Dwelling in the Fuchun Mountains demonstrates the core values of traditional Chinese landscape painting, presenting a fusion of natural landscapes and humanistic emotions. It is not only a work of art, but also a vivid expression of traditional Chinese culture and aesthetics. The findings of this dissertation will contribute to a better understanding of the profound historical and cultural connotations embedded in Dwelling in the Fuchun Mountains, as well as its important position and value in the history of Chinese art.

Action-aware Linguistic Skeleton Optimization Network for Non-autoregressive Video Captioning

Non-autoregressive video captioning methods generate visual words in parallel but often overlook semantic correlations among them, especially regarding verbs, leading to lower caption quality. To address this, we integrate action information of highlighted objects to enhance semantic connections among visual words. Our proposed Action-aware Language Skeleton Optimization Network (ALSO-Net) tackles the challenge of extracting action information across frames, improving understanding of complex context-dependent video actions and reducing sentence inconsistencies. ALSO-Net incorporates a linguistic skeleton tag generator to refine semantic correlations and a video action predictor to enhance verb prediction accuracy in video captions. We also address issues of unsatisfactory caption length and quality by jointly optimizing different levels of motion prediction loss. Experimental evaluation on prominent video captioning datasets demonstrates that ALSO-Net outperforms baseline methods by a significant margin and achieves competitive performance compared to state-of-the-art autoregressive methods with smaller model complexity and faster inference time.

Harnessing Representative Spatial-Temporal Information for Video Question Answering

Video question answering, aiming to answer a natural language question related to the given video, has become prevalent in the past few years. Although remarkable improvements have been obtained, it is still exposed to the challenge of insufficient comprehension of video content. To this end, we propose a spatial-temporal representative visual exploitation network for video question answering, which enhances the understanding of the video by merely summarizing representative visual information. In order to explore representative object information, we advance adaptive attention based on uncertainty estimation. At the same time, to capture representative frame-level and clip-level visual information, we structure a much more compact set of representations iteratively in an expectation-maximization manner to deprecate noisy information. Both the quantitative and qualitative results on NExT-QA, TGIF-QA, MSRVTT-QA, and MSVD-QA datasets demonstrate the superiority of our model over several state-of-the-art approaches.

RSPS-SAM: A Remote Sensing Image Panoptic Segmentation Method Based on SAM

Satellite remote sensing images contain complex and diverse ground object information and the images exhibit spatial multi-scale characteristics, making the panoptic segmentation of satellite remote sensing images a highly challenging task. Due to the lack of large-scale annotated datasets for panoramic segmentation, existing methods still suffer from weak model generalization capabilities. To mitigate this issue, this paper leverages the advantages of the Segment Anything Model (SAM), which can segment any object in remote sensing images without requiring any annotations and proposes a high-resolution remote sensing image panoptic segmentation method called Remote Sensing Panoptic Segmentation SAM (RSPS-SAM). Firstly, to address the problem of global information loss caused by cropping large remote sensing images for training, a Batch Attention Pyramid was designed to extract multi-scale features from remote sensing images and capture long-range contextual information between cropped patches, thereby enhancing the semantic understanding of remote sensing images. Secondly, we constructed a Mask Decoder to address the limitation of SAM requiring manual input prompts and its inability to output category information. This decoder utilized mask-based attention for mask segmentation, enabling automatic prompt generation and category prediction of segmented objects. Finally, the effectiveness of the proposed method was validated on the high-resolution remote sensing image airport scene dataset RSAPS-ASD. The results demonstrate that the proposed method achieves segmentation and recognition of foreground instances and background regions in high-resolution remote sensing images without the need for prompt input, while providing smooth segmentation boundaries with a panoptic segmentation quality (PQ) of 57.2, outperforming current mainstream methods.

Establishing effective learning bridge cross multi-scale feature maps for object detection and semantic segmentation

ABSTRACT In the field of image object detection and semantic segmentation, improving the accuracy of object identification and segmentation is a primary goal. To achieve this, leveraging the potential of multi-scale information through feature map refinement and fusion has been widely recognized. However, existing feature fusion methods either design more complex feature pyramid networks, replace existing detectors, or incrementally introduce feature fusion modules, overlooking the effective approach of enhancing spatial information in deep feature maps. We propose a novel pluggable feature fusion paradigm termed ‘Effective Learning Bridge’. Our research introduces an efficient and adaptive learning mechanism that builds learning bridges between feature maps at different scales within the feature pyramid, thereby enhancing the spatial information of objects in deep feature maps. This mechanism is specifically designed for multi-scale feature maps and can be seamlessly integrated into any network incorporating feature maps. By altering the model’s backpropagation path, we successfully improve learning efficiency, which in turn enhances the accuracy of object detection and segmentation. Our proposed paradigm and method were extensively evaluated through experiments on SIMD, HRSID, and WHDLD datasets and benchmark models. The results unequivocally demonstrate the effectiveness of our approach in significantly improving the accuracy of object detection and semantic segmentation, as well as the overall learning efficiency of the model.

Fast feature- and category-related parafoveal previewing support free visual exploration.

While humans typically saccade every ∼250 ms in natural settings, studies on vision tend to prevent or restrict eye movements. As it takes ∼50 ms to initiate and execute a saccade, this leaves only ∼200 ms to identify the fixated object and select the next saccade goal. How much detail can be derived about parafoveal objects in this short time interval, during which foveal processing and saccade planning both occur? Here, we had male and female human participants freely explore a set of natural images while we recorded magnetoencephalography and eye movements. Using multivariate pattern analysis, we demonstrate that future parafoveal images could be decoded at the feature and category level with peak decoding at ∼110 ms and ∼165 ms respectively, while the decoding of fixated objects at the feature and category level peaked at ∼100 ms and ∼145 ms. The decoding of features and categories was contingent on the objects being saccade goals. In sum, we provide insight on the neuronal mechanism of pre-saccadic attention by demonstrating that feature and category specific information of foveal and parafoveal objects can be extracted in succession within a ∼200 ms intersaccadic interval. These findings rule out strict serial or parallel processing accounts but are consistent with a pipeline mechanism in which foveal and parafoveal objects are processed in parallel but at different levels in the visual hierarchy.Significance Statement We provide neural evidence that future parafoveal saccade goals are processed surprisingly quickly at the feature and the category level before we saccade to them. Specifically, using multivariate pattern analysis applied to magnetoencephalography and eye-tracking data, we found that information about the colour and the category of parafoveal objects emerged at ∼110 ms and ∼165 ms respectively, with the same information about foveal objects emerging ∼100 ms and ∼145 ms. Our findings provide novel insight into the neuronal dynamics of parafoveal previewing during free visual exploration. The dynamics rule out strict serial or parallel processing, but are consistent with a pipelining mechanism in which foveal and parafoveal objects are processed in parallel but at different levels in the visual hierarchy.

Advanced Object Tracking through Conditional Online Updates and Noise Suppression

Object tracking under complex environmental conditions, such as background clutter, occlusion, and rapid motion, presents significant challenges. This paper addresses these issues by proposing a tracking algorithm integrating background suppression, target region enhancement, and an adaptive online template update mechanism to improve tracking accuracy. The proposed method uses the initial bounding box of the target object as a reference template and selectively updates specific regions online to suppress noise and retain critical features. We evaluated the proposed method using the OTB dataset to validate it. The baseline model without the proposed method showed a success rate of 0.417 and a precision of 0.586, while the algorithm with the proposed method achieved improved values of 0.524 and 0.728, respectively. Qualitative evaluations further confirmed the robustness of the proposed method, demonstrating high performance in scenarios with occlusion and complex backgrounds. Rather than updating all regions indiscriminately, the proposed method selectively updates the template using representative values from the target object's information. This selective update mechanism ensures the incorporation of the most relevant and accurate features, enabling the algorithm to adapt to changes in the target's appearance while minimizing noise integration. Emphasizing the feature regions and suppressing noise are also critical for maintaining a clear and precise representation of the target object, reducing the likelihood of confusion by irrelevant background information. Future research will focus on developing balanced update strategies that integrate new information while maintaining stable and reliable target characteristics.

IVA-former: invisible–visible query guided amodal mask measurement network for desktop object via hierarchical transformer

Abstract Instance segmentation of desktop objects is important for service robots. Most of the previous works for desktop environments are restricted to measuring the visible area of target objects. However, when a target object is placed behind another, the algorithm that only performs visible area segmentation is unable to provide accurate appearance information for the occluded objects. To solve this problem, we propose the invisible–visible query guided amodal mask measurement network based on a hierarchical transformer for desktop scenes, which can perceive the entire appearance of objects in the presence of occlusions. In this method, the RGB-D backbone is adopted to fuse the features from both RGB and depth images. Then, the pixel decoder is used to generate multi-scale feature maps. We then adopt a hierarchical transformer decoder to predict invisible, visible, and amodal masks simultaneously. To enhance the associations between the three prediction branches, we propose a query transform module to transfer object queries between adjacent branches. Since amodal masks are a combination of invisible and visible masks, we propose an invisible–visible mixture loss that takes masks from both invisible and visible branches to further supervise the network. Our method is trained on synthetic datasets for desktop objects and evaluated on both visible and amodal real-world datasets. Compared to other recent segmentation algorithms, our method achieves competitive performance.

Deep Learning-Based Camouflaged Object Detection and Tracking for Enhanced Video Surveillance

To improve security and tactical awareness, video surveillance systems need to be able to find and track objects that are hidden. The approach suggests a deep learning-based method for finding and following hidden objects. There are two major steps in our method: finding and following. During the detecting step, we use a R-CNN based model to find items that are hidden in each frame. A lot of labelled pictures with different kinds of camouflage patterns and objects are used to train this model. The updated Faster R-CNN has more levels and changes that make it better at finding things that are hidden. To keep track of the objects across frames, we use an LSTM-based tracker. The LSTM tracker uses the object's traits and motion information to keep track of its state and guess where it will be in the next frame. To make our method even more effective, we use pre-trained models like MobileNet and VGG-19 for feature extraction. This makes the computations simpler while keeping the accuracy of the recognition and tracking high. The proposed model tested on a number of difficult video scenes with items that were well hidden. The results show that our method works better than other methods, as it increases the accuracy of both recognition and tracking. Also, our method works well even when the lighting changes, the size of the objects changes, or the background is complicated. The suggested method based on deep learning looks like a good way to find and follow hidden objects in video monitoring scenarios. Using CNNs, LSTM networks, and pre-trained models like MobileNet and VGG-19, we show big improvements in terms to compare the various performance parameters with accuracy and stability, which helps make security and monitoring systems better.

Railway foreign object tracking and detection with spatial positioning and feature generalization enhancement

The existing deep learning foreign object tracking and detection algorithm is easily affected by complex environments and target occlusion, resulting in problems such as missed detection and low detection accuracy. A railway foreign object tracking and detection algorithm with spatial positioning and feature generalization enhancement is proposed. First, a multi-scale cascade improved GhostNet feature network is proposed to improve the feature extraction capability of infrared targets. Secondly, the spatial positioning and feature generalization enhancement module is designed by using the spatial position positioning and generalized morphological information of foreign objects to enhance the detection accuracy of targets with position movement and tracking trajectory changesin complex scenes. Then, a pyramid prediction network is constructed to obtain the detection anchor frame, type and confidence information of infrared railway foreign objects. Finally, by improving the DeepSORT tracking algorithm with improved category and confidence display, combined with Kalman filtering and Hungarian algorithm, railway foreign object tracking and detection in infrared weak light environment is realized. Experimental results show that the proposed method has a tracking and detection accuracy of railway foreign objects 83.3%, with an average detection rate of 11.3 frames per second. Compared with the comparison method, the proposed method has higher detection accuracy and has better performance in railway foreign object tracking and detection in infrared weak light scenes.

Eyewitness memory for person, object and action information is mediated by interview environment and the presence or absence of rapport

Purpose Obtaining accurate and reliable information from witnesses and victims of crime is essential for guiding criminal investigations and for the successful prosecution of offenders and beyond. Here, the purpose of this study is to investigate the impact of prosocial rapport behaviours and retrieval environment on mock eyewitness memory with an emphasis on the qualitative nature of information recalled in terms of persons, actions, objects and surroundings. Design/methodology/approach One hundred participants from the general population took part in mock witness research using a 2 (Environment: face-to-face; virtual) × 2 (Rapport: present; absent) design. Participants individually viewed an event depicting a fight in a bar and were then interviewed 48 h later according to condition. Findings Rapport and environment variously emerged as impactful, resulting in significant improvements in correct recall of persons, actions and object information when rapport was present and in virtual environments (VEs) when communicating via avatars. In many instances, the benefits of rapport and environment were additive, but not always. Surroundings information remained consistent across all conditions. Erroneous recall was extremely susceptible to inflation in face-to-face interviews when rapport was absent, in some instances increasing by over 100%. However, virtual interview spaces appeared to dilute the negative effects on retrieval when rapport was absent. Research limitations/implications This study concurs with others who have argued that comfortable witnesses are “better” witnesses; however, understanding what “comfort” looks and feels like remains a challenge. Practical implications The results, alongside the findings of others, have implications for applied and social cognition and reveal avenues for future research centred on widening access to justice and professional interview training. Originality/value This study reveals that prosocial rapport behaviours and VEs significantly enhance the accuracy of eyewitness recall. The findings suggest that virtual interviews can mitigate errors in the absence of rapport, offering valuable insights for criminal investigators and legal professionals. This research is crucial for improving witness interviewing techniques, thereby aiding in the accurate prosecution of offenders and broadening access to justice. The paper is valuable for criminal investigators, legal professionals, forensic psychologists and researchers focused on improving the reliability of eyewitness testimonies and interview methodologies.

A Depth Awareness and Learnable Feature Fusion Network for Enhanced Geometric Perception in Semantic Correspondence.

Deep learning is becoming the most widely used technology for multi-sensor data fusion. Semantic correspondence has recently emerged as a foundational task, enabling a range of downstream applications, such as style or appearance transfer, robot manipulation, and pose estimation, through its ability to provide robust correspondence in RGB images with semantic information. However, current representations generated by self-supervised learning and generative models are often limited in their ability to capture and understand the geometric structure of objects, which is significant for matching the correct details in applications of semantic correspondence. Furthermore, efficiently fusing these two types of features presents an interesting challenge. Achieving harmonious integration of these features is crucial for improving the expressive power of models in various tasks. To tackle these issues, our key idea is to integrate depth information from depth estimation or depth sensors into feature maps and leverage learnable weights for feature fusion. First, depth information is used to model pixel-wise depth distributions, assigning relative depth weights to feature maps for perceiving an object's structural information. Then, based on a contrastive learning optimization objective, a series of weights are optimized to leverage feature maps from self-supervised learning and generative models. Depth features are naturally embedded into feature maps, guiding the network to learn geometric structure information about objects and alleviating depth ambiguity issues. Experiments on the SPair-71K and AP-10K datasets show that the proposed method achieves scores of 81.8 and 83.3 on the percentage of correct keypoints (PCK) at the 0.1 level, respectively. Our approach not only demonstrates significant advantages in experimental results but also introduces the depth awareness module and a learnable feature fusion module, which enhances the understanding of object structures through depth information and fully utilizes features from various pre-trained models, offering new possibilities for the application of deep learning in RGB and depth data fusion technologies. We will also continue to focus on accelerating model inference and optimizing model lightweighting, enabling our model to operate at a faster speed.

An Integrated Spatial Fuzzy‐Based Site Suitability Assessment Framework for Agricultural BMP Placement

ABSTRACTAssigning crisp class boundaries to landscape features can result in the loss of vital information for land evaluation objectives, especially when these boundaries lack clear definitions. This challenge becomes particularly pronounced when land suitability is assessed for implementing agricultural best management practices (BMPs)—conservation measures aimed at reducing the environmental risks of farming activities to aquatic ecosystems while simultaneously achieving water quality and economic objectives. To address the limitations associated with Boolean suitability assessment frameworks, we have introduced an integrated spatial, fuzzy‐based land evaluation framework that considers a range of hydrological and economic determinants for BMP placement. By employing data‐driven fuzzy membership functions and overlay operators, this framework generates a joint suitability index for BMP placement across agricultural watersheds. The application of the proposed framework to the Thames River Watershed in southwestern Ontario, Canada, produced the first joint suitability index of the watershed. Further analysis of the average farm‐level joint suitability scores identified statistically significant clusters of highly suitable and unsuitable lands for BMP placement, with 85% of highly suitable lands being situated in the upper basin areas. The proposed framework is adaptable to various agricultural production geographies, especially in data‐limited environments, allowing for strategic BMP placement to mitigate the global impacts of anthropogenic nutrient loadings on aquatic ecosystems. For optimal results, context‐specific applications should prioritize research on locally relevant fuzzy membership functions and BMP implementation drivers.

YPR-SLAM: A SLAM System Combining Object Detection and Geometric Constraints for Dynamic Scenes

Traditional SLAM systems assume a static environment, but moving objects break this ideal assumption. In the real world, moving objects can greatly influence the precision of image matching and camera pose estimation. In order to solve these problems, the YPR-SLAM system is proposed. First of all, the system includes a lightweight YOLOv5 detection network for detecting both dynamic and static objects, which provides pre-dynamic object information to the SLAM system. Secondly, utilizing the prior information of dynamic targets and the depth image, a method of geometric constraint for removing motion feature points from the depth image is proposed. The Depth-PROSAC algorithm is used to differentiate the dynamic and static feature points so that dynamic feature points can be removed. At last, the dense cloud map is constructed by the static feature points. The YPR-SLAM system is an efficient combination of object detection and geometry constraint in a tightly coupled way, eliminating motion feature points and minimizing their adverse effects on SLAM systems. The performance of the YPR-SLAM was assessed on the public TUM RGB-D dataset, and it was found that YPR-SLAM was suitable for dynamic situations.