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Multiview Integration Network for Multitask robotic Surgical Scene Analysis

IEEE Transactions on Instrumentation and Measurement 2025年

作者： Shen, Wenting Wang, Yaonan Liu, Min Wang, Jiazheng Ding, Renjie Zhang, Zhe Meijering, Erik Hunan University College of Electrical and Information Engineering National Engineering Research Center of Robot Visual Perception and Control Technology International Scientific and Technological Innovation Cooperation Base for Biomedical Image Processing Hunan Changsha410082 China University of New South Wales School of Computer Science and Engineering SydneyNSW2052 Australia

Surgical scene analysis holds a pivotal role in robot-assisted surgery. However, existing methods often suffer from single or little views, leading to erroneous scene analysis conclusions. To address these issues, a novel Multiview Integration Network (MVINet) is proposed, which comprehensively analyzes the surgical scene by integrating effective information from multiple views, including global, local, dynamic, and static views. As a multitask scene analysis network, MVINet could simultaneously perform semantic segmentation of surgical instruments and detection of instrument-tissue interaction. By designing a unique Global-Local Spatial Feature Memory module (G-LSFM), the joint information from globally and locally analyzed views following graph analysis simultaneously enhances the accuracy of multitask scene analysis. The Dynamic-Static visual Feature Memory module (D-SVFM) introduces an innovative approach by simultaneously incorporating temporal feature from consecutive frames and static feature from single frame into the node features of the interaction reasoning network. The multiscale perspective of both features further enhances the ability of the module to analyze the complex scenes. Experimental results on a public and a private dataset demonstrate that our method achieves superior performance compared to other state-of-the-art methods for two crucial tasks in surgical scene analysis. In the instrument segmentation task, MVINet outperforms the second-best method by 1.73% and 0.55% in terms of mIoU scores. For the interaction detection task, MVINet surpasses the second-best method by 10.14% and 5.47% in mAP scores. © 1963-2012 IEEE.

关键词： Semantic Segmentation

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Modality Unified Attack for Omni-Modality Person Re-Identification

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IEEE Transactions on Information Forensics and Security 2025年

作者： Bian, Yuan Liu, Min Yi, Yunqi Wang, Xueping Ma, Yunfeng Wang, Yaonan Hunan University National Engineering Research Center of Robot Visual Perception and Control Technology College of Electrical and Information Engineering Hunan Changsha China Hunan Normal University Hunan Provincial Key Laboratory of Intelligent Computing and Language Information Processing College of Information Science and Engineering Hunan Changsha China

Deep learning based person re-identification (re-id) models have been widely employed in surveillance systems. Recent studies have demonstrated that black-box single-modality and cross-modality re-id models are vulnerable to adversarial examples (AEs), leaving the robustness of multi-modality re-id models unexplored. Due to the lack of knowledge about the specific type of model deployed in the target black-box surveillance system, we aim to generate modality unified AEs for omni-modality (single-, cross- and multi-modality) re-id models. Specifically, we propose a novel Modality Unified Attack method to train modality-specific adversarial generators to generate AEs that effectively attack different omni-modality models. A multi-modality model is adopted as the surrogate model, wherein the features of each modality are perturbed by metric disruption loss before fusion. To collapse the common features of omnimodality models, Cross Modality Simulated Disruption approach is introduced to mimic the cross-modality feature embeddings by intentionally feeding images to non-corresponding modality-specific subnetworks of the surrogate model. Moreover, Multi Modality Collaborative Disruption strategy is devised to facilitate the attacker to comprehensively corrupt the informative content of person images by leveraging a multi modality feature collaborative metric disruption loss. Extensive experiments show that our MUA method can effectively attack the omni-modality re-id models, achieving 55.9%, 24.4%, 49.0% and 62.7% mean mAP Drop Rate, respectively. © 2005-2012 IEEE.

关键词： Modality unified attack Multi Modality Collaborative Disruption Omni-Modality re-id

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Event-aided Semantic Scene Completion

arXiv

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arXiv 2025年

作者： Guo, Shangwei Shi, Hao Wang, Song Yin, Xiaoting Yang, Kailun Wang, Kaiwei State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University Hangzhou310027 China School of Robotics the National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China College of Computer Science and Technology Zhejiang University Hangzhou310027 China

Autonomous driving systems rely on robust 3D scene understanding. Recent advances in Semantic Scene Completion (SSC) for autonomous driving underscore the limitations of RGB-based approaches, which struggle under motion blur, poor lighting, and adverse weather. Event cameras, offering high dynamic range and low latency, address these challenges by providing asynchronous data that complements RGB inputs. We present DSEC-SSC, the first real-world benchmark specifically designed for event-aided SSC, which includes a novel 4D labeling pipeline for generating dense, visibility-aware labels that adapt dynamically to object motion. Our proposed RGB-Event fusion framework, EvSSC, introduces an Event-aided Lifting Module (ELM) that effectively bridges 2D RGB-Event features to 3D space, enhancing view transformation and the robustness of 3D volume construction across SSC models. Extensive experiments on DSEC-SSC and simulated SemanticKITTI-E demonstrate that EvSSC is adaptable to both transformer-based and LSS-based SSC architectures. Notably, evaluations on SemanticKITTI-C demonstrate that EvSSC achieves consistently improved prediction accuracy across five degradation modes and both In-domain and Out-of-domain settings, achieving up to a 52.5% relative improvement in mIoU when the image sensor partially fails. Additionally, we quantitatively and qualitatively validate the superiority of EvSSC under motion blur and extreme weather conditions, where autonomous driving is challenged. The established datasets and our codebase will be made publicly at https://***/Pandapan01/EvSSC. Copyright © 2025, The Authors. All rights reserved.

关键词： Image enhancement

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TS-CGNet: Temporal-Spatial Fusion Meets centerline-Guided Diffusion for BEV Mapping

arXiv

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arXiv 2025年

作者： Hong, Xinying Li, Siyu Zeng, Kang Shi, Hao Peng, Bomin Yang, Kailun Li, Zhiyong The College of Computer Science and Electronic Engineering Hunan University Changsha410082 China The School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China The State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University Hangzhou310027 China

Bird’s Eye View (BEV) perception technology is crucial for autonomous driving, as it generates top-down 2D maps for environment perception, navigation, and decision-making. Nevertheless, the majority of current BEV map generation studies focusing on visual map generation lack depth-aware reasoning capabilities. They exhibit limited efficacy in managing occlusions and handling complex environments, with a notable decline in perceptual performance under adverse weather conditions or low-light scenarios. Therefore, this paper proposes TS-CGNet, which leverages Temporal-Spatial fusion with centerline-Guided diffusion. This visual framework, grounded in prior knowledge, is designed for integration into any existing network for building BEV maps. Specifically, this framework is decoupled into three parts: Local mapping system involves the initial generation of semantic maps using purely visual information;The Temporal-Spatial Aligner Module (TSAM) integrates historical information into mapping generation by applying transformation matrices;The centerline-Guided Diffusion Model (CGDM) is a prediction module based on the diffusion model. CGDM incorporates centerline information through spatial-attention mechanisms to enhance semantic segmentation reconstruction. We construct BEV semantic segmentation maps by our methods on the public nuScenes and the robustness benchmarks under various corruptions. Our method improves 1.90%, 1.73%, and 2.87% for perceived ranges of 60×30m, 120×60m, and 240×60m in the task of BEV HD mapping. TS-CGNet attains an improvement of 1.92% for perceived ranges of 100×100m in the task of BEV semantic mapping. Moreover, TS-CGNet achieves an average improvement of 2.92% in detection accuracy under varying weather conditions and sensor interferences in the perception range of 240×60m. The source code will be publicly available at https://***/krabs-H/TS-CGNet. Copyright © 2025, The Authors. All rights reserved.

关键词： Decision making

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An Improved Dual Neural Network Method Based on Levy Flight for Multi-robot Cooperative Area Coverage Search in 3D Unknown Environments

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IEEE Transactions on Cognitive and Developmental Systems 2025年

作者： Zhang, Fangfang Wang, Yongqi Wang, Wenhao Xin, Jianbin Peng, Jinzhu Wang, Yaonan Zhengzhou University School of Electrical and Information Engineering Zhengzhou450001 China State Key Laboratory of Intelligent Agricultural Power Equipment Luoyang471039 China National Engineering Laboratory of Robot Visual Perception and Control Technology School of Robotics Hunan University Changsha410082 China

The research on multi-robot collaborative search in unknown 3D environments, based on bio-inspired neural networks, holds significant value and ***, challenges arise in 3D environments, including excessive turning and vertical movement, as well as the potential for collisions between robots. In response, we propose an improved Glasius Bio-Inspired Neural Network(GBNN) that mitigates decision conflicts among robots and considers the impact of turning and vertical movement on robot decision-making. Furthermore, to address the issue of robots getting trapped in local deadlocks during the search process, we present a dual neural network algorithm based on Levy flights. In the method Dual Glasius Bio-Inspired Neural Network based on Levy Flight(LF-DUAL-GBNN) proposed in this paper, robots obtain random target points through Levy flights and are then guided by a dual neural network to navigate to the vicinity of the target points, thus breaking free from local deadlock states. Finally, we conducted simulation experiments to validate the algorithm's effectiveness. © 2016 IEEE.

关键词： Microrobots

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CT-UIO: Continuous-Time UWB-Inertial-Odometer Localization Using Non-Uniform B-spline with Fewer Anchors

arXiv

引用

arXiv 2025年

作者： Sun, Jian Sun, Wei Zhang, Genwei Yang, Kailun Li, Song Meng, Xiangqi Deng, Na Tan, Chongbin National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410012 China College of Electrical and Information Engineering Hunan University China School of Robotics Hunan University Changsha410012 China State Key Laboratory of NBC Protection for Civilian Beijing102205 China

Ultra-wideband (UWB) based positioning with fewer anchors has attracted significant research interest in recent years, especially under energy-constrained conditions. However, most existing methods rely on discrete-time representations and smoothness priors to infer a robot’s motion states, which often struggle with ensuring multi-sensor data synchronization. In this paper, we present an efficient UWB-Inertial-odometer localization system, utilizing a non-uniform B-spline framework with fewer anchors. Unlike traditional uniform B-spline-based continuous-time methods, we introduce an adaptive knot-span adjustment strategy for non-uniform continuous-time trajectory representation. This is accomplished by adjusting control points dynamically based on movement speed. To enable efficient fusion of IMU and odometer data, we propose an improved Extended Kalman Filter (EKF) with innovation-based adaptive estimation to provide short-term accurate motion prior. Furthermore, to address the challenge of achieving a fully observable UWB localization system under few-anchor conditions, the Virtual Anchor (VA) generation method based on multiple hypotheses is proposed. At the backend, we propose a CT-UIO factor graph with an adaptive sliding window for global trajectory estimation. Comprehensive experiments conducted on corridor and exhibition hall datasets validate the proposed system’s high precision and robust performance. The codebase and datasets of this work will be open-sourced at https://***/JasonSun623/CT-UIO. Copyright © 2025, The Authors. All rights reserved.

关键词： Continuous time systems

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Salient Object Detection in Traffic Scene through the TSOD10K Dataset

arXiv

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arXiv 2025年

作者： Qiu, Yu Sun, Yuhang Mei, Jie Xiao, Lin Xu, Jing College of Information Science and Engineering Hunan Normal University Changsha410081 China National Key Laboratory of Intelligent Tracking and Forecasting for Infectious Diseases College of Artificial Intelligence Nankai University Tianjin300350 China National Engineering Research Center of Robot Visual Perception and Control Technology School of Robotics Hunan University Changsha410082 China

Traffic Salient Object Detection (TSOD) aims to segment the objects critical to driving safety by combining semantic (e.g., collision risks) and visual saliency. Unlike SOD in natural scene images (NSI-SOD), which prioritizes visually distinctive regions, TSOD emphasizes the objects that demand immediate driver attention due to their semantic impact, even with low visual contrast. This dual criterion, i.e., bridging perception and contextual risk, re-defines saliency for autonomous and assisted driving systems. To address the lack of task-specific benchmarks, we collect the first large-scale TSOD dataset with pixel-wise saliency annotations, named TSOD10K. TSOD10K covers the diverse object categories in various real-world traffic scenes under various challenging weather/illumination variations (e.g., fog, snowstorms, low-contrast, and low-light). Methodologically, we propose a Mamba-based TSOD model, termed Tramba. Considering the challenge of distinguishing inconspicuous visual information from complex traffic backgrounds, Tramba introduces a novel Dual-Frequency visual State Space module equipped with shifted window partitioning and dilated scanning to enhance the perception of fine details and global structure by hierarchically decomposing high/low-frequency components. To emphasize critical regions in traffic scenes, we propose a traffic-oriented Helix 2D-Selective-Scan (Helix-SS2D) mechanism that injects driving attention priors while effectively capturing global multi-direction spatial dependencies. We establish a comprehensive benchmark by evaluating Tramba and 22 existing NSI-SOD models on TSOD10K, demonstrating Tramba’s superiority. Our research establishes the first foundation for safety-aware saliency analysis in intelligent transportation systems. Copyright © 2025, The Authors. All rights reserved.

关键词： Risk perception

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MULSAM: Multidimensional Attention with Hardware Acceleration for Efficient Intrusion Detection on Vehicular CAN Bus

引用

IEEE Transactions on Computer-Aided Design of Integrated Circuits and Systems 2025年

作者： Xu, He Shi, Xiaokang Liu, Hansheng Wang, Yanwen Lu, Jiwu Zeng, Haibo Li, Renfa Wu, Di Hunan University National Engineering Research Center for Robot Visual Perception and Control Technology Hunan Changsha410082 China Hunan University College of Electrical and Information Engineering Hunan Changsha410082 China Hunan University Shenzhen Research Institute Shenzhen518000 China Virginia Tech Department of Electrical and Computer Engineering BlacksburgVA24061 United States Hunan University College of Computer Science and Electronic Engineering Hunan Changsha410082 China

controller Area Network (CAN) protocol is an efficient standard enabling communication among Electronic control Units (ECUs). However, the CAN bus is vulnerable to malicious attacks because of a lack of defense features. In this article, a novel vehicle Intrusion Detection System (IDS) is developed. The challenge is that existing techniques of Intrusion Detection Systems (IDS) rarely consider attacks with small-batch, which are characterized by their small attack scale and concealed attack patterns, posing a significant threat to driving safety. To solve this problem, we developed an algorithm model that merges Multi-dimensional Long Short-Term Memory (MD-LSTM) and Self-Attention Mechanism (SAM), shortly named MULSAM. The MULSAM model was compared with other baseline models, including Stacked LSTM, MD-LSTM, etc. Experiments show that our approach has the best detection accuracy (98.98%) and training stability. Further, to speed up the inference of MULSAM on edge, the hardware accelerator is implemented on FPGA devices using technologies such as parallelization, modular, pipeline, and fixed-point quantization. Experiments show that our FPGA-based acceleration scheme has a better energy efficiency than the CPU platform. Even with a certain degree of quantification, the acceleration model for MULSAM still displays a high detection accuracy of 98.81% and a low latency of 1.88 ms. © 1982-2012 IEEE.

关键词： Intrusion detection

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Resilient Formation control Based on Watermarks for Networked Quadrotors under Deception Attacks

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IEEE Transactions on Vehicular technology 2025年

作者： Zhan, Weiwei Miao, Zhiqiang Zeng, Jianxin Chen, Yanjie Wu, Zheng-Guang He, Wei Wang, Yaonan Hunan University College of Electrical and Information Engineering Changsha410082 China Fuzhou University School of Mechanical Engineering and Automation Fuzhou350108 China National Engineering Research Center of Robot Visual Perception and Control Technology Changsha410082 China Zhejiang University Institute of Cyber-Systems and Control Hangzhou310027 China University of Science and Technology Beijing Key Laboratory of Intelligent Bionic Unmanned Systems Ministry of Education School of Intelligence Science and Technology Institute of Artificial Intelligence Beijing100083 China

This article addresses the problem of formation control of networked UAVs under deception attacks. A lightweight resilient formation control framework based on watermarks is proposed to achieve the desired formation configuration without extra monitoring attack status. Since deception attacks are covert, the shared information is watermarked before transmission to establish the protocol among networked UAVs. To facilitate the resilient formation controller design, a decoder is first developed to decipher the inverse transformation of deception attacks, where the watermark is the criterion for approximating the inverse transformation. The Gauss error function is introduced to eliminate some unrealistic input commands under deception attacks, obtaining the predefined input performance. Then, a resilient formation controller is developed to guarantee the global boundedness of all signals within the inner-loop and outerloop system, while the formation error converges to a small neighborhood of zero by solving the linear matrix inequality. Two challenging deception attack examples in simulations and experiments are conducted to verify the effectiveness and performance of the proposed resilient formation control framework. © 1967-2012 IEEE.

关键词： Inverse transforms

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HierDAMap: Towards Universal Domain Adaptive BEV Mapping via Hierarchical Perspective Priors

arXiv

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arXiv 2025年

作者： Li, Siyu Cao, Yihong Shi, Hao Zang, Yongsheng He, Xuan Yang, Kailun Li, Zhiyong School of Robotics the National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University Hangzhou310027 China College of Computer Science and Electronic Engineering Hunan University Changsha410082 China Hunan Vanguard Group Corporation Limited Changsha410100 China

The exploration of Bird’s-Eye View (BEV) mapping technology has driven significant innovation in visual perception technology for autonomous driving. BEV mapping models need to be applied to the unlabeled real world, making the study of unsupervised domain adaptation models an essential path. However, research on unsupervised domain adaptation for BEV mapping remains limited and cannot perfectly accommodate all BEV mapping tasks. To address this gap, this paper proposes HierDAMap, a universal and holistic BEV domain adaptation framework with hierarchical perspective priors. Unlike existing research that solely focuses on image-level learning using prior knowledge, this paper explores the guiding role of perspective prior knowledge across three distinct levels: global, sparse, and instance levels. With these priors, HierDA consists of three essential components, including Semantic-Guided Pseudo Supervision (SGPS), Dynamic-Aware Coherence Learning (DACL), and Cross-Domain Frustum Mixing (CDFM). SGPS constrains the cross-domain consistency of perspective feature distribution through pseudo labels generated by vision foundation models in 2D space. To mitigate feature distribution discrepancies caused by spatial variations, DACL employs uncertainty-aware predicted depth as an intermediary to derive dynamic BEV labels from perspective pseudo-labels, thereby constraining the coarse BEV features derived from corresponding perspective features. CDFM, on the other hand, leverages perspective masks of view frustum to mix multi-view perspective images from both domains, which guides cross-domain view transformation and encoding learning through mixed BEV labels. Furthermore, this paper introduces intra-domain feature exchange data augmentation to enhance the efficiency of domain adaptation learning. The proposed method is verified on multiple BEV mapping tasks, such as BEV semantic segmentation, high-definition semantic, and vectorized mapping. It demonstrates competitive perfo

关键词： Birds

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