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Semantic-aware dynamic scene tracking and reconstruction for mobile robots leveraging visual SLAM

Journal of Supercomputing 2025年第7期81卷 1-39页

作者： Liu, Tianwei Luo, Jingwen School of Information Science and Technology Yunnan Normal University 768 Juxian Street Yunnan Kunming650500 China Engineering Research Center of Computer Vision and Intelligent Control Technology Department of Education of Yunnan Province 768 Juxian Street Yunnan Kunming650500 China

Mobile robots operating in dynamic environments often encounter challenges due to interference from moving objects, compromising the performance of their SLAM systems. To address this issue, we propose a depth camera based semantic-aware visual SLAM approach for mobile robots, aimed at dynamic scene tracking and reconstruction. By leveraging a lightweight Yolact++ network, we segment and detect objects in the scene, eliminate dynamic features through prior knowledge and epipolar constraints, and utilize high-confidence static features for robot’s pose estimation. Subsequently, the overall similarity between images is evaluated based on the similarity of the matched semantic object regions between images to select high-quality candidate keyframes, effectively enhancing the precision of loop closure detection. Furthermore, we employ Delta Generalized Labeled Multi-Bernoulli (Delta-GLMB) filtering to track the masks of prior dynamic objects provided by Yolact++. A global semantic octree map is then constructed, integrating both the semantic knowledge of the static scene and the tracking information of dynamic targets, which in turn realizes the tracking & reconstruction of the dynamic scene. This allows mobile robots to mimic human behavior and cognitive abilities, not merely to construct a map of unknown environments more efficiently, but also to track the state of moving targets in the field-of-view(FoV) in real-time, enabling self-localization and navigation functions. Experimental results demonstrate the effectiveness of our approach in improving the robustness, accuracy, and adaptability of mobile robots in dynamic environments. © The Author(s), under exclusive licence to Springer science+Business Media, LLC, part of Springer Nature 2025.

关键词： Mobile robots

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Synthetic Aircraft Trajectory Generation Using Time-Based VQ-VAE

Synthetic Aircraft Trajectory Generation Using Time-Based VQ...

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2025 Integrated Communications, Navigation and Surveillance Conference, ICNS 2025

作者： Murad, Abdulmajid Ruocco, Massimiliano SINTEF Digital Department of Software Engineering Safety and Security Trondheim Norway Norwegian University of Science and Technology Department of Computer Science Trondheim Norway

ISBN: (纸本)9798331534738

In modern air traffic management, generating synthetic flight trajectories has emerged as a promising solution for addressing data scarcity, protecting sensitive information, and supporting large-scale analyses. In this paper, we propose a novel method for trajectory synthesis by adapting the Time-Based Vector Quantized Variational Autoencoder (TimeVQVAE). Our approach leverages time-frequency domain processing, vector quantization, and transformer-based priors to capture both global and local dynamics in flight data. By discretizing the latent space and integrating transformer priors, the model learns long-range spatiotemporal dependencies and preserves coherence across entire flight paths. We evaluate the adapted TimeVQVAE using an extensive suite of quality, statistical, and distributional metrics, as well as a flyability assessment conducted in an open-source air traffic simulator. Results indicate that TimeVQVAE outperforms a temporal convolutional VAE baseline, generating synthetic trajectories that mirror real flight data in terms of spatial accuracy, temporal consistency, and statistical properties. Furthermore, the simulator-based assessment shows that most generated trajectories maintain operational feasibility, although occasional outliers underscore the potential need for additional domain-specific constraints. Overall, our findings underscore the importance of multi-scale representation learning for capturing complex flight behaviors and demonstrate the promise of TimeVQVAE in producing representative synthetic trajectories for downstream tasks such as model training, airspace design, and air traffic forecasting. © 2025 IEEE.

关键词： Aircraft trajectory machine learning in ATM multivariate time series synthetic data generation

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Synthetic Aircraft Trajectory Generation Using Time-Based VQ-VAE

Synthetic Aircraft Trajectory Generation Using Time-Based VQ...

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Integrated Communications, Navigation and Surveillance Conference, ICNS

作者： Abdulmajid Murad Massimiliano Ruocco Department of Software Engineering Safety and Security SINTEF Digital Trondheim Norway Department of Computer Science Norwegian University of Science and Technology Trondheim Norway

ISBN: (数字)9798331534738

ISBN: (纸本)9798331534745

关键词： Training Time-frequency analysis Atmospheric modeling Vector quantization Transformers Aircraft navigation Vectors Trajectory Air traffic control Aircraft

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Domain Aware Multi-task Pretraining of 3D Swin Transformer for T1-Weighted Brain MRI 17th

Domain Aware Multi-task Pretraining of 3D Swin Transformer ...

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17th Asian Conference on computer Vision, ACCV 2024

作者： Kim, Jonghun Kim, Mansu Park, Hyunjin Department of Electrical and Computer Engineering Sungkyunkwan University Suwon Korea Republic of Center for Neuroscience Imaging Research Institute for Basic Science Suwon Korea Republic of AI Graduate School Gwangju Institute of Science and Technology Gwangju Korea Republic of

ISBN: (纸本)9789819609000

The scarcity of annotated medical images is a major bottleneck in developing learning models for medical image analysis. Hence, recent studies have focused on pretrained models with fewer annotation requirements that can be fine-tuned for various downstream tasks. However, existing approaches are mainly 3D adaptions of 2D approaches ill-suited for 3D medical imaging data. Motivated by this gap, we propose novel domain-aware multi-task learning tasks to pretrain a 3D Swin Transformer for brain magnetic resonance imaging (MRI). Our method considers the domain knowledge in brain MRI by incorporating brain anatomy and morphology as well as standard pretext tasks adapted for 3D imaging in a contrastive learning setting. We pretrain our model using large-scale brain MRI data of 13,687 samples spanning several large-scale databases. Our method outperforms existing supervised and self-supervised methods in three downstream tasks of Alzheimer’s disease classification, Parkinson’s disease classification, and age prediction tasks. The ablation study of the proposed pretext tasks shows the effectiveness of our pretext tasks. Our code is available at ***/jongdory/DAMT. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Neurodegenerative diseases

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Joint Encryption and Optimization for 6G MEC-Enabled IoT Networks

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IEEE Access 2025年 13卷 79757-79770页

作者： Ahmed, Manzoor Ullah Khan, Wali Alrayes, Fatma S. Said, Yahia Al-Sharafi, Ali M. Kim, Mi-Hye Dashdondov, Khongorzul Ullah, Inam Hubei Engineering University School of Computer and Information Science Institute for AI Industrial Technology Research Xiaogan432000 China Luxembourg City1855 Luxembourg Princess Nourah bint Abdulrahman University College of Computer and Information Sciences Department of Information Systems P.O. Box 84428 Riyadh11671 Saudi Arabia Northern Border University Center for Scientific Research and Entrepreneurship Arar73213 Saudi Arabia University of Bisha College of Computing and Information Technology Department of Computer Science and Artificial Intelligence Bisha67714 Saudi Arabia Chungbuk National University Department of Computer Engineering Chungbuk Cheongju-si28644 Korea Republic of Gachon University College of IT Convergence Department of Computer Engineering Seongnam13120 Korea Republic of Gachon University Department of Computer Engineering Seongnam13120 Korea Republic of

With the advent of advancements in future sixth-generation (6G) communication systems, Internet of Things (IoT) devices, characterized by their limited computational and communication capacities, have become integral in our lives. These devices are deployed extensively to gather vast amounts of data in real-time applications. However, their restricted battery life and computational resources present significant challenges in meeting the requirements of advanced communication systems. Mobile Edge Computing (MEC) has emerged as a promising solution to these challenges within the IoT realm in recent years. Despite its potential, securing MEC infrastructure in the context of IoT remains an open task. This study explores the operational dynamics of a secured IoT-enabled MEC infrastructure, focusing on providing real-time, on-demand, secure computational resources to low-powered IoT devices. It outlines a joint optimization problem to maximize computational throughput, minimize device energy consumption, reduce computational latency, and mitigate security overhead. An optimization algorithm is introduced to address these challenges by jointly allocating resources, thereby optimizing throughput, conserving energy, and meeting latency benchmarks through dynamic system adaptation. The effectiveness of the proposed model and algorithm is demonstrated through comparisons with relevant benchmark schemes, highlighting its efficiency in various scenarios. This work showcases the potential of advancements in encryption to deliver scalable security solutions with reduced resource consumption as the number of devices increases. © 2013 IEEE.

关键词： Mobile telecommunication systems

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Predictive modeling of MXene-based solar absorbers using a deep neural network

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Journal of the Optical Society of America B: Optical Physics 2025年第4期42卷 763-772页

作者： Waseer, Waleed Iqbal Baqir, Muhammad Abuzar Saqlain, Muhammad Mughal, Muhammad Junaid Khan, Shujaat School of Physics State Key Laboratory of Electronic Thin Films and Integrated Devices University of Electronic Science and Technology of China Chengdu China Department of Electrical Engineering COMSATS University Islamabad Sahiwal57000 Pakistan Department of Electrical and Computer Engineering COMSATS University Islamabad Islamabad45550 Pakistan Department of Computer Engineering College of Computing and Mathematics King Fahd University of Petroleum & Minerals Dhahran31261 Saudi Arabia SDAIA-KFUPM Joint Research Center for Artificial Intelligence King Fahd University of Petroleum & Minerals Dhahran31261 Saudi Arabia

Nanophotonic structures, such as photonic crystals, plasmonic nanostructures, and metamaterials, present transformative potential in advancing optical devices through innovative design capabilities. Among these, metamaterials—specifically metal–insulator–metal (MIM)-based absorbers—stand out for their ability to achieve high electromagnetic wave absorption across designated frequencies, proving valuable in applications ranging from solar cells to sensors. This study focuses on designing a high-efficiency MXene–SiO2–silver MIM metasurface absorber, leveraging deep learning techniques to streamline and enhance the simulation process traditionally reliant on finite-difference time-domain (FDTD) or finite-element methods (FEMs). By utilizing a deformable convolutional neural network (CNN), the proposed model predicts absorption spectra from metasurface geometries with superior accuracy and reduced computational demand while achieving dynamic spatial transformation handling. The model’s accuracy is further elucidated through Gradient-weighted Class Activation Mapping (Grad-CAM), which provides insights into the absorber’s most influential regions, supporting targeted optimization for specific applications. This deep learning approach demonstrates significant advantages over conventional methods in efficiency and adaptability, advancing the development of high-performance nanophotonic devices. © 2025 Optica Publishing Group. All rights, including for text and data mining (TDM), Artificial Intelligence (AI) training, and similar technologies, are reserved.

关键词： Time domain analysis

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Educational data mining: a 10-year review

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Discover Computing 2025年第1期28卷 1-25页

作者： Kalita, Emi Oyelere, Solomon Sunday Gaftandzhieva, Silvia Rajesh, Kandala N. V. P. S. Jagatheesaperumal, Senthil Kumar Mohamed, Asmaa Elbarawy, Yomna M. Desuky, Abeer S. Hussain, Sadiq Cifci, Mehmet Akif Theodorou, Paraskevi Hilčenko, Slavoljub Hazarika, Jiten Ali, Tazid Centre for Computer Science and Applications Dibrugarh University Dibrugarh 786004 India Department of Computer Science Electrical and Space Engineering Luleå University of Technology Skellefteå 931 87 Sweden Department of Computer Science Faculty of Environment Science and Economy University of Exeter Exeter United Kingdom Research Group On Data Artificial Intelligence and Innovations for Digital Transformation Johannesburg Business School (JBS) University of Johannesburg Johannesburg South Africa Faculty of Mathematics and Informatics University of Plovdiv “Paisii Hilendarski” Plovdiv Bulgaria School of Electronics Engineering VIT-AP University Vijayawada India Department of Electronics & Communication Engineering Mepco Schlenk Engineering College Sivakasi 626005 India Department of Mathematics Faculty of Science Al-Azhar University (Girls Branch) Cairo 11754 Egypt Department of Computer Engineering Bandirma Onyedi Eylul University Balikesir 10200 Turkey Engineering and Informatics Department Klaipėdos Valstybinė Kolegija/Higher Education Institution Klaipeda 92294 Lithuania Department of Digital Systems University of Piraeus Piraeus Greece College for Vocational Education of Preschool Teachers and Coaches Subotica Serbia Department of Statistics Dibrugarh University Dibrugarh 786004 India

This systematic review comprehensively examines the application and impacts of Educational Data Mining (EDM) over the past decade. It explores the use of various data mining tools and techniques, statistics, and machine learning algorithms in education. The review discusses how EDM helps understand and improve the learning experience, educational strategies, and institutional efficiency. It highlights the iterative process of EDM, its applications, and the benefits it offers to different stakeholders, including students, teachers, and educational institutions. The paper also discusses the challenges related to data ethics, privacy, and security in EDM. Key sections include a methodology for conducting the systematic review, exploring different data mining techniques and learning styles, and using Artificial Intelligence in EDM. The review concludes with a discussion of findings, future research directions, and a summary of the study’s contributions and limitations. © The Author(s) 2025.

关键词： Artificial intelligence in education Education data mining Explainability in education Multimodal learning analytics

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Cutting Skill Assessment by Motion Analysis Using Deep Learning and Spatial Marker Tracking

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IEEE Transactions on Biomedical engineering 2025年第6期72卷 1963-1972页

作者： Su, Bai-Quan Ma, Xu-Dong Li, Weihan Kuang, Zi-Ao Gong, Yi Wang, Gang Zhang, Qingqian Liu, Wenyong Li, Changsheng Gao, Li Wang, Junchen Beijing University of Posts and Telecommunications Medical Robotics Laboratory School of Automation Beijing100876 China University of Tokyo School of Mechanical Engineering Tokyo113-0033 Japan Beijing University of Posts and Telecommunications School of Computer Science Beijing100876 China Peking University General Surgery Department Beijing100191 China Beihang University Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beijing100083 China Beijing Institute of Technology School of Mechatronical Engineering Beijing100081 China Beijing Institute of Technology Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing100081 China Peking University Department of Periodontology National Stomatological Center School and Hospital of Stomatology National Clinical Research Center for Oral Diseases National Engineering Research Center of Oral Biomaterials and Digital Medical Devices Beijing100081 China Beihang University School of Mechanical Engineering and Automation Beijing100083 China

The assessment of surgical skill is crucial for indicating a surgeon's proficiency. While motion analysis of surgical tools is widely used in endoscopic surgery, it is not commonly applied to open surgery. Instead, open surgery skill assessment relies on observing the trajectory of surgical tools on tissue. This observation-based method often lacks clear standards, leading to inaccurate assessments. This paper presents a method for evaluating cutting skill in open surgery through scalpel motion analysis. A 3D multiple-facet ArUco code cube is designed, and a dataset of tip coordinate system poses for various scalpels in the ArUco code coordinate system (ACS) is established using the pivot calibration method. The YOLOv8 model and an image dataset of different scalpels are used to identify the scalpel type and select its tip position. The tip position is then transformed from ACS to a binocular camera coordinate system (BCS), representing the incision curve made by the scalpel. Five assessment metrics are proposed to quantify the surgeon's cutting skill: average incision curvature deviation, incision length difference, incision endpoint deviation, average incision deviation, and average cutting jerk. Experiments involving twenty expert and novice surgeons performing four common incisions (straight line, polyline, semicircle, and cross line) demonstrate the metrics' effectiveness. The metrics provide a clear, objective display of individual cutting skills, and a combined ranking reveals comparative skill levels. This study offers a precise method for evaluating surgeons' cutting skills with a scalpel in open surgery. © 1964-2012 IEEE.

关键词： Surgery

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FasterCReW: Performance or Efficiency? A Lightweight Conditional Residual DNN-based Watermarking Based on FasterNet

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IEEE Transactions on Circuits and Systems for Video technology 2025年

作者： Wang, Baowei Zhang, Jianbo Wu, Yufeng Cui, Qi Nanjing University of Information Science and Technology Engineering Research Center of Digital Forensics Ministry of Education The School of Computer Science The Jiangsu Collaborative Innovation Center of Atmospheric Environment and Equipment Technology The Jiangsu Yuchi Blockchain Technology Research Institute Nanjing210044 China Hunan University College of Computer Science and Electronic Engineering Changsha410082 China

Deep neural networks (DNNs) based watermarking algorithms have made significant strides in recent years. However, existing methods either demand substantial resources for image feature extraction during watermark embedding, sacrificing efficiency, or completely neglect image texture information, resulting in suboptimal performance. Moreover, current algorithms struggle with real-time watermark extraction. To address these limitations, we propose a lightweight conditional residual watermarking (CReW) architecture. Specifically, CReW employs a Conditional Generative Adversarial Network (CGAN) framework to generate an adaptive residual image guided by the structure of the cover image, which is decoupled from the network to reduce computational complexity. This design enables CReW to achieve an optimal balance between performance and efficiency. Additionally, by directly optimizing the residual image to capture variations in watermark behavior under distortion, CReW significantly enhances robustness. Furthermore, we design redundancy coding blocks to increase the mutual information of the watermark, along with a patch-level discriminator to improve local patch discrimination, thereby further enhancing image quality. Finally, by reducing channel redundancy and leveraging FasterNet, we developed a low-complexity network architecture, Faster-CReW, which facilitates real-time watermark embedding and extraction. Extensive experimental results demonstrate that, despite having 36× fewer network parameters and 30× fewer floating point operations (FLOPs) than Adaptor, Faster-CReW exhibits excellent robustness against distortions such as cropout, JPEG compression, and Gaussian noise. Furthermore, Faster-CReW significantly outperforms other existing DNN-based watermarking algorithms in terms of running speed, achieving an 8× speed increase over UDH and a 28× increase over Adaptor on an Intel Core i7-8750H CPU. (Figure presented) © 2025 IEEE. All rights reserved.

关键词： Redundancy

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A comprehensive evaluation of diversity measures for TCR repertoire profiling

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BMC Biology 2025年第1期23卷 1-18页

作者： Mika, Justyna Polanska, Alicja Blenman, Kim RM Pusztai, Lajos Polanska, Joanna Candéias, Serge Marczyk, Michal Department of Data Science and Engineering Silesian University of Technology Gliwice Poland Mullard Space Science Laboratory University College London Dorking United Kingdom Yale Cancer Center Yale School of Medicine New Haven CT United States Department of Computer Science School of Engineering and Applied Science New Haven CT United States Université Grenoble Alpes CEA CNRS IRIG-LCBM Grenoble France

Background: T cells play a crucial role in adaptive immunity, as they monitor internal and external immunogenic signals through their specific receptors (TCRs). Using high-throughput sequencing, one can assess TCR repertoire in various clinical settings and describe it quantitatively by calculating a diversity index. Multiple diversity indices that capture the richness of TCRs and the evenness of their distribution have been proposed in the literature;however, there is no consensus on gold-standard measures and interpretation of each index is complex. Our goal was to examine the performance characteristics of 12 commonly used diversity indices in simulated and real-world data. Results: Simulated data were generated to evaluate how data richness and evenness affect index values using three nonparametric models. Fourteen real-world TCR datasets were obtained to examine differences in indices by analysis protocols and test their robustness to subsampling. Pielou, Basharin, d50, and Gini primarily describe evenness and highly correlate with one another. They are best suited for measuring the representation of TCR clones. Richness is best captured by S index, next Chao1 and ACE which also consider information on evenness. Shannon, ***, D3, D4, and *** measure richness and increasingly more information on evenness. More skewed TCR distributions provided more stable results in subsampling. Gini-Simpson, Pielou, and Basharin were the most robust in both simulated and experimental data. Conclusions: Our results could guide investigators to select the best diversity index for their particular experimental question and draw attention to factors that can influence the accuracy and reproducibility of results. © The Author(s) 2025.

关键词： Diversity Evenness Immunosequencing Richness TCR profiling TCR sequencing

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