Search Results (204)

Pose estimation of non-cooperative spacecraft remains challenging under feature degradation. Motion blur, self-occlusion, and weak texture can cause structural line disappearance, correspondence ambiguity, and localization drift, which destabilize conventional point- and line-based analytic pose estimation pipelines relying on discrete feature detection and post-hoc 2-D-to-3-D association. To address these issues, we propose a two-stage framework for line-based 6-DoF pose estimation built upon a structure-bound multi-channel spatial distance mapping (SDM), where each SDM channel is uniquely associated with one predefined 3-D model line. By explicitly binding each SDM channel to a predefined 3-D model line, the proposed representation encodes 2-D-to-3-D line correspondence directly in the network output, thereby avoiding unstable line matching after prediction and providing solver-consistent geometric constraints for Perspective-n-Line (PnL) estimation. To reduce localization blur around the SDM zero-level set, a cross-scale self-attention (CSSA) mechanism is introduced to couple high-resolution localization features with low-resolution structural context through window-level cross-scale attention. Based on the predicted SDMs, explicit 2-D structural lines are recovered through weighted robust fitting in narrow bands around the zero-level sets, enabling the completion of partially or fully occluded lines and yielding solver-ready observations for PnL pose recovery. Experiments on a close-range non-cooperative spacecraft dataset with simulated observation distances of 10–30 m show that SDMNet achieves translation/rotation errors of 0.8%/0.0372 rad, 0.91%/0.0394 rad, and 1.38%/0.0579 rad under original, motion-blur, and occlusion conditions, respectively. These results indicate that the proposed framework can robustly recover correspondence-aware structural observations from degraded images and improve the accuracy and stability of spacecraft pose estimation. Full article

Canine osteosarcoma (OSA) is a highly aggressive primary bone tumor and a valuable model in comparative oncology. Nevertheless, commonly used canine in vitro models remain incompletely and inconsistently characterized, while exhibiting substantial biological heterogeneity affecting experimental outcomes. This study aimed to comparatively characterize three canine osteosarcoma cell lines (OSCA8, OSCA29, and D17) in reference to canine hTERT fibroblasts, and with a focus on functional properties and selected molecular features, namely including miR-27b-3p and IGF2BP3 expression. The cytophysiological profile of the cells was evaluated in relation proliferation and migratory capacity. In turn, gene expression was determined with RT-qPCR, and proteins detected with Western blotting. The D17 cell line showed the highest metabolic activity and the largest fraction of S-phase cells, whereas OSCA8 cells demonstrated the greatest clonogenic potential and the highest migratory activity in the wound healing assay. OSCA29 cells displayed an intermediate functional profile, while all OSA cell lines exhibited comparable migratory capacity in transwell assay. At the molecular level, miR-27b-3p expression was significantly higher in OSCA8 and D17 cells than in OSCA29 cells. In turn, IGF2BP3 transcript levels were lower in OSCA29 cells, whereas protein analysis revealed distinct immunoreactive forms. Together, these findings highlight the functional heterogeneity of commonly used canine osteosarcoma cell lines and broaden their current characterization. Full article

Metabolic heterogeneity within the cell microenvironment is a key driver of cancer progression and resistance to therapy. However, current approaches lack the spatial and temporal resolution required to capture its dynamics in living systems. While recent advances in 3D cell culture models and metabolomic profiling have improved our understanding of the tumor niche, their integration with real-time optical sensing remains underdeveloped. Here, we present an integrated platform combining a 3D-printed microreactor culture chamber with Raman spectroscopy to enable non-invasive, spatially resolved metabolic monitoring of living cell cultures. Our microreactor platform generates controlled oxygen and nutrient cues while simultaneously acquiring label-free Raman spectra, revealing extracellular metabolic fingerprints linked to cell catabolism (e.g., glucose and lactate shifts) and acidification. Analysis across four cell lines uncovered temporal evolution as the dominant source of metabolic variance, while spatial heterogeneity along oxygen gradients is a secondary factor. In particular, diffusion-limited regions exhibited localized acidification and accumulation of stress biomarkers—such as the release of nucleotides—features that cannot be detected using conventional bulk assays. By providing a versatile platform for real-time mapping, this work enables the mechanistic dissection of cell adaptation to microenvironmental stress and supports the prediction of metabolic signatures underlying drug response and treatment outcomes. Full article

Non-Line-Of-Sight (NLOS) Terahertz (THz) radar 3D imaging leverages electromagnetic wave propagation characteristics such as reflection, diffraction, scattering, and penetration to detect, locate, and image hidden targets in occluded environments. It holds significant potential for applications in autonomous driving, disaster rescue, and urban warfare. However, uncertainties introduced by reflecting surfaces and occluding objects in practical NLOS scenarios, such as phase errors, aperture shadowing, and multipath effects, lead to issues like blurred imaging and increased artifacts in radar imaging. To address these challenges, this study proposes a 3D learning imaging method for NLOS THz radar based on a holographic imaging operator, leveraging the adaptive optimization properties of deep unfolding networks and prior environmental perception. First, a 3D imaging model for NLOS THz radar in the Looking Around Corner (LAC) scenario is established. A holographic imaging operator is introduced to enhance imaging efficiency and reduce computational complexity. Second, a high-precision NLOS 3D imaging network is constructed based on the Fast Iterative Shrinkage/Thresholding Algorithm (FISTA) framework. Utilizing features specific to NLOS scenes and designing algorithm parameters as functions of network weights, the method achieves high-precision and high-efficiency in the 3D reconstruction of NLOS targets. Finally, a near-field NLOS radar imaging platform operating at 121 GHz (within the sub-THz regime) is developed. Experimental validations in the LAC scenario are performed on targets, including metal letters “E”, a metal resolution chart, and a pair of scissors. The results demonstrate that the proposed method significantly improves 3D imaging precision, achieving a two-orders-of-magnitude increase in computational speed over traditional imaging algorithms. Full article

Three-dimensional seed phenotyping requires imaging systems capable of achieving micron-level resolution across a centimeter-level field of view (FOV), a goal constrained by the resolution–FOV trade-off in conventional light field architectures. This paper presents a hardware–software co-optimized framework that integrates a reconfigurable optical system with computational imaging pipelines to address this limitation. At the hardware level, we develop a tunable-focus lens module that enables flexible adjustment of the effective focal length, combined with a custom-designed microlens array (MLA). A mathematical model is established to analyze the interdependencies among FOV, lateral resolution, depth of field (DOF), and system configuration, guiding the design of individual optical components. On the computational side, we propose a hybrid aberration correction strategy: first, a co-calibration of lens and MLA aberrations based on line-feature detection; second, a conditional generative adversarial network (cGAN) with attention-guided residual learning to enhance sub-aperture images, achieving a PSNR of 34.63 dB and an SSIM of 0.9570 on seed datasets. Experimentally, the system achieves a resolution of 6.2 lp/mm at MTF50 over a 2–3 cm FOV, representing a 307% improvement over the initial configuration (1.52 lp/mm). The reconstruction pipeline combines epipolar plane image (EPI) analysis with multi-view consistency constraints to generate dense 3D point clouds at a density of approximately 1.5 × 10⁴ points/cm² while preserving spectral and textural features. Validation on bitter melon and rice seeds demonstrates accurate 3D reconstruction and accurate extraction of morphological parameters across a large area. By integrating optical and computational design, this work establishes a reconfigurable imaging framework that overcomes the resolution–FOV limitations of conventional light field systems. The proposed architecture is also applicable to robotic vision and biomedical imaging. Full article

Ultrahigh lateral resolution (UHLR) optical coherence tomography (OCT) technology, also called optical coherence microscopy (OCM), has gained popularity, especially in the field of biomedical imaging. In these systems, high numerical aperture (NA) Microscope objectives (MO) are employed in OCM systems to offer better than 3 µm lateral resolution. However, in the implemented broadband OCM configuration, the use of complex multi-element microscope objectives can reduce the detected returned signal compared with a simpler imaging lens configuration. This reduction in detected returned signals can become an important practical limitation in many OCM applications, particularly for biomedical imaging when high imaging speed is crucial. This study investigates whether a single off-the-shelf lens can provide a practical alternative to conventional MOs, achieving higher throughput while maintaining reasonable spatial resolution. We systematically evaluated 14 commercial lenses using Zemax OpticStudio simulations, identifying an aspherized achromatic lens (Edmund Optics #85302) that best met these key criteria. To validate its feasibility for OCM, performance was tested in both Full-Field Time-Domain OCM (FF-TD-OCM) and Line-Field Spectral-Domain OCM (LF-SD-OCM) configurations. Using a broadband composite Superluminescent Diode (SLD) source (750–920 nm), we quantified the resolvable features, axial resolution, and overall light transmission. The validated system demonstrated near-diffraction-limited performance. In the LF-SD-OCM setup, it successfully resolved features as fine as Group 8, Element 6, corresponding to a 2.2 µm line pair pitch (~1.1 µm line width) and achieved a 2.86 µm axial resolution in air. A through-focus comparison further showed practically useful contrast retention around focus. Additional imaging of onion epidermal tissue and ex vivo porcine corneal tissue demonstrated that the proposed lens could provide interpretable structural images on representative biological samples. Under the tested LF-SD-OCM detection configuration, the selected lens delivered approximately 2.0 dB higher returned signal than the Mitutoyo MY10X-823 objective according to 1.59× larger received signal. Full article

This paper presents a non-contact depth detection method for corrugated heat exchanger plates, aiming to improve measurement efficiency and accuracy. The system integrates a line laser sensor with a precision linear guide rail, enabling continuous acquisition of high-resolution 2D surface profiles as the sensor moves along the plate. To reduce data redundancy while preserving geometric features, a multi-stage data reduction strategy is proposed. This strategy combines the angle–chord height criterion with spline-based filtering to identify key regions of curvature and eliminate unnecessary point cloud data. For depth extraction, a two-stage feature recognition algorithm is designed. First, a coarse analysis locates candidate peaks and valleys by identifying local extrema in the reduced 2D data. Then, a fine detection process is applied: local B-spline fitting is performed near each candidate point, and a binary search algorithm is used to accurately determine the spline extrema. By computing the vertical distance between precisely located peaks and valleys, the system rapidly extracts the corrugation depth parameters. This method achieves a high balance between speed and precision, offering a practical and reliable solution for automated surface morphology inspection in heat exchanger manufacturing. Full article

Line spectrum purification is a fundamental task in underwater detection and identification tasks. A dual-input architecture based on Dense U-net is introduced to extract clean line spectra from strong interference. The U-net model features a symmetric encoder–decoder structure that accepts two-dimensional data as both input and output. The DenseBlock, a core component of DenseNets, offers greater parameter efficiency compared to conventional convolutional layers. In this paper, standard convolutional layers inside the original U-net are replaced by DenseBlocks. This model possesses two input channels, thus allowing the time–frequency feature of the interference and that of the interference–target mixture to be fed simultaneously. With supervised learning, the model is capable of eliminating the strong interference components and background noise from the superimposed spectrum, thereby producing a purified target line spectrum. Compared to traditional interference suppression methods, this approach offers higher feature accuracy and greater signal-to-interference-and-noise ratio (SINR) gain. Moreover, the model is trainable using simulation datasets and then deployed to real-world measurements, demonstrating strong generalization capabilities—a valuable property given the limited availability of labeled samples in underwater detection tasks. Being data-driven, this method operates without requiring prior assumptions about the array configuration, and consequently exhibits greater resilience to array imperfections relative to conventional model-based interference suppression techniques. Simulation and experimental results demonstrate that the proposed method achieves an output SINR improvement of more than 8 dB under low SINR conditions and exhibits significantly better robustness to array position errors than conventional methods, verifying its excellent line spectrum purification capability. Full article

In the field of forensic document examination, accurately determining the chronological sequence of intersecting lines between seal ink and handwriting is a crucial technical step for verifying document authenticity, identifying contract tampering, and detecting forged signatures. This technique analyzes the physical superimposition relationship formed by the deposition of the two media on the paper substrate to provide objective scientific evidence for judicial practice. Although traditional methods such as microscopic imaging and mass spectrometry analysis have achieved some progress, they still suffer from common limitations including high equipment costs, complex operation, and potential damage to samples. This study proposes and validates an innovative non-destructive determination method that integrates structured light 3D reconstruction technology with deep learning algorithms. The research captures the microscopic 3D morphological features of the ink intersection area using a high-precision structured light scanning system and effectively eliminates noise interference caused by paper substrate undulation through Gaussian flattening technology. Subsequently, a multimodal fusion strategy combines 2D texture images with 3D depth information to construct a dataset rich in features. On this basis, a deep learning model based on an improved Residual Neural Network (ResNet) is designed, incorporating the ELU activation function and an EMA mechanism to enhance the model’s feature extraction capability and convergence stability. Experimental results demonstrate that the proposed method achieves a recognition accuracy of 94.39% on the test set, fully validating its effectiveness and application potential in the non-destructive determination of ink stroke sequencing. Full article

Optical inspection of highly reflective cylindrical components—such as stainless-steel vessels featuring both planar and curvilinear surfaces—presents significant challenges due to complex geometric distortions in single-pass imaging. This study proposes a line-scan imaging framework that integrates synchronized kinematic control with geometry-aware distortion correction. The system addresses shape deformations through three coordinated modules: (1) parametric synchronization between rotational motion and image acquisition ensures full-surface coverage; (2) scanline-specific 1D projective transformations correct perspective distortions on toroidal sidewalls; and (3) adaptive polar coordinate remapping restores radial symmetry on circular bases. Experimental results demonstrate subpixel-level geometric correction accuracy, validating the proposed framework’s effectiveness in eliminating geometric aberrations with low computational complexity and without reliance on data-driven training, while maintaining compatibility with defect detection and quantitative surface analysis of specular cylindrical specimens. Full article

Background: IgG4-related hypertrophic pachymeningitis (IgG4-RHP) is an extremely rare central nervous system (CNS) autoimmune disorder, characterized by dural thickening, space-occupying effects, and neurological compression symptoms. It is frequently misdiagnosed as meningioma due to overlapping radiological features, leading to inappropriate management. This study aims to report a unique case of IgG4-RHP with skull destruction and subcutaneous mass formation, and summarize its diagnostic and therapeutic strategies through literature review. Methods: A 53-year-old male with a chronic subdural hematoma history was admitted for a progressive right frontal subcutaneous mass. Preoperative computed tomography (CT) and magnetic resonance imaging (MRI) were performed, followed by staged surgeries (subcutaneous biopsy and craniotomy with subtotal resection). Histopathological examinations (Hematoxylin and Eosin staining, IgG/IgG4 immunostaining) and serum IgG4 detection were conducted. The patient received postoperative prednisone acetate (60 mg/d) and 3-month follow-up. A literature search was also performed to analyze 34 previously reported IgG4-RHP cases. Results: Histopathology showed dense lymphoplasmacytic infiltration, storiform fibrosis, ≈40 IgG4+ plasma cells per high-power field (HPF), and an IgG4+/IgG+ ratio of ≈30%. Serum IgG4 was significantly elevated to 1521 μg/mL (normal < 1350 μg/mL), with marked reduction in residual lesions on follow-up MRI. Literature review revealed a 73.5% male predominance, mean age of 48.6 years, headache as the most common symptom (58.8%), and a 38.5% misdiagnosis rate. Glucocorticoids alone or combined with immunosuppressants achieved favorable outcomes in 96.0% of treated cases. Conclusions: Histopathological examination combined with serum IgG4 detection is the gold standard for IgG4-RHP diagnosis. Surgical resection relieves mass-occupying effects, while glucocorticoids are first-line therapy. Long-term follow-up is necessary for recurrence monitoring, and rituximab is effective for refractory cases. Awareness of atypical manifestations like skull destruction can reduce misdiagnosis and improve outcomes. Full article

This paper proposes a building reconstruction framework for airborne LiDAR data to address the challenge of automated modeling under conditions of uneven point cloud density and missing vertical walls, generating high-precision and structurally compact 3D building models. The method first combines adaptive resolution hypervoxels with a global graph cut optimization strategy to extract precise roof plane primitives from sparse point clouds of buildings. Subsequently, it infers building facades and internal vertical walls based on point cloud projection contours and height change detection, thereby completing the wall structures commonly missing in airborne LiDAR data. Finally, a feature line constraint term is introduced into the hypothesis-and-selection-based reconstruction framework to guide the structural optimization of candidate planes, ensuring the reconstructed model closely matches the actual building geometry. The proposed method was evaluated on multiple public airborne LiDAR datasets, demonstrating its effectiveness through qualitative and quantitative comparisons with various state-of-the-art approaches. Full article

Reliable autonomous perception is essential for indoor service machines operating in human-centered environments, where weak textures, repetitive structures, and frequent dynamic interference often degrade localization stability. Conventional RGB-D SLAM systems typically rely on static-scene assumptions or binary semantic masking, which are insufficient for handling persistent and fine-grained environmental dynamics. This paper presents a robust autonomous perception framework based on geometry-aware RGB-D SLAM, with a particular emphasis on probabilistic dynamic modeling at the feature level. The proposed system integrates multi-granularity geometric representations, including point features, parallel-line structures, and planar regions, to enhance geometric observability in low-texture indoor environments. On this basis, a probabilistic dynamic model is introduced to explicitly characterize feature reliability under motion, where dynamic probabilities are initialized by object detection and continuously updated through temporal consistency, spatial propagation, and multi-view geometric verification. Large-scale planar structures further serve as stable anchors to support robust pose estimation. Experimental results on the TUM RGB-D dynamic benchmark demonstrate that the proposed method significantly improves localization robustness, reducing the average ATE RMSE by approximately 66% compared with representative dynamic SLAM baselines. Additional evaluations on a real-world indoor dataset further validate its effectiveness for long-term autonomous perception under dense motion and frequent occlusions. Full article

With the advancement of synthetic aperture radar (SAR) sensor technology, linear structures such as building facades have become increasingly discernible in SAR imagery. Accurate detection of these line features is critical for object recognition and 3D model reconstruction. To the best of our knowledge, few existing methods explicitly address the problem of detecting lines composed of point scatterers. In this paper, we analyze the characteristics of such lines and propose a novel point scatterer-driven growth-based approach, termed PSG-Line, for their detection. Point scatterers are first extracted by combining the ordered-statistics constant false alarm rate (OS-CFAR) algorithm with non-maximum suppression and Harris corner response thresholding. Line segments are then initiated from these scatterers and iteratively extended by incorporating subsequent points that satisfy a set of geometric constraints. Finally, the detected line segments are validated based on the Helmholtz principle. Local principal orientations of point scatterers are estimated and incorporated into the line segment growth and validation stages. Both simulation and real-life SAR data experiments demonstrate that the PSG-Line algorithm outperforms existing line detection methods in accurately detecting lines composed of point scatterers. Full article

This study applies phase plane analysis of medio-lateral, anteroposterior, and vertical directions for the coordination assessment of whole-body (WB) center of mass (COM) movement during the impulse phase of a standard maximum vertical jump (MVJ) with long, short, and no countermovement (CM). A video system and force platform were used, with the amplitudes of WB COM excursion obtained from image-based motion capture at each anatomical direction, and the 2D and 3D mean radial distance were compared under long, short, and no CM conditions. The estimate of the population mean length was used as a measure of distribution concentration, and the Rayleigh statistical test for circular data was applied with the sample distribution critical value. Watson’s U² goodness-of-fit test for the von Mises distribution was used with the mean direction and concentration factor. The applied metrics led to the detection of shared and specific features in the global and phase plane analysis of WB COM movement coordination in the medio-lateral, anteroposterior, and vertical directions during long, short, and no CM conditions in relation to MVJ performance assessed from ground reaction force (GRF) through the force platform. Thus, long, short, and no CM impulses share lower amplitudes of WB COM excursion in the medio-lateral direction and mean radial distance to its mean, whereas the anteroposterior and vertical excursion of WB COM, along with the 2D transversal and 3D spatial length of the WB COM path, present as potential predictors of MVJ performance, with distinct behavior in long CM compared to short and no CM. Additionally, the applied workflow on generalized phase plane analysis led to the detection, through complementary metrics, of the anatomical WB COM movement directions with higher coordination based on phase concentration tests at 5% significance, in line with MVJ performance under different CM conditions. Full article