Search Results (1,226)

Mobile Laser Scanning (MLS) integrated with Simultaneous Localization and Mapping (SLAM) has emerged as a key technology for digitizing GNSS-denied environments, such as underground mines. However, the automated interpretation of unstructured, high-density point clouds into semantic engineering models remains challenging due to extreme geometric anisotropy in point distributions and severe class imbalance inherent to narrow tunnel environments. To address these issues, this study proposes a highly automated scan-to-model framework for precise semantic segmentation and vectorized two-dimensional (2D) profile reconstruction. First, an enhanced hierarchical deep learning network tailored for point clouds is introduced. The architecture incorporates a context-aware sampling strategy with an expanded receptive field of up to 10 m to preserve axial continuity, coupled with a spatial–geometric dual-attention mechanism to refine boundary delineation. In addition, a composite Focal–Dice loss function is employed to alleviate the dominance of wall points during network training. Experimental validation on a field-collected dataset comprising 16 mine tunnels demonstrates that the proposed model achieves a mean Intersection over Union (mIoU) of 85.15% (±0.29%) and an Overall Accuracy (OA) of 95.13% (±0.13%). Building on this semantic foundation, a robust geometric modeling pipeline is established using curvature-guided filtering and density-adaptive B-spline fitting. The reconstructed profiles accurately recover the geometric mean surface of the tunnel wall, yielding an overall filtered Root Mean Square Error (RMSE) of 4.96 ± 0.48 cm. The proposed framework provides an efficient end-to-end solution for deformation analysis and digital twinning of underground mining infrastructure. Full article

Climate change is a critical global challenge, and the building sector accounts for nearly 30% of global greenhouse gas (GHG) emissions, remaining a key target for mitigation. Indoor environments contribute significantly to GHG emissions, primarily through heating, cooling, lighting, and occupant-driven energy use. Indoor mapping, serving as the foundation for Digital Twins (DTs), provides a spatiotemporal framework that integrates sensor data with Building Information Modelling (BIM), Geographic Information Systems (GIS), and Internet of Things (IoT) to support energy-efficient, low-carbon building operations. This review examined the role of indoor mapping in understanding, modelling, and reducing GHG emissions in buildings. It synthesized current advancements in indoor spatial data acquisition, ranging from Light Detection And Ranging (LiDAR) and Simultaneous Localization and Mapping (SLAM) to deep learning-based floor plan extraction, and evaluated their contribution to improved indoor environmental analysis. The review highlighted emerging techniques, challenges, and gaps, particularly the limited integration of physical indoor spaces with virtual layers representing assets, occupants, and equipment. Addressing this gap requires embedding spatial modelling as an intermediate analytical layer that structures and contextualizes sensor data to support spatiotemporal decision-making. Overall, this review demonstrated that indoor mapping plays a critical role in transforming spatial information into actionable insights, enabling more accurate energy modelling, enhanced real-time building management, and stronger data-driven strategies for GHG mitigation in the built environment. Full article

Autonomous monitoring is essential for precision agriculture in greenhouses, yet deploying unmanned aerial vehicles (UAVs) in confined, GPS-denied environments remains limited by payload, power, and cost constraints. This study developed and validated an autonomous UAV system for reliable, low-cost operation in such conditions. The proposed system employs a dual-link edge-computing architecture: a lightweight onboard controller handles flight control and sensor acquisition, while visual simultaneous localization and mapping (V-SLAM) is offloaded to an edge computer via the FPV video link. Phenotyping (flower detection and tracking/counting) is performed offline from the side-view RGB stream and does not participate in the flight control loop. Using muskmelon (Cucumis melo L.) flower development as a case study, the UAV autonomously executed daily missions for 27 days in a commercial greenhouse, performing flower detection and tracking to monitor phenological dynamics. Localization and control accuracy were evaluated against a validated UWB reference system, achieving 5.4~8.0 cm 2D RMSE for trajectory tracking and 12.7 cm translation RMSE for greenhouse mapping. This work demonstrates a practical architecture for autonomous monitoring in GPS-denied agricultural environments, with operational boundaries characterized through the sustained field deployment. The system’s design principles may extend to other indoor or communication-limited scenarios requiring lightweight, intelligent robotic operation. Full article

Underwater acoustic single-beacon positioning technology achieves localization by integrating vehicle motion with range measurements acquired from acoustic ranging devices, offering advantages such as system simplicity, flexible deployment, and high cost-effectiveness. However, its accuracy is limited by weak initial observability and degraded observation geometry. To address this, a sensor data correction and collaborative optimization framework is proposed. A hybrid outlier rejection strategy first suppresses acoustic multipath and sensor noise. To compensate for systematic sensor errors ignored in conventional Virtual Long Baseline methods, an affine transformation maps the true trajectory to the sensor-indicated one, reformulating error compensation as a correction to virtual beacon coordinates. To further mitigate the accuracy degradation caused by degenerated geometric configurations, this paper proposes a collaborative algorithm that integrates Chan initialization with affine transformation optimization. This approach formulates the positioning problem as an optimization task, simultaneously estimating the position information and affine transformation parameters through iterative refinement to achieve high-precision localization. The process begins with Chan’s algorithm, which provides an initial estimate from the virtual sensor array. This estimate is then refined under affine constraints to achieve high-precision localization. Experimental results show the method improves positioning accuracy by 36.30% compared to baseline algorithms, demonstrating significant performance enhancement. Full article

Environmental perception is a cornerstone for autonomous underwater vehicles (AUVs) to achieve robust self-localization and scene understanding, which are pivotal for the intelligent management of marine ranching. However, underwater image degradation and weak-textured scenes significantly hinder reliable self-localization and fine-grained environmental perception. To address the perceptual asymmetry arising from these challenges, this paper proposes a robust visual–inertial simultaneous localization and mapping (SLAM) and biomass assessment scheme for marine ranching. Specifically, we first propose a robust tightly coupled underwater visual–inertial localization scheme, which leverages a multi-sensor fusion strategy to solve the image degradation problem of localization in complex underwater environments. Furthermore, we propose a novel underwater scene perception method, which enables the simultaneous visual reconstruction of aquaculture species and the quantitative mapping of their spatial distribution in marine ranching. Finally, we develop a low-cost, agile, and portable multisensor-integrated system that consolidates autonomous localization and aquaculture biomass assessment modules, with its performance validated through extensive real-world underwater experiments. The experimental results demonstrate that the proposed methods can effectively overcome the interference of complex underwater environments and provide high-precision perception support for both AUV state estimation and aquaculture asset management. Full article

Vehicle detection is a core task in smart city perception management and an important technical support for sustainable urban development and intelligent transportation optimization. In high-resolution unmanned aerial vehicle (UAV) remote sensing images, it faces challenges such as variable target scales, severe occlusion, and difficulty in modeling long-range dependencies. To address these issues, this study proposes the MCViM-YOLO algorithm, which integrates the local perception advantage of convolution with the global modeling capability of the state space model (Mamba). Based on YOLOv12, the algorithm reconstructs the neck network: it introduces the Mix-Mamba module (parallel multi-scale convolution and selective state space model) to simultaneously capture local details and global spatial dependencies, adopts the dual-factor calibration fusion module (DCFM) to adaptively fuse heterogeneous features, and employs a dual-branch attention detection head (DADH) to optimize the prediction of difficult samples (e.g., occluded, small-scale vehicles). Experiments on the VEBAI dataset demonstrate that our proposed model achieves an mAP@0.5 of 92.391% and a recall rate of 86.070%, with a computational complexity of 10.41 GFLOPs. The results show that the proposed method effectively improves the accuracy and efficiency of vehicle detection in complex remote sensing scenarios, provides technical support for traffic flow monitoring, low-carbon urban planning, and other sustainable applications, and offers an innovative paradigm for the deep integration of CNN and state space models with both theoretical research value and engineering application prospects. Full article

Environments with sparse or repetitive geometric structures, such as long corridors and narrow stairwells, remain challenging for LiDAR–inertial simultaneous localization and mapping (LiDAR–IMU SLAM) due to insufficient geometric observability and unreliable data associations. To address these issues, we propose VINA-SLAM, a novel LiDAR–IMU SLAM framework that constructs a unified global voxel map to explicitly exploit structural consistency. VINA-SLAM continuously tracks surface normals stored in the global voxel map using a normal-guided correspondence strategy, enabling stable scan-to-map alignment in degenerate scenes. Furthermore, a tangent-space metric is introduced to supplement missing rotational constraints around planar regions, providing reliable initial pose estimates for local optimization. A tightly coupled sliding-window bundle adjustment is then formulated by jointly incorporating IMU factors, voxel normal consistency factors, and planar regularization terms. In particular, the minimum eigenvalue of each voxel’s covariance is used as a statistically principled planar constraint, improving the Hessian conditioning and cross-view geometric consistency. The proposed system directly aligns raw LiDAR scans to the voxelized map without explicit feature extraction or loop closure. Experiments on 25 sequences from the HILTI and MARS-LVIG datasets show that VINA-SLAM reduces ATE by 25–40% on average while maintaining real-time performance at 10 Hz in the evaluated geometrically degenerate environments. Full article

Three-dimensional (3D) reconstruction using images is one of the most significant topics in computer vision and photogrammetry, with wide-ranging applications in robotics, augmented reality, and mapping. This study investigates methods of 3D reconstruction using video (especially monocular video) data and focuses on techniques such as Structure from Motion (SfM), Multi-View Stereo (MVS), Visual Simultaneous Localization and Mapping (V-SLAM), and videogrammetry. Based on a statistical analysis of SCOPUS records, these methods collectively account for approximately 6863 journal publications up to the end of 2024. Among these, about 80 studies are analyzed in greater detail to identify trends and advancements in the field. The study also shows that the use of video data for real-time 3D reconstruction is commonly addressed through two main approaches: photogrammetry-based methods, which rely on precise geometric principles and offer high accuracy at the cost of greater computational demand; and V-SLAM methods, which emphasize real-time processing and provide higher speed. Furthermore, the application of IMU data and other indicators, such as color quality and keypoint detection, for selecting suitable frames for 3D reconstruction is investigated. Overall, this study compiles and categorizes video-based reconstruction methods, emphasizing the critical step of keyframe extraction. By summarizing and illustrating the general approaches, the study aims to clarify and facilitate the entry path for researchers interested in this area. Finally, the paper offers targeted recommendations for improving keyframe extraction methods to enhance the accuracy and efficiency of real-time video-based 3D reconstruction, while also outlining future research directions in addressing challenges like dynamic scenes, reducing computational costs, and integrating advanced learning-based techniques. Full article

The large yellow croaker (Larimichthys crocea) is a key mariculture species in China, however, its industry is threatened by visceral white nodules disease (VWND) caused by the bacterium Pseudomonas plecoglossicida. A significant challenge in breeding is the potential genetic trade-off between growth and disease resistance. To investigate their genetic relationship, we constructed a high-density SNP-based genetic linkage map for L. crocea using a F1 full-sib family (n = 150). The map comprised 24 linkage groups with 32,429 bin markers and an average interval of 0.051 cM. Based on this map, we conducted QTL mapping for one yield trait (body weight), eight morphological traits, and three VWND-resistance traits (survival time, AT; spleen and liver pathogen loads). Phenotypic analysis revealed strong integration among growth traits and a moderate positive correlation between growth traits and AT. QTL mapping identified 53 QTLs for growth (PVE = 0.14–5.83%) and 20 for resistance (PVE = 0.78–8.93%). Notably, only two genomic intervals exhibited co-localization between a morphological trait (AL or BL) and AT, each explaining a modest phenotypic variance (0.66–5.99%). The largest-effect QTLs for growth and resistance were mapped to distinct linkage groups, and candidate genes within the co-localized intervals (Unc5d, SCN5A, HUS1) are involved in fundamental cellular processes rather than core growth or immune pathways. These results suggest that yield, morphological, and VWND-resistance traits in L. crocea are largely under independent genetic control within the studied family, indicating that simultaneous improvement of growth and disease resistance is feasible. This study provides a molecular basis for breeding strategies aimed at overcoming the trait trade-off bottleneck in this economically vital species. Full article

The use of depth cameras in low-texture environments is crucial for ensuring the feasibility of visual simultaneous localization and mapping (SLAM) algorithms. Nevertheless, in underwater scenarios, light propagation through multi-layered media gives rise to refractive distortion. Directly utilizing distorted images acquired by depth cameras for visual SLAM computations inevitably introduces substantial errors in localization and mapping. Additionally, the waterproof glass mounted in front of the depth camera renders traditional air-based camera calibration ineffective, thereby introducing calibration inaccuracies. To mitigate these challenges, we propose a comprehensive SLAM algorithm framework for underwater multi-layered media refraction correction based on RGB-D cameras. Firstly, a multi-layer refraction calibration module is developed to calibrate the depth camera in air. Subsequently, the calibrated parameters are leveraged to construct an underwater multi-layer refraction correction module, which retrieves undistorted color images and aligned depth images. Finally, the corrected color images and depth images are fed into the front-end of the visual SLAM algorithm to generate dense point cloud maps. Both simulation and real-world experiments are conducted to validate the accuracy of the multi-layer refraction calibration results and the precision of the dense point clouds obtained via multi-layer refraction correction. Furthermore, the superiority of the proposed method is demonstrated through both qualitative and quantitative evaluations. Full article

Simultaneous Localization and Mapping (SLAM) is essential for autonomous movement in intelligent robotic systems. Traditional SLAM using a single sensor, such as an Inertial Measurement Unit (IMU), faces challenges including noise and drift. This paper introduces a novel Cartographer-based SLAM approach for DAMR trajectory generation in indoor environments to reduce drift errors and improve localization accuracy. This SLAM approach integrates multi-sensor data with extended Kalman filter (EKF) fusion from wheel odometry, an RGB-D camera (RTAB-Map), and an IMU for precise mapping with DAMR trajectory generation and is compared with the heading reference trajectory generated by robot pose estimation and frame transformation. This system is implemented in the Robot Operating System (ROS 2) for coordinated data acquisition, processing, and visualization. After experimental verification, the DAMR trajectories generated are closer to the reference trajectory and drift errors are tuned. The experimental results revealed that the DAMR trajectory with multi-sensor data integration using the EKF effectively improved the positioning accuracy and robustness of the system. The proposed approach shows improved alignment with the reference trajectory, yielding a mean displacement error of 0.352% and an absolute trajectory error of 0.007 m, highlighting the effectiveness of the fusion approach for accurate indoor robot navigation. Full article

Loop Closure Detection (LCD) is a key component of Simultaneous Localization and Mapping (SLAM) systems, responsible for correcting odometric drift and maintaining global consistency in localization and mapping. However, single-modality LCD methods suffer from inherent limitations: LiDAR-based approaches are affected by point cloud sparsity, limiting feature representation in unstructured environments, while vision-based methods are sensitive to illumination and weather variations, reducing robustness. To address these issues, this paper presents a LiDAR–vision multimodal fusion LCD algorithm. Spatiotemporal alignment between LiDAR point clouds and images is achieved through extrinsic calibration and timestamp interpolation to ensure cross-modal consistency. Harris corner detection and BRIEF descriptors are employed to extract visual features, and a LiDAR-projected sparse depth map is used to complete depth information, mapping 2D features into 3D space. A hybrid feature representation is then constructed by fusing LiDAR geometric triangle descriptors with visual BRIEF descriptors, enabling efficient loop candidate retrieval via hash indexing. Finally, an improved RANSAC algorithm performs geometric verification to enhance the robustness of relative pose estimation. Experiments on the KITTI and NCLT datasets show that the proposed method achieves average F1 scores of 85.28% and 77.63%, respectively, outperforming both unimodal and existing multimodal approaches. When integrated into a SLAM framework, it reduces the Absolute Error (ATE) RMSE by 11.2–16.4% compared with LiDAR-only methods, demonstrating improved loop detection accuracy and overall system robustness in complex environments. Full article

Over the last few years, deep neural networks have achieved outstanding results in computer vision, and have been widely integrated into mobile robot obstacle avoidance systems, where perception-driven classification supports navigation decisions. Most existing approaches rely on either color images (RGB) or depth images (D) as the primary source of information, which limits their ability to jointly exploit appearance and geometric cues. This paper proposes a deep learning-based classification approach that simultaneously exploits RGB and depth information for mobile robot obstacle avoidance. The method adopts an early-stage fusion strategy in which RGB images are first converted into the CMYK color space, after which the K (black) channel is replaced by a normalized depth map to form a four-channel CMYD representation. This representation preserves chromatic information while embedding geometric structure in an intensity-consistent channel and is used as input to a convolutional neural network (CNN). The proposed method is evaluated using locally acquired data under different training options and hyperparameter settings. Experimental results show that, when using the baseline CNN architecture, the proposed fusion strategy achieves an overall classification accuracy of 93.3%, outperforming depth-only inputs (86.5%) and RGB-only images (92.9%). When the refined CNN architecture is employed, classification accuracy is further improved across all tested input representations, reaching approximately 93.9% for RGB images, 91.0% for depth-only inputs, 94.6% for the CMYK color space, and 96.2% for the proposed CMYD fusion. These results demonstrate that combining appearance and depth information through CMYD fusion is beneficial regardless of the network variant, while the refined CNN architecture further enhances the effectiveness of the fused representation for robust obstacle avoidance. Full article

Background: In temporal lobe epilepsy (TLE), locally reduced glucose metabolism (i.e., hypometabolism) is indicative of the epileptogenic onset zone (EZ). Here, we investigate the potential value of resting-state fMRI (rs-fMRI) for localizing the EZ with fluorodeoxyglucose positron emission tomography (FDG-PET) as ground truth. Methods: Twelve PET-positive patients (34.1 ± 13.1 y; 5 females) with unilateral drug-resistant TLE were included. FDG-PET and rs-fMRI were acquired simultaneously at a hybrid 3T PET-MR scanner. Hypometabolic regions were identified on the FDG-PET images by a nuclear medicine expert. The FDG-PET images were compared with a clinical FDG-PET control dataset with normal glucose uptake distribution. The output z-score maps were thresholded at z < −2 to produce a binary mask of the significantly hypometabolic regions. The hypometabolism masks were mirrored onto the contralateral hemisphere for the asymmetry comparison. Regional homogeneity (ReHo), amplitude of low-frequency fluctuations (ALFF), and fractional ALFF (fALFF) were calculated from the rs-fMRI in conventional (0.01–0.1 Hz) and slow-3 (0.073–0.198 Hz) frequency bands. Asymmetry indices (AIs) were calculated using the ipsilateral and contralateral hypometabolic masks in the PET-positive subjects and assessed via the one-sample Wilcoxon test and Spearman correlation coefficients. Results: The AIs of conventional fALFF were significantly lower in the hypometabolic zone (p < 0.05). A significant negative correlation was found between the AIs of FDG-PET and fALFF in the slow-3 band (r = −0.62; p < 0.05). Conclusions: Conventional and slow-3 band fALFF showed a potential to mimic the FDG-PET findings in terms of EZ localization. Further research with extended cohorts and histopathological validation is required to determine the clinical value. Full article

Simulator-based digital twins are widely used in robotics education and industrial development to accelerate prototyping and enable safe experimentation. However, they often hide implementation details that are essential for understanding, diagnosing, and correcting system failures. This paper introduces a technology-independent model-based design framework that provides students with full visibility of the computational mechanisms underlying robotic controllers while remaining feasible within a 150-h undergraduate course. The approach relies on representing controller behavior using networks of Extended Finite State Machines (EFSMs) and their stacked extension (EFS2M), which unify all abstraction levels of the control architecture—from low-level reactive behaviors to high-level deliberation—under a single formal model. A structured programming template ensures traceable, optimization-free software synthesis, facilitating debugging and enabling self-diagnosis of design flaws. The framework includes real-time synchronized simulation, transparent switching between virtual and physical robots, and a smart data logger that captures meaningful events for model updating and error detection. Integrated into the Intelligent Robots course, the system supports topics such as kinematics, control, perception, and simultaneous localization and mapping (SLAM) while avoiding dependency on specific middleware such as Robot Operating System (ROS) 2. Over three academic years, students reported positive hands-on experiences, strong adaptability to diverse modeling approaches, and consistently high survey ratings reflecting the course’s overall quality. The proposed environment thus offers an effective methodology for teaching end-to-end robot controller design through transparent, simulation-driven digital twins. Full article