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Keywords = automatic nest segmentation

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31 pages, 4550 KB  
Article
A Runtime Enforcement Framework for Vulnerable Smart Contracts of Crowdsourcing Logistics
by Tianhuan Miao and Yang Liu
Systems 2026, 14(6), 600; https://doi.org/10.3390/systems14060600 - 23 May 2026
Viewed by 176
Abstract
Blockchain-based crowdsourcing logistics is a promising decentralized paradigm for solving the “last-mile delivery” problem, in which smart contracts automatically execute the business logic. Since crowdsourcing logistics inherently involves frequent fund transfers, its smart contracts are particularly susceptible to reentrancy vulnerabilities. Existing works address [...] Read more.
Blockchain-based crowdsourcing logistics is a promising decentralized paradigm for solving the “last-mile delivery” problem, in which smart contracts automatically execute the business logic. Since crowdsourcing logistics inherently involves frequent fund transfers, its smart contracts are particularly susceptible to reentrancy vulnerabilities. Existing works address reentrancy by inserting a lock mechanism at design-time, which lacks dynamic responsiveness and incurs additional gas overhead. To overcome this limitation, we propose RE4SC, the first runtime enforcement framework for vulnerable smart contracts. RE4SC contains two components: off-Blockchain granularity segmentation and on-Blockchain granular block reordering. At the off-Blockchain level, bytecode is segmented into granular blocks through control flow analysis. This yields a finer granularity than conventional basic blocks in a control flow graph. These granular blocks are then organized into a tree structure that captures their hierarchical nesting relationships. A data flow analysis further ensures data dependency consistency after reordering. At the on-Blockchain level, a runtime enforcer retrieves the pre-computed reordering specifications from off-Blockchain analysis. It applies a depth-first reordering algorithm to reposition key state variable assignments before transfer operations, eliminating reentrancy vulnerabilities without introducing additional bytecode. We implement a prototype tool and make it open-source. Experiments on self-constructed crowdsourcing logistics contracts and three public datasets demonstrate that RE4SC repairs vulnerable contracts with zero gas overhead, outperforming existing approaches. Full article
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19 pages, 5799 KB  
Article
An Improved Single-Stage Object Detection Model and Its Application to Oil Seal Defect Detection
by Yangzhuo Chen, Yuhang Wu, Xiaoliang Wu, Weiwei He, Guangtian He and Xiaowen Cai
Electronics 2026, 15(1), 128; https://doi.org/10.3390/electronics15010128 - 26 Dec 2025
Viewed by 706
Abstract
Oil seals, as core industrial components, often exhibit defects with sparse features and low contrast, posing significant challenges for traditional vision-based inspection methods. Although deep learning facilitates automatic feature extraction for defect detection, many instance segmentation models are computationally expensive, hindering their deployment [...] Read more.
Oil seals, as core industrial components, often exhibit defects with sparse features and low contrast, posing significant challenges for traditional vision-based inspection methods. Although deep learning facilitates automatic feature extraction for defect detection, many instance segmentation models are computationally expensive, hindering their deployment in real-time edge applications. In this paper, we present an efficient oil seal defect detection model based on an enhanced YOLOv11n architecture (YOLOv11n_CDK). The proposed approach introduces several dynamic convolution variants and integrates the Kolmogorov–Arnold Network (KAN) into the backbone. A newly designed parallel module, the nested asynchronous pooling convolutional module (NAPConv), is also incorporated to form a lightweight yet powerful feature extraction network. Experimental results demonstrate that, compared to the baseline YOLOv11n, our model reduces computational cost by 4.76% and increases mAP@0.5 by 2.14%. When deployed on a Jetson Nano embedded device, the model achieves an average processing time of 6.3 ms per image, corresponding to a frame rate of 105–110 FPS. These outcomes highlight the model’s strong potential for high-performance, real-time industrial deployment, effectively balancing detection accuracy with low computational complexity. Full article
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25 pages, 12345 KB  
Article
SmaAt-UNet Optimized by Particle Swarm Optimization (PSO): A Study on the Identification of Detachment Diseases in Ming Dynasty Temple Mural Paintings in North China
by Chuanwen Luo, Zikun Shang, Yan Zhang, Hao Pan, Abdusalam Nuermaimaiti, Chenlong Wang, Ning Li and Bo Zhang
Appl. Sci. 2025, 15(22), 12295; https://doi.org/10.3390/app152212295 - 19 Nov 2025
Cited by 1 | Viewed by 863
Abstract
The temple mural paintings of the Ming Dynasty in China are highly valuable cultural heritage. However, murals in North China have long faced deterioration such as pigment-layer detachment, which seriously threatens their preservation and study, gradually leading to cultural incompleteness and impeding protection [...] Read more.
The temple mural paintings of the Ming Dynasty in China are highly valuable cultural heritage. However, murals in North China have long faced deterioration such as pigment-layer detachment, which seriously threatens their preservation and study, gradually leading to cultural incompleteness and impeding protection decisions. This study proposes a coherent deep-learning technical paradigm, constructs a mural dataset, compares the performance of multiple models, and optimizes the selected model to enable automatic identification of mural detachment. The study applies five segmentation models—UNet, U2-NetP, SegNet, NestedUNet, and SmaAt-UNet—to perform a systematic comparison under the same conditions on 37,685 image slices, and evaluates their performance using four metrics: IoU, Dice, MAE, and mPA. Owing to its lightweight structure and attention-enhanced feature-extraction module, SmaAt-UNet effectively preserves mural edge details and performs best at identifying pigment-layer detachment. After introducing Particle Swarm Optimization (PSO), the IoU of the SmaAt-UNet model on the dataset increased to 73.25%, the Dice increased to 79.36%, the mPA increased to 97.02%, and the MAE decreased from 0.0592 to 0.0455, corresponding to an absolute reduction of 0.0137, and the model’s generalization ability and edge-recognition accuracy were significantly enhanced. This study constructs a systematic identification framework for pigment layer detachment in Ming Dynasty (1368–1644 AD) temple murals, closely combining deep learning technology with cultural heritage protection. It not only realizes the automatic identification of disease areas but also provides technical support for preventive protection and the construction of digital archives. Full article
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17 pages, 3078 KB  
Article
Night-Time Vessel Detection Based on Enhanced Dense Nested Attention Network
by Gao Zuo, Ji Zhou, Yizhen Meng, Tao Zhang and Zhiyong Long
Remote Sens. 2024, 16(6), 1038; https://doi.org/10.3390/rs16061038 - 15 Mar 2024
Cited by 6 | Viewed by 2994
Abstract
Efficient night-time vessel detection is of significant importance for maritime traffic management, fishery activity monitoring, and environmental protection. With the advancement in object-detection approaches, the method of night-time vessel detection has gradually shifted from traditional threshold segmentation to deep learning that balances efficiency [...] Read more.
Efficient night-time vessel detection is of significant importance for maritime traffic management, fishery activity monitoring, and environmental protection. With the advancement in object-detection approaches, the method of night-time vessel detection has gradually shifted from traditional threshold segmentation to deep learning that balances efficiency and accuracy. However, the restricted spatial resolution of night-time light (NTL) remote sensing data (e.g., VIIRS/DNB images) results in fewer discernible features and insufficient training performance when detecting vessels that are considered small targets. To address this, we establish an Enhanced Dense Nested-Attention Network (DNA-net) to improve the detection of small vessel targets under low-light conditions. This approach effectively integrates the original VIIRS/DNB, spike median index (SMI), and spike height index (SHI) images to maintain deep-level features and enhance feature extraction. On this basis, we performed vessel detection based on the Enhanced DNA-net using VIIRS/DNB images of the Japan Sea, the South China Sea, and the Java Sea. It is noteworthy that the VIIRS Boat Detection (VBD) observations and the Automatic Identification System (AIS) data were cross-matched as the actual status of the vessels (VBD-AIS). The results show that the proposed Enhanced DNA-net achieves significant improvements in the evaluation metrics (e.g., IOU, Pd, Fa, and MPD) compared to the original DNA-net, achieving performance of 87.81%, 96.72%, 5.42%, and 0.36 Wpx, respectively. Meanwhile, we validated the detection performance of Enhanced DNA-net and strong VBD detection against VBD-AIS, showing that the Enhanced DNA-net achieves 1% better accuracy than strong VBD detection. Full article
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17 pages, 2462 KB  
Article
Deep Learning–Based Segmentation of Trypanosoma cruzi Nests in Histopathological Images
by Nidiyare Hevia-Montiel, Paulina Haro, Leonardo Guillermo-Cordero and Jorge Perez-Gonzalez
Electronics 2023, 12(19), 4144; https://doi.org/10.3390/electronics12194144 - 5 Oct 2023
Cited by 8 | Viewed by 2855
Abstract
The use of artificial intelligence has shown good performance in the medical imaging area, in particular the deep learning methods based on convolutional neural networks for classification, detection, and/or segmentation tasks. The task addressed in this research work is the segmentation of amastigote [...] Read more.
The use of artificial intelligence has shown good performance in the medical imaging area, in particular the deep learning methods based on convolutional neural networks for classification, detection, and/or segmentation tasks. The task addressed in this research work is the segmentation of amastigote nests from histological microphotographs in the study of Trypanosoma cruzi infection (Chagas disease) implementing a U-Net convolutional network architecture. For the nests’ segmentation, a U-Net architecture was trained on histological images of an acute-stage murine experimental model performing a 5-fold cross-validation, while the final tests were carried out with data unseen by the U-Net from three image groups of different experimental models. During the training stage, the obtained results showed an average accuracy of 98.19 ± 0.01, while in the case of the final tests, an average accuracy of 99.9 ± 0.1 was obtained for the control group, as well as 98.8 ± 0.9 and 99.1 ± 0.8 for two infected groups; in all cases, high sensitivity and specificity were observed in the results. We can conclude that the use of a U-Net architecture proves to be a relevant tool in supporting the diagnosis and analysis of histological images for the study of Chagas disease. Full article
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11 pages, 769 KB  
Article
Development of Predictive Models for the Response of Vestibular Schwannoma Treated with Cyberknife®: A Feasibility Study Based on Radiomics and Machine Learning
by Isa Bossi Zanetti, Elena De Martin, Riccardo Pascuzzo, Natascha Claudia D’Amico, Sara Morlino, Irene Cane, Domenico Aquino, Marco Alì, Michaela Cellina, Giancarlo Beltramo and Laura Fariselli
J. Pers. Med. 2023, 13(5), 808; https://doi.org/10.3390/jpm13050808 - 10 May 2023
Cited by 13 | Viewed by 3513
Abstract
Purpose: to predict vestibular schwannoma (VS) response to radiosurgery by applying machine learning (ML) algorithms on radiomic features extracted from pre-treatment magnetic resonance (MR) images. Methods: patients with VS treated with radiosurgery in two Centers from 2004 to 2016 were retrospectively evaluated. Brain [...] Read more.
Purpose: to predict vestibular schwannoma (VS) response to radiosurgery by applying machine learning (ML) algorithms on radiomic features extracted from pre-treatment magnetic resonance (MR) images. Methods: patients with VS treated with radiosurgery in two Centers from 2004 to 2016 were retrospectively evaluated. Brain T1-weighted contrast-enhanced MR images were acquired before and at 24 and 36 months after treatment. Clinical and treatment data were collected contextually. Treatment responses were assessed considering the VS volume variation based on pre- and post-radiosurgery MR images at both time points. Tumors were semi-automatically segmented and radiomic features were extracted. Four ML algorithms (Random Forest, Support Vector Machine, Neural Network, and extreme Gradient Boosting) were trained and tested for treatment response (i.e., increased or non-increased tumor volume) using nested cross-validation. For training, feature selection was performed using the Least Absolute Shrinkage and Selection Operator, and the selected features were used as input to separately build the four ML classification algorithms. To overcome class imbalance during training, Synthetic Minority Oversampling Technique was used. Finally, trained models were tested on the corresponding held out set of patients to evaluate balanced accuracy, sensitivity, and specificity. Results: 108 patients treated with Cyberknife® were retrieved; an increased tumor volume was observed at 24 months in 12 patients, and at 36 months in another group of 12 patients. The Neural Network was the best predictive algorithm for response at 24 (balanced accuracy 73% ± 18%, specificity 85% ± 12%, sensitivity 60% ± 42%) and 36 months (balanced accuracy 65% ± 12%, specificity 83% ± 9%, sensitivity 47% ± 27%). Conclusions: radiomics may predict VS response to radiosurgery avoiding long-term follow-up as well as unnecessary treatment. Full article
(This article belongs to the Special Issue Cancer Biomarkers and Therapy)
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15 pages, 4966 KB  
Article
Application of A U-Net for Map-like Segmentation and Classification of Discontinuous Fibrosis Distribution in Gd-EOB-DTPA-Enhanced Liver MRI
by Quirin David Strotzer, Hinrich Winther, Kirsten Utpatel, Alexander Scheiter, Claudia Fellner, Michael Christian Doppler, Kristina Imeen Ringe, Florian Raab, Michael Haimerl, Wibke Uller, Christian Stroszczynski, Lukas Luerken and Niklas Verloh
Diagnostics 2022, 12(8), 1938; https://doi.org/10.3390/diagnostics12081938 - 11 Aug 2022
Cited by 6 | Viewed by 2876
Abstract
We aimed to evaluate whether U-shaped convolutional neuronal networks can be used to segment liver parenchyma and indicate the degree of liver fibrosis/cirrhosis at the voxel level using contrast-enhanced magnetic resonance imaging. This retrospective study included 112 examinations with histologically determined liver fibrosis/cirrhosis [...] Read more.
We aimed to evaluate whether U-shaped convolutional neuronal networks can be used to segment liver parenchyma and indicate the degree of liver fibrosis/cirrhosis at the voxel level using contrast-enhanced magnetic resonance imaging. This retrospective study included 112 examinations with histologically determined liver fibrosis/cirrhosis grade (Ishak score) as the ground truth. The T1-weighted volume-interpolated breath-hold examination sequences of native, arterial, late arterial, portal venous, and hepatobiliary phases were semi-automatically segmented and co-registered. The segmentations were assigned the corresponding Ishak score. In a nested cross-validation procedure, five models of a convolutional neural network with U-Net architecture (nnU-Net) were trained, with the dataset being divided into stratified training/validation (n = 89/90) and holdout test datasets (n = 23/22). The trained models precisely segmented the test data (mean dice similarity coefficient = 0.938) and assigned separate fibrosis scores to each voxel, allowing localization-dependent determination of the degree of fibrosis. The per voxel results were evaluated by the histologically determined fibrosis score. The micro-average area under the receiver operating characteristic curve of this seven-class classification problem (Ishak score 0 to 6) was 0.752 for the test data. The top-three-accuracy-score was 0.750. We conclude that determining fibrosis grade or cirrhosis based on multiphase Gd-EOB-DTPA-enhanced liver MRI seems feasible using a 2D U-Net. Prospective studies with localized biopsies are needed to evaluate the reliability of this model in a clinical setting. Full article
(This article belongs to the Special Issue Imaging of Hepatitis)
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18 pages, 1535 KB  
Article
Adversarial Multiscale Feature Learning Framework for Overlapping Chromosome Segmentation
by Liye Mei, Yalan Yu, Hui Shen, Yueyun Weng, Yan Liu, Du Wang, Sheng Liu, Fuling Zhou and Cheng Lei
Entropy 2022, 24(4), 522; https://doi.org/10.3390/e24040522 - 7 Apr 2022
Cited by 22 | Viewed by 3546
Abstract
Chromosome karyotype analysis is of great clinical importance in the diagnosis and treatment of diseases. Since manual analysis is highly time and effort consuming, computer-assisted automatic chromosome karyotype analysis based on images is routinely used to improve the efficiency and accuracy of the [...] Read more.
Chromosome karyotype analysis is of great clinical importance in the diagnosis and treatment of diseases. Since manual analysis is highly time and effort consuming, computer-assisted automatic chromosome karyotype analysis based on images is routinely used to improve the efficiency and accuracy of the analysis. However, the strip-shaped chromosomes easily overlap each other when imaged, significantly affecting the accuracy of the subsequent analysis and hindering the development of chromosome analysis instruments. In this paper, we present an adversarial, multiscale feature learning framework to improve the accuracy and adaptability of overlapping chromosome segmentation. We first adopt the nested U-shaped network with dense skip connections as the generator to explore the optimal representation of the chromosome images by exploiting multiscale features. Then we use the conditional generative adversarial network (cGAN) to generate images similar to the original ones; the training stability of the network is enhanced by applying the least-square GAN objective. Finally, we replace the common cross-entropy loss with the advanced Lovász-Softmax loss to improve the model’s optimization and accelerate the model’s convergence. Comparing with the established algorithms, the performance of our framework is proven superior by using public datasets in eight evaluation criteria, showing its great potential in overlapping chromosome segmentation. Full article
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20 pages, 10127 KB  
Article
Extraction of Olive Crown Based on UAV Visible Images and the U2-Net Deep Learning Model
by Zhangxi Ye, Jiahao Wei, Yuwei Lin, Qian Guo, Jian Zhang, Houxi Zhang, Hui Deng and Kaijie Yang
Remote Sens. 2022, 14(6), 1523; https://doi.org/10.3390/rs14061523 - 21 Mar 2022
Cited by 61 | Viewed by 11187
Abstract
Olive trees, which are planted widely in China, are economically significant. Timely and accurate acquisition of olive tree crown information is vital in monitoring olive tree growth and accurately predicting its fruit yield. The advent of unmanned aerial vehicles (UAVs) and deep learning [...] Read more.
Olive trees, which are planted widely in China, are economically significant. Timely and accurate acquisition of olive tree crown information is vital in monitoring olive tree growth and accurately predicting its fruit yield. The advent of unmanned aerial vehicles (UAVs) and deep learning (DL) provides an opportunity for rapid monitoring parameters of the olive tree crown. In this study, we propose a method of automatically extracting olive crown information (crown number and area of olive tree), combining visible-light images captured by consumer UAV and a new deep learning model, U2-Net, with a deeply nested structure. Firstly, a data set of an olive tree crown (OTC) images was constructed, which was further processed by the ESRGAN model to enhance the image resolution and was augmented (geometric transformation and spectral transformation) to enlarge the data set to increase the generalization ability of the model. Secondly, four typical subareas (A–D) in the study area were selected to evaluate the performance of the U2-Net model in olive crown extraction in different scenarios, and the U2-Net model was compared with three current mainstream deep learning models (i.e., HRNet, U-Net, and DeepLabv3+) in remote sensing image segmentation effect. The results showed that the U2-Net model achieved high accuracy in the extraction of tree crown numbers in the four subareas with a mean of intersection over union (IoU), overall accuracy (OA), and F1-Score of 92.27%, 95.19%, and 95.95%, respectively. Compared with the other three models, the IoU, OA, and F1-Score of the U2-Net model increased by 14.03–23.97 percentage points, 7.57–12.85 percentage points, and 8.15–14.78 percentage points, respectively. In addition, the U2-Net model had a high consistency between the predicted and measured area of the olive crown, and compared with the other three deep learning models, it had a lower error rate with a root mean squared error (RMSE) of 4.78, magnitude of relative error (MRE) of 14.27%, and a coefficient of determination (R2) higher than 0.93 in all four subareas, suggesting that the U2-Net model extracted the best crown profile integrity and was most consistent with the actual situation. This study indicates that the method combining UVA RGB images with the U2-Net model can provide a highly accurate and robust extraction result for olive tree crowns and is helpful in the dynamic monitoring and management of orchard trees. Full article
(This article belongs to the Special Issue UAV Applications for Forest Management: Wood Volume, Biomass, Mapping)
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20 pages, 7500 KB  
Article
Road Extraction from Very-High-Resolution Remote Sensing Images via a Nested SE-Deeplab Model
by Yeneng Lin, Dongyun Xu, Nan Wang, Zhou Shi and Qiuxiao Chen
Remote Sens. 2020, 12(18), 2985; https://doi.org/10.3390/rs12182985 - 14 Sep 2020
Cited by 82 | Viewed by 8206 | Correction
Abstract
Automatic road extraction from very-high-resolution remote sensing images has become a popular topic in a wide range of fields. Convolutional neural networks are often used for this purpose. However, many network models do not achieve satisfactory extraction results because of the elongated nature [...] Read more.
Automatic road extraction from very-high-resolution remote sensing images has become a popular topic in a wide range of fields. Convolutional neural networks are often used for this purpose. However, many network models do not achieve satisfactory extraction results because of the elongated nature and varying sizes of roads in images. To improve the accuracy of road extraction, this paper proposes a deep learning model based on the structure of Deeplab v3. It incorporates squeeze-and-excitation (SE) module to apply weights to different feature channels, and performs multi-scale upsampling to preserve and fuse shallow and deep information. To solve the problems associated with unbalanced road samples in images, different loss functions and backbone network modules are tested in the model’s training process. Compared with cross entropy, dice loss can improve the performance of the model during training and prediction. The SE module is superior to ResNext and ResNet in improving the integrity of the extracted roads. Experimental results obtained using the Massachusetts Roads Dataset show that the proposed model (Nested SE-Deeplab) improves F1-Score by 2.4% and Intersection over Union by 2.0% compared with FC-DenseNet. The proposed model also achieves better segmentation accuracy in road extraction compared with other mainstream deep-learning models including Deeplab v3, SegNet, and UNet. Full article
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20 pages, 7533 KB  
Article
Remote Sensing Image Semantic Segmentation Based on Edge Information Guidance
by Chu He, Shenglin Li, Dehui Xiong, Peizhang Fang and Mingsheng Liao
Remote Sens. 2020, 12(9), 1501; https://doi.org/10.3390/rs12091501 - 8 May 2020
Cited by 76 | Viewed by 8721
Abstract
Semantic segmentation is an important field for automatic processing of remote sensing image data. Existing algorithms based on Convolution Neural Network (CNN) have made rapid progress, especially the Fully Convolution Network (FCN). However, problems still exist when directly inputting remote sensing images to [...] Read more.
Semantic segmentation is an important field for automatic processing of remote sensing image data. Existing algorithms based on Convolution Neural Network (CNN) have made rapid progress, especially the Fully Convolution Network (FCN). However, problems still exist when directly inputting remote sensing images to FCN because the segmentation result of FCN is not fine enough, and it lacks guidance for prior knowledge. To obtain more accurate segmentation results, this paper introduces edge information as prior knowledge into FCN to revise the segmentation results. Specifically, the Edge-FCN network is proposed in this paper, which uses the edge information detected by Holistically Nested Edge Detection (HED) network to correct the FCN segmentation results. The experiment results on ESAR dataset and GID dataset demonstrate the validity of Edge-FCN. Full article
(This article belongs to the Section Remote Sensing Image Processing)
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17 pages, 902 KB  
Article
MDAN-UNet: Multi-Scale and Dual Attention Enhanced Nested U-Net Architecture for Segmentation of Optical Coherence Tomography Images
by Wen Liu, Yankui Sun and Qingge Ji
Algorithms 2020, 13(3), 60; https://doi.org/10.3390/a13030060 - 4 Mar 2020
Cited by 75 | Viewed by 11240
Abstract
Optical coherence tomography (OCT) is an optical high-resolution imaging technique for ophthalmic diagnosis. In this paper, we take advantages of multi-scale input, multi-scale side output and dual attention mechanism and present an enhanced nested U-Net architecture (MDAN-UNet), a new powerful fully convolutional network [...] Read more.
Optical coherence tomography (OCT) is an optical high-resolution imaging technique for ophthalmic diagnosis. In this paper, we take advantages of multi-scale input, multi-scale side output and dual attention mechanism and present an enhanced nested U-Net architecture (MDAN-UNet), a new powerful fully convolutional network for automatic end-to-end segmentation of OCT images. We have evaluated two versions of MDAN-UNet (MDAN-UNet-16 and MDAN-UNet-32) on two publicly available benchmark datasets which are the Duke Diabetic Macular Edema (DME) dataset and the RETOUCH dataset, in comparison with other state-of-the-art segmentation methods. Our experiment demonstrates that MDAN-UNet-32 achieved the best performance, followed by MDAN-UNet-16 with smaller parameter, for multi-layer segmentation and multi-fluid segmentation respectively. Full article
(This article belongs to the Section Evolutionary Algorithms and Machine Learning)
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21 pages, 62894 KB  
Article
Automatic Detection and Modeling of Underground Pipes Using a Portable 3D LiDAR System
by Ahmad K. Aijazi, Laurent Malaterre, Laurent Trassoudaine, Thierry Chateau and Paul Checchin
Sensors 2019, 19(24), 5345; https://doi.org/10.3390/s19245345 - 4 Dec 2019
Cited by 12 | Viewed by 6230
Abstract
Automatic and accurate mapping and modeling of underground infrastructure has become indispensable for several important tasks ranging from urban planning and construction to safety and hazard mitigation. However, this offers several technical and operational challenges. The aim of this work is to develop [...] Read more.
Automatic and accurate mapping and modeling of underground infrastructure has become indispensable for several important tasks ranging from urban planning and construction to safety and hazard mitigation. However, this offers several technical and operational challenges. The aim of this work is to develop a portable automated mapping solution for the 3D mapping and modeling of underground pipe networks during renovation and installation work when the infrastructure is being laid down in open trenches. The system is used to scan the trench and then the 3D scans obtained from the system are registered together to form a 3D point cloud of the trench containing the pipe network using a modified global ICP (iterative closest point) method. In the 3D point cloud, pipe-like structures are segmented using fuzzy C-means clustering and then modeled using a nested MSAC (M-estimator SAmpling Consensus) algorithm. The proposed method is evaluated on real data pertaining to three different sites, containing several different types of pipes. We report an overall registration error of less than 7 % , an overall segmentation accuracy of 85 % and an overall modeling error of less than 5 % . The evaluated results not only demonstrate the efficacy but also the suitability of the proposed solution. Full article
(This article belongs to the Section Remote Sensors)
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