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S2KAN-SLAM: Elastic Neural LiDAR SLAM with SDF Submaps and Kolmogorov-Arnold networks

IEEE Transactions on Circuits and Systems for Video Technology 2025年

作者： Wang, Zhong Zhang, Lin Wang, Hesheng Shanghai Jiao Tong University State Key Laboratory of Avionics Integration and Aviation System-of-Systems Synthesis Department of Automation Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China Tongji University School of Computer Science and Technology National Pilot Software Engineering School with Chinese Characteristics Shanghai201804 China

Traditional LiDAR SLAM approaches prioritize localization over mapping, yet high-precision dense maps are essential for numerous applications involving intelligent agents. Recent advancements have introduced methods leveraging neural fields to enhance mapping capabilities;however, these approaches still face several limitations. Firstly, concerning scene representation, they typically employ neural fields with high-dimensional features and multi-layer perceptron decoders utilizing non-continuous activation functions. This results in low learning efficiency and challenges in capturing high-frequency signals. Secondly, in terms of scene organization, these methods often treat the entire scene as a singular neural field, leading to inefficiencies, inflexibility, and difficulties in rectifying accumulated errors when mapping large-scale environments over extended periods. To tackle the first issue, we propose a lightweight continuous SDF regression approach by encoding the scene in single-valued embeddings and decoding SDF values from a Kolmogorov-Arnold Network. By minimizing discrepancies in measuring range, sampling distance, and decoded SDF values, we facilitate iterative frame-to-model tracking and bundle adjustment neural mapping. To mitigate the second challenge, we propose structuring the whole scene into multiple neural SDF submaps. By establishing node-node, node-submap, and loop closure constraints into a global pose graph, the system can create dense neural maps with global consistency across large-scale scenes. Experimental evaluations in both real-world and simulated settings indicate that our system achieves superior mapping completeness and accuracy, enhanced learning efficiency, reduced memory consumption, and greater flexibility compared to its counterparts. © 2025 IEEE.

关键词： Mapping

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An Adaptive Residual Coordinate Attention-Based Network for Hat and Mask Wearing Detection in Kitchen Environments

An Adaptive Residual Coordinate Attention-Based Network for ...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Ying Zhao Xiaoming Wu Xiangzhi Liu Hao Chen Bei Qi Huomin Dong Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center (National Supercomputer Center in Jinan) Qilu University of Technology (Shandong Academy of Sciences) Jinan China Shandong Provincial Key Laboratory of Computer Networks Shandong Fundamental Research Center for Computer Science Jinan China

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

In order to ensure food safety, it is required for personnel to wear hats and masks during food handling processes. To accurately detect the wearing status of kitchen staff, the ARP-YOLO model is proposed. Firstly, images are obtained from multiple kitchens and angles to construct a dataset reflecting the wearing status of hats and masks. To simulate more complex kitchen environments, Gaussian noise is added to the data and lighting conditions are adjusted for data augmentation. Lighting conditions in the kitchen can affect detection, causing the same target to exhibit different shapes and features under different lighting conditions, leading to missed detections. To address the above issues, we propose ARCA (Adaptive-Residual-Coordinate-Attention), which uses residual connections to strengthen attention to important features while preserving original features, and employs adaptive convolution reduction to reduce module parameters. To improve target localization accuracy, P2 detection layers are added in the Neck to obtain more accurate target position information. The ARP-YOLO model demonstrates significant improvements over the baseline model, with a 13.6% increase in Recall, allowing for more effective target capture and reduced missed detection risk. Additionally, mAP@0.5 has increased by 10%, enhancing target localization accuracy. The F1-Score has also increased by 7.4%, better balancing the relationship between Precision and Recall. To validate the effectiveness of the model, comparative experiments with other models are conducted, showing that ARP-YOLO model's Recall and Average Precision(AP) are higher than those of other models.

关键词： Location awareness Adaptation models Accuracy Convolution Shape Computational modeling Gaussian noise Lighting Feature extraction Personnel

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Student Behavior Detection Method Based on Improved YOLOv5 Algorithm

Student Behavior Detection Method Based on Improved YOLOv5 A...

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computer Vision, Image and Deep Learning (CVIDL), International Conference on

作者： Haitao Hu Meihong Yang Ying Guo Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center (National Supercomputer Center in Jinan) Qilu University of Technology (Shandong Academy of Sciences) Jinan China Shandong Provincial Key Laboratory of Computer Networks Shandong Fundamental Research Center for Computer Science Jinan China

ISBN: (数字)9798350373820

ISBN: (纸本)9798350373837

When using computer vision technology to identify students in the classroom, it will be affected by the inconsistency of the seating layout in different classrooms, the complexity of the background, as well as the existence of back row students with smaller portraits, mutual occlusion and other problems resulting in poor recognition of student behavior and other problems. In order to solve this problem, this paper firstly takes the real classroom video of a university, summarizes five common student behaviors, intercepts the video frame by frame, labels the data, and constructs the dataset, and then proposes a target detection technique based on the improved YOLOv5 algorithm, which improves the YOLOv5 algorithm by replacing the SPP module in the original network with the BasicRFB module and introducing the SACA attention mechanism. algorithm, which enhances the feature extraction capability of the model and ensures the detection speed at the same time; in the post-processing stage of the model, Soft-NMS is used to replace the original NMS non-maximal value suppression method, which reduces the probability of the model leakage detection. Finally, through the ablation experiment, it is verified that the improved method proposed in this paper has better detection effect for real classroom scenarios, which can help teachers grasp the learning status of students in time and optimize the teaching methods accordingly, and at the same time, it provides solid support for the dynamic evaluation of classroom teaching.

关键词： YOLO computer vision Attention mechanisms Accuracy Heuristic algorithms Education Layout

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Bidding Management Platform for Cloud-Chain Convergence

Bidding Management Platform for Cloud-Chain Convergence

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International Conference on computer Supported Cooperative Work in Design

作者： Yanzhi Zhang Xiaoming Wu Xiangzhi Liu Huomin Dong Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center (National Supercomputer Center in Jinan) Qilu University of Technology (Shandong Academy of Sciences) Jinan China Shandong Provincial Key Laboratory of Computer Networks Shandong Fundamental Research Center for Computer Science Jinan China

ISBN: (数字)9798350349184

ISBN: (纸本)9798350349191

Strengthening the supervision of bidding business is an important measure to optimise the business environment of bidding and ensure fair competition among enterprises. The existing blockchain-based bidding platform has already achieved the uploading of simple business, but with the development of the bidding industry, single-modal data storage is not enough to support the credible traceability of business processes. Therefore, to address the problems of multimodal data uploading, storage space limitation and performance in the bidding field, and combined with the node complexity of the bidding scenario, we design and propose a bidding management platform for cloud-chain convergence(BMPC 3 ), in which ChainMaker serves as the implementation platform. In this alliance chain, we meet different business logic requirements by designing specific smart contracts and storage structures. According to different business data types, the ledger storage method is optimised to meet the on-chain storage requirements of multimodal data such as images, videos, PDFs, etc. Meanwhile, we explore the blockchain architecture and system configuration, and propose an optimisation scheme, which effectively improves the system transaction throughput. The final experiment shows that the transaction throughput of the system can reach 3300TPS, which can meet the application requirements.

关键词： Industries Federated learning Smart contracts Memory Throughput Logic Optimization

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SOD-YOLO: A New Small Object Traffic Sign Recognition Network

SOD-YOLO: A New Small Object Traffic Sign Recognition Networ...

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International Conference on computer Supported Cooperative Work in Design

作者： Xunjia Yin Xiaoming Wu Xiangzhi Liu Ministry of Education Shandong Computer Science Center (National Supercomputer Center in Jinan) Key Laboratory of Computing Power Network and Information Security Qilu University of Technology (Shandong Academy of Sciences) Jinan China Shandong Provincial Key Laboratory of Computer Networks Shandong Fundamental Research Center for Computer Science Jinan China

ISBN: (数字)9798350349184

ISBN: (纸本)9798350349191

Traffic sign recognition is a challenging task for unmanned systems, especially the problem of detecting small targets. During traffic sign recognition (TSR), traffic sign targets are small, represented by a small number of pixels in the image, and lack sufficient detail, making it difficult to detect them using a detector. To solve these problems a new traffic sign target detection algorithm is proposed, which introduces a new convolutional module SPD-Conv to capture the feature information of small target traffic signs more efficiently and replaces the C3 module in the backbone network with a C2f module, which greatly reduces the parameters and computation of the original network and achieves a lighter weight to make the model easier to deploy. A new weighted bi-directional feature pyramid network is used to replace the original feature pyramid network. In addition, a coordinate lightweight attention module is introduced for the small target feature loss problem, and finally, a new loss function is proposed to improve the convergence speed of the model while improving the small target detection accuracy. Extensive experimental results on CCTSDB and tt-100k datasets show that our method is more versatile and superior for traffic sign small target detection compared to several state-of-the-art methods.

关键词： YOLO Adaptation models Accuracy Target recognition Computational modeling Detectors Feature extraction

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A Multi-Scale Infrared and Visible Image Fusion Network Based on Context Perception

A Multi-Scale Infrared and Visible Image Fusion Network Base...

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International Conference on computer Supported Cooperative Work in Design

作者： Huixuan Zhao Jinyong Cheng Rundong Du Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center (National Supercomputer Center in Jinan) Qilu University of Technology (Shandong Academy of Sciences) Jinan China Shandong Provincial Key Laboratory of Computer Networks Shandong Fundamental Research Center for Computer Science Jinan China

ISBN: (数字)9798350349184

ISBN: (纸本)9798350349191

Existing image fusion methods often fail to fully utilize the contextual information of the images, resulting in blurry and distorted fusion results. In addition, although the existing multi-scale feature extraction methods can consider the information of the source image from multiple perspectives, they tend to ignore the local information. These limitations degrade the performance and effectiveness of image fusion techniques in practical applications. To address above issues, we propose a fusion network architecture called MIA-Nest, consisting of encoder network, fusion network, and decoder network. Specifically, we introduce the Squeeze-and-Excitation Blocks(SEBs) into the encoder network, so that it can take local information into account while extracting multi-scale features. At the same time, in order to allow the fusion network to integrate the context information of the extracted features, we introduce Global Context Blocks (GCBs), so as to enrich the details in the fusion result and enable it to contain more information. Finally, the decoder network reconstructs the fusion image from the fused features obtained by the fusion network. Experimental results demonstrate that our proposed method significantly improves the quality and detail preservation capability of the fused images.

关键词： Federated learning computer architecture Network architecture Feature extraction Decoding Data mining Image fusion

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Glucose Sensing Utilizing Complex-Valued Neural networks 23

Glucose Sensing Utilizing Complex-Valued Neural Networks

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4th International Conference on Computing, networks and Internet of Things, CNIOT 2023

作者： Lv, Yiqi Meng, Xiang Luo, Yong Pei, Yan The Key Laboratory of Specialty Fiber Optics and Optical Access Networks Shanghai University China and Jt. International Research Laboratory of Specialty Fiber Optics and Advanced Communication Shanghai University Shanghai China Doctoral Program Grad. Sch. of Comp. Science and Engineering Graduate Department of Computer and Information Systems University of Aizu Aizuwakamatsu Japan Computer Science Division University of Aizu Aizuwakamatsu Japan

ISBN: (纸本)9798400700705

This paper proposes a Complex-Valued Neural Network (CVNN) for glucose sensing in milli-meter wave (mmWave). Based on the propagation characteristics of millimeter wave in glucose medium, we obtain the S21 parameter of glucose with the concentration range of 0-300mg/dL in the 60-80 GHz frequency band by High Frequency Structure Simulator (HFSS) simulations. Then we combine the sensing model with a neural network to detect and predict the glucose concentration relying on the learning ability of the neural network. In the prediction of the concentration of unknown samples, the absolute error between the predicted value and the true value is within 5mg/dL, which confirms the ability of the proposed CVNN model. © 2023 ACM.

关键词： Millimeter waves

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A Patent Fast Recommendation Algorithm Based on User Requirements Combined with an Inverted Table

A Patent Fast Recommendation Algorithm Based on User Require...

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Advanced information, Mechanical Engineering, Robotics and Automation (AIMERA), IEEE International Conference on

作者： Wan Zheng Qingyan Ding Na Li Yu Pan Xuecheng Dong Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center (National Supercomputer Center in Jinan) Qilu University of Technology (Shandong Academy of Sciences) Jinan China Shandong Provincial Key Laboratory of Computer Networks Shandong Fundamental Research Center for Computer Science Jinan China

ISBN: (数字)9798350343335

ISBN: (纸本)9798350343342

Patent recommendation has always been an essential service for the innovation and development of all walks of life. The matching of demand and patent information can enable enterprises to quickly obtain the innovation and development trend of the industry. The current patent recommendation method has the problem of slow recommendation speed and insufficient comprehensive recommendation results. According to the existing problems, a patent fast recommendation algorithm based on user needs combined with inverted table is proposed. The algorithm using dual track recommended way for accurate recommendation and extensive recommendation, in the process of recommendation built by patent data inversion table and document list auxiliary recommendation to improve recommendation speed and accuracy, when accurate recommendation when using improved requirements based on GPT-2 compression model recommended after demand text compression, when widely recommended using TF-IDF mechanism for demand text of each paragraph after keyword extraction, finally generate widely recommendation list and accurate recommendation list. This recommendation method can not only realize the fast and accurate recommendation of patents, but also provide users with more innovative ideas for extensive recommendation. The experiments show that the proposed recommendation algorithm has higher speed and accuracy than the original recommendation algorithm.

关键词： Patents Vocabulary Technological innovation Accuracy Semantics Predictive models Writing Prediction algorithms Data mining Robotics and automation

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YOLO-RDD: A road defect detection algorithm based on YOLO

YOLO-RDD: A road defect detection algorithm based on YOLO

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International Conference on computer Supported Cooperative Work in Design

作者： Jiabin Pei Xiaoming Wu Xiangzhi Liu Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center (National Supercomputer Center in Jinan) Qilu University of Technology (Shandong Academy of Sciences) Jinan China Shandong Provincial Key Laboratory of Computer Networks Shandong Fundamental Research Center for Computer Science Jinan China

ISBN: (数字)9798350349184

ISBN: (纸本)9798350349191

Road maintenance is an indispensable part of the transportation system, ensuring road safety and maximizing road efficiency. The rapid and accurate acquisition of road surface information is crucial for effective road maintenance management. With the development of artificial intelligence, computer vision-based road defect detection methods are becoming popular. In this study, we propose a universal road defect detection model named YOLO-RDD, using You Only Look Once version 8 as the basic framework. Firstly, we introduce a new feature extraction and fusion approach to enhance the interaction between shallow and deep feature information, enabling multi-scale defect detection. Secondly, inspired by dynamic snake convolution, as cracks are the major road defects, we propose a new feature extraction module called DSC-C2f to adapt to the elongated and continuous morphology of cracks. Finally, we establish cross-layer connections between the backbone, neck, and prediction stages and integrate a coordinate attention module that considers inter-channel relationships and long-range positional dependencies. This allows the model to selectively focus on relevant parts of shallow and deep semantic information. We evaluate our model using the dataset provided by the crowdsensing-based road damage detection challenge (CRDDC2022) and further assess its performance on a publicly available crack and sealed crack dataset. The experiments demonstrated that our model achieved the best performance compared to the state-of-the-art (SOTA) models. Compared to the baseline model YOLOv8, our model achieved improvements of 1.2% in Precision, 1.9% in Recall, 1.9% in mAP@0.5, 0.8% in mAP@0.5:0.95, and 1.6% in F1-Score.

关键词： YOLO Cross layer design Roads Semantics Transportation Surface morphology Feature extraction

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An Efficient Token Mixer Model for Sheet Metal Defect Detection

An Efficient Token Mixer Model for Sheet Metal Defect Detect...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Huijuan Hao Sijian Zhu Changle Yi Yu Chen Hongge Zhao Yue Feng Rong Yang Key Laboratory of Computing Power Network and Information Security Ministry of Education Shandong Computer Science Center (National Supercomputer Center in Jinan) Qilu University of Technology (Shandong Academy of Sciences) Jinan China Shandong Provincial Key Laboratory of Computer Networks Shandong Fundamental Research Center for Computer Science Jinan China

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

Defects such as scratches, patches, and cracks frequently occur during sheet metal production. However, the low detection accuracy and slow processing speed of industrial defect detection models significantly impede enterprise production efficiency. The aforementioned issues primarily manifest in three aspects. Firstly, the model complexity and computational overhead are substantial. Secondly, detecting small local defects poses a significant challenge. Thirdly, extracting global features, such as elongated scratches, proves to be difficult. To address these challenges, this paper introduces a novel network architecture called SATRNet. Firstly, within the model backbone, the STR module is devised. Through incorporation of the sparse self-attention method and the CNNs parallel vision Transformer model in the shallow layers, this module significantly enhances the model's capability to extract global features. Secondly, the SCATR module is designed in this paper. By substituting self-attention with the designed SCA soft attention as the token mixer, the module aims to enhance detection accuracy while reducing the number of parameters, thereby fundamentally addressing the problem of model complexity. Finally, this paper presents the GCD bottleneck convolution module. This module combines shallow and deep features, enabling the fusion of more information beneficial for detection, thereby achieving improved efficacy in capturing minute targets. Experiments demonstrate that SATRNet surpasses existing advanced models in detection accuracy on public datasets.

关键词： Accuracy Computational modeling Metals Production Network architecture Feature extraction Transformers Complexity theory Mixers Defect detection

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