This paper presents a random forest-feature sensitivity and feature correlation (RF-FSFC) technique for enhanced heart disease prediction. The proposed methodology is implemented using the Cleveland heart disease data...
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Diabetic retinopathy, a condition characterized by retinal damage and vision loss, is a prevalent complication of diabetes arising from elevated blood sugar levels. With a growing number of individuals affected, effic...
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Water quality prediction methods forecast the short-or long-term trends of its changes, providing proactive advice for preventing and controlling water pollution. Existing water quality prediction methods typically fa...
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The extent of engagement between students and their teachers, peers, academic and extracurricular activities goes a long way in creating a sense of belonging for students and effectual improvement in their performance...
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This paper proposes an innovative user authentication system tailored for high-value asset transactions, leveraging advancements in brainwave analysis and emotional state detection. Traditional authentication methods ...
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In this paper, we develop a 3D based CNN for Improved Segmentation of Paddy Fields from the HSI. Within the scope of this research, we will investigate a unique deep learning model, specifically 3D-CNN. In order to ev...
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Multi-level sentence simplification generates simplified sentences with varying language proficiency levels. We propose Label Confidence Weighted Learning (LCWL), a novel approach that incorporates a label confidence ...
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Call data Records (CDR) are important evidence in cases involving cybercrime and crimes such as murder and robbery. Nonetheless, analyzing CDR is arduous work because the amount of data is enormous, and if a person do...
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In recent years, how to achieve stable localization and construct high-quality dense maps in large-scale scenes has become a research highlight. In large-scale scenes, for the consideration of the mapping accuracy and...
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In recent years, how to achieve stable localization and construct high-quality dense maps in large-scale scenes has become a research highlight. In large-scale scenes, for the consideration of the mapping accuracy and efficiency, multi-agent systems rather than single-agent ones are usually employed. Currently, as far as we know, collaborative VI-SLAM (Visual Inertial Simultaneous Localization And Mapping) systems applicable to multi-agent systems are still sporadic, and systems those can achieve a good balance among the localization accuracy, the mapping density, and the transmission efficiency are temporarily lacking. In this paper, we propose a novel centralized collaborative VI-SLAM framework, namely TES-CVIDS (Transmission Efficient Sub-map based Collaborative Visual-Inertial Dense SLAM). In TES-CVIDS, instead of the original RGBD images, the compact sub-maps are transmitted, effectively reducing the transmission data redundancy. After that, the server completes key-frame processing, hierarchical pose-graph optimization, and global dense map construction in three separate threads. Besides, thanks to our depth search mechanism, the geometry information of all key-frames can be recovered on the server-end. Thus, sub-maps can be regenerated after the global pose-graph optimization to maintain the consistency between the localization and the mapping. Both the qualitative and the quantitative experimental results corroborate the superior performance of our TES-CVIDS. To make our results reproducible, the source code has been released at https://***/TES-CVIDS-MainPage/. IEEE
In off-road scenes, the fusion of dual-LiDAR data is crucial for ensuring the accuracy of environmental perception in autonomous vehicles. The terrain in off-road scenes is complex and filled with unstructured informa...
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In off-road scenes, the fusion of dual-LiDAR data is crucial for ensuring the accuracy of environmental perception in autonomous vehicles. The terrain in off-road scenes is complex and filled with unstructured information. This leads to significant noise and a lack of distinct structural features in the point cloud data, making traditional point cloud registration methods difficult to apply. To address these issues posed by complex off-road scenes, we propose a novel point cloud fusion framework named Off-Fusion. We first filter and segment the ground in the input point cloud data, focusing on preserving the core features of the ground while effectively removing noise caused by the terrain. Next, we propose a robust and efficient feature point extraction method based on voxel division and curvature weighting, ensuring extracting meaningful and representative feature points from complex off-road scenes. Based on this, we use feature matching to calculate rough relative transformation pairs, providing a high-quality starting position for the Iterative Closest Point (ICP) algorithm, effectively avoiding local optima. Finally, by combining the kd-tree accelerated ICP algorithm, we achieve precise point cloud registration, successfully calculating the optimal rotation and translation matrix between the two LiDARs. The experimental results show that our method significantly improves the quality and speed of data fusion. Compared to some of the most advanced methods, it performs better in off-road scenes, achieving the best results. IEEE
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