Journal articles: '3D obstacle segmentation'

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Jinming, Chen. "Obstacle Detection Based on 3D Lidar Euclidean Clustering." Applied Science and Innovative Research 5, no. 3 (November 8, 2021): p39. http://dx.doi.org/10.22158/asir.v5n3p39.

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Environment perception is the basis of unmanned driving and obstacle detection is an important research area of environment perception technology. In order to quickly and accurately identify the obstacles in the direction of vehicle travel and obtain their location information, combined with the PCL (Point Cloud Library) function module, this paper designed a euclidean distance based Point Cloud clustering obstacle detection algorithm. Environmental information was obtained by 3D lidar, and ROI extraction, voxel filtering sampling, outlier point filtering, ground point cloud segmentation, Euclide clustering and other processing were carried out to achieve a complete PCL based 3D point cloud obstacle detection method. The experimental results show that the vehicle can effectively identify the obstacles in the area and obtain their location information.

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Sun, Chun-Yu, Yu-Qi Yang, Hao-Xiang Guo, Peng-Shuai Wang, Xin Tong, Yang Liu, and Heung-Yeung Shum. "Semi-supervised 3D shape segmentation with multilevel consistency and part substitution." Computational Visual Media 9, no. 2 (January 3, 2023): 229–47. http://dx.doi.org/10.1007/s41095-022-0281-9.

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AbstractThe lack of fine-grained 3D shape segmentation data is the main obstacle to developing learning-based 3D segmentation techniques. We propose an effective semi-supervised method for learning 3D segmentations from a few labeled 3D shapes and a large amount of unlabeled 3D data. For the unlabeled data, we present a novel multilevel consistency loss to enforce consistency of network predictions between perturbed copies of a 3D shape at multiple levels: point level, part level, and hierarchical level. For the labeled data, we develop a simple yet effective part substitution scheme to augment the labeled 3D shapes with more structural variations to enhance training. Our method has been extensively validated on the task of 3D object semantic segmentation on PartNet and ShapeNetPart, and indoor scene semantic segmentation on ScanNet. It exhibits superior performance to existing semi-supervised and unsupervised pre-training 3D approaches.

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Wang, Pengwei, Tianqi Gu, Binbin Sun, Di Huang, and Ke Sun. "Research on 3D Point Cloud Data Preprocessing and Clustering Algorithm of Obstacles for Intelligent Vehicle." World Electric Vehicle Journal 13, no. 7 (July 21, 2022): 130. http://dx.doi.org/10.3390/wevj13070130.

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Environment perception is the foundation of the intelligent driving system and is a prerequisite for achieving path planning and vehicle control. Among them, obstacle detection is the key to environment perception. In order to solve the problems of difficult-to-distinguish adjacent obstacles and easy-to-split distant obstacles in the traditional obstacle detection algorithm, this study firstly designed a 3D point cloud data filtering algorithm, completed the point cloud data removal of vehicle body points and noise points, and designed the point cloud down-sampling method. Then a ground segmentation method based on the Ray Ground Filter algorithm was designed to solve the under-segmentation problem in ground segmentation, while ensuring real time. Furthermore, an improved DBSCAN (Density-Based Spatial Clustering of Application with Noise) clustering algorithm was proposed, and the L-shaped fitting method was used to complete the 3D bounding box fitting of the point cloud, thus solving the problems that it is difficult to distinguish adjacent obstacles at close distances caused by the fixed parameter thresholds and it is easy for obstacles at long distances to split into multiple obstacles; thus, the real-time performance of the algorithm was improved. Finally, a real vehicle test was conducted, and the test results show that the proposed obstacle detection algorithm in this paper has improved the accuracy by 6.1% and the real-time performance by 13.2% compared with the traditional algorithm.

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Jiang, Wuhua, Chuanzheng Song, Hai Wang, Ming Yu, and Yajie Yan. "Obstacle Detection by Autonomous Vehicles: An Adaptive Neighborhood Search Radius Clustering Approach." Machines 11, no. 1 (January 2, 2023): 54. http://dx.doi.org/10.3390/machines11010054.

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For autonomous vehicles, obstacle detection results using 3D lidar are in the form of point clouds, and are unevenly distributed in space. Clustering is a common means for point cloud processing; however, improper selection of clustering thresholds can lead to under-segmentation or over-segmentation of point clouds, resulting in false detection or missed detection of obstacles. In order to solve these problems, a new obstacle detection method was required. Firstly, we applied a distance-based filter and a ground segmentation algorithm, to pre-process the original 3D point cloud. Secondly, we proposed an adaptive neighborhood search radius clustering algorithm, based on the analysis of the relationship between the clustering radius and point cloud spatial distribution, adopting the point cloud pitch angle and the horizontal angle resolution of the lidar, to determine the clustering threshold. Finally, an autonomous vehicle platform and the offline autonomous driving KITTI dataset were used to conduct multi-scene comparative experiments between the proposed method and a Euclidean clustering method. The multi-scene real vehicle experimental results showed that our method improved clustering accuracy by 6.94%, and the KITTI dataset experimental results showed that the F1 score increased by 0.0629.

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Itu, Razvan, and Radu Danescu. "Part-Based Obstacle Detection Using a Multiple Output Neural Network." Sensors 22, no. 12 (June 7, 2022): 4312. http://dx.doi.org/10.3390/s22124312.

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Detecting the objects surrounding a moving vehicle is essential for autonomous driving and for any kind of advanced driving assistance system; such a system can also be used for analyzing the surrounding traffic as the vehicle moves. The most popular techniques for object detection are based on image processing; in recent years, they have become increasingly focused on artificial intelligence. Systems using monocular vision are increasingly popular for driving assistance, as they do not require complex calibration and setup. The lack of three-dimensional data is compensated for by the efficient and accurate classification of the input image pixels. The detected objects are usually identified as cuboids in the 3D space, or as rectangles in the image space. Recently, instance segmentation techniques have been developed that are able to identify the freeform set of pixels that form an individual object, using complex convolutional neural networks (CNNs). This paper presents an alternative to these instance segmentation networks, combining much simpler semantic segmentation networks with light, geometrical post-processing techniques, to achieve instance segmentation results. The semantic segmentation network produces four semantic labels that identify the quarters of the individual objects: top left, top right, bottom left, and bottom right. These pixels are grouped into connected regions, based on their proximity and their position with respect to the whole object. Each quarter is used to generate a complete object hypothesis, which is then scored according to object pixel fitness. The individual homogeneous regions extracted from the labeled pixels are then assigned to the best-fitted rectangles, leading to complete and freeform identification of the pixels of individual objects. The accuracy is similar to instance segmentation-based methods but with reduced complexity in terms of trainable parameters, which leads to a reduced demand for computational resources.

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Miyamoto, Ryusuke, Miho Adachi, Hiroki Ishida, Takuto Watanabe, Kouchi Matsutani, Hayato Komatsuzaki, Shogo Sakata, Raimu Yokota, and Shingo Kobayashi. "Visual Navigation Based on Semantic Segmentation Using Only a Monocular Camera as an External Sensor." Journal of Robotics and Mechatronics 32, no. 6 (December 20, 2020): 1137–53. http://dx.doi.org/10.20965/jrm.2020.p1137.

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The most popular external sensor for robots capable of autonomous movement is 3D LiDAR. However, cameras are typically installed on robots that operate in environments where humans live their daily lives to obtain the same information that is presented to humans, even though autonomous movement itself can be performed using only 3D LiDAR. The number of studies on autonomous movement for robots using only visual sensors is relatively small, but this type of approach is effective at reducing the cost of sensing devices per robot. To reduce the number of external sensors required for autonomous movement, this paper proposes a novel visual navigation scheme using only a monocular camera as an external sensor. The key concept of the proposed scheme is to select a target point in an input image toward which a robot can move based on the results of semantic segmentation, where road following and obstacle avoidance are performed simultaneously. Additionally, a novel scheme called virtual LiDAR is proposed based on the results of semantic segmentation to estimate the orientation of a robot relative to the current path in a traversable area. Experiments conducted during the course of the Tsukuba Challenge 2019 demonstrated that a robot can operate in a real environment containing several obstacles, such as humans and other robots, if correct results of semantic segmentation are provided.

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Chen, Baifan, Hong Chen, Dian Yuan, and Lingli Yu. "3D Fast Object Detection Based on Discriminant Images and Dynamic Distance Threshold Clustering." Sensors 20, no. 24 (December 17, 2020): 7221. http://dx.doi.org/10.3390/s20247221.

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The object detection algorithm based on vehicle-mounted lidar is a key component of the perception system on autonomous vehicles. It can provide high-precision and highly robust obstacle information for the safe driving of autonomous vehicles. However, most algorithms are often based on a large amount of point cloud data, which makes real-time detection difficult. To solve this problem, this paper proposes a 3D fast object detection method based on three main steps: First, the ground segmentation by discriminant image (GSDI) method is used to convert point cloud data into discriminant images for ground points segmentation, which avoids the direct computing of the point cloud data and improves the efficiency of ground points segmentation. Second, the image detector is used to generate the region of interest of the three-dimensional object, which effectively narrows the search range. Finally, the dynamic distance threshold clustering (DDTC) method is designed for different density of the point cloud data, which improves the detection effect of long-distance objects and avoids the over-segmentation phenomenon generated by the traditional algorithm. Experiments have showed that this algorithm can meet the real-time requirements of autonomous driving while maintaining high accuracy.

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Itu, Razvan, and Radu Gabriel Danescu. "A Self-Calibrating Probabilistic Framework for 3D Environment Perception Using Monocular Vision." Sensors 20, no. 5 (February 27, 2020): 1280. http://dx.doi.org/10.3390/s20051280.

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Cameras are sensors that are available anywhere and to everyone, and can be placed easily inside vehicles. While stereovision setups of two or more synchronized cameras have the advantage of directly extracting 3D information, a single camera can be easily set up behind the windshield (like a dashcam), or above the dashboard, usually as an internal camera of a mobile phone placed there for navigation assistance. This paper presents a framework for extracting and tracking obstacle 3D data from the surrounding environment of a vehicle in traffic, using as a sensor a generic camera. The system combines the strength of Convolutional Neural Network (CNN)-based segmentation with a generic probabilistic model of the environment, the dynamic occupancy grid. The main contributions presented in this paper are the following: A method for generating the probabilistic measurement model from monocular images, based on CNN segmentation, which takes into account the particularities, uncertainties, and limitations of monocular vision; a method for automatic calibration of the extrinsic and intrinsic parameters of the camera, without the need of user assistance; the integration of automatic calibration and measurement model generation into a scene tracking system that is able to work with any camera to perceive the obstacles in real traffic. The presented system can be easily fitted to any vehicle, working standalone or together with other sensors, to enhance the environment perception capabilities and improve the traffic safety.

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Lin, Chien-Chou, Wei-Lung Mao, Teng-Wen Chang, Chuan-Yu Chang, and Salah Sohaib Saleh Abdullah. "Fast Obstacle Detection Using 3D-to-2D LiDAR Point Cloud Segmentation for Collision-free Path Planning." Sensors and Materials 32, no. 7 (July 20, 2020): 2365. http://dx.doi.org/10.18494/sam.2020.2810.

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Gomes, Tiago, Diogo Matias, André Campos, Luís Cunha, and Ricardo Roriz. "A Survey on Ground Segmentation Methods for Automotive LiDAR Sensors." Sensors 23, no. 2 (January 5, 2023): 601. http://dx.doi.org/10.3390/s23020601.

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In the near future, autonomous vehicles with full self-driving features will populate our public roads. However, fully autonomous cars will require robust perception systems to safely navigate the environment, which includes cameras, RADAR devices, and Light Detection and Ranging (LiDAR) sensors. LiDAR is currently a key sensor for the future of autonomous driving since it can read the vehicle’s vicinity and provide a real-time 3D visualization of the surroundings through a point cloud representation. These features can assist the autonomous vehicle in several tasks, such as object identification and obstacle avoidance, accurate speed and distance measurements, road navigation, and more. However, it is crucial to detect the ground plane and road limits to safely navigate the environment, which requires extracting information from the point cloud to accurately detect common road boundaries. This article presents a survey of existing methods used to detect and extract ground points from LiDAR point clouds. It summarizes the already extensive literature and proposes a comprehensive taxonomy to help understand the current ground segmentation methods that can be used in automotive LiDAR sensors.

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Murtiyoso, A., F. Matrone, M. Martini, A. Lingua, P. Grussenmeyer, and R. Pierdicca. "AUTOMATIC TRAINING DATA GENERATION IN DEEP LEARNING-AIDED SEMANTIC SEGMENTATION OF HERITAGE BUILDINGS." ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences V-2-2022 (May 17, 2022): 317–24. http://dx.doi.org/10.5194/isprs-annals-v-2-2022-317-2022.

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Abstract. In the geomatics domain the use of deep learning, a subset of machine learning, is becoming more and more widespread. In this context, the 3D semantic segmentation of heritage point clouds presents an interesting and promising approach for modelling automation, in light of the heterogeneous nature of historical building styles and features. However, this heterogeneity also presents an obstacle in terms of generating the training data for use in deep learning, hitherto performed largely manually. The current generally low availability of labelled data also presents a motivation to aid the process of training data generation. In this paper, we propose the use of approaches based on geometric rules to automate to a certain degree this task. One object class will be discussed in this paper, namely the pillars class. Results show that the approach managed to extract pillars with satisfactory quality (98.5% of correctly detected pillars with the proposed algorithm). Tests were also performed to use the outputs in a deep learning segmentation setting, with a favourable outcome in terms of reducing the overall labelling time (−66.5%). Certain particularities were nevertheless observed, which also influence the result of the deep learning segmentation.

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Lv, Caixia, Jia Liu, and Xuejing Zhang. "Research on Intelligent Vehicle Detection and Tracking Method Based on Multivision Information Fusion." Mobile Information Systems 2022 (May 18, 2022): 1–15. http://dx.doi.org/10.1155/2022/6230713.

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With the development of the world economy and the acceleration of the urbanization process, the automobile has brought great convenience to people’s life and production activities and has become an essential means of transportation. Intelligent vehicles have the significance of reducing traffic accidents and improving transportation capacity and broad market prospects and can lead the development of the automotive industry in the future. Therefore, they have been widely concerned. In the existing intelligent vehicle system, lidar has become the leading role due to its excellent speed and accuracy and is an indispensable part of the realization of high-precision positioning. However, to some extent, the price is the main factor that hinders its marketization. Compared with the lidar sensor, the vision sensor has the advantages of fast sampling rate, light weight, low energy consumption, and low price; so, many domestic and foreign research institutions have listed it as the focus of research. However, the current visual-based intelligent vehicle environment perception technology is still prone to be affected by factors such as illumination, climate, and road type, resulting in the lack of accuracy and real-time performance of the algorithm. In this paper, the environment perception of intelligent vehicles is taken as the research object, and the problems existing in the existing road recognition and obstacle detection algorithms are deeply studied. Firstly, due to the complexity of texture feature extraction and voting calculation process of existing detection methods, and the influence of local strong texture feature interference inconsistent with road direction, a road image vanishing point detection algorithm based on combined 4-direction Gabor filter and particle filter technology was proposed. Then, aiming at the problem that the existing road image segmentation methods based on vanishing point constraint are too dependent on the edge features of road, which leads to oversegmentation easily, a method is proposed to improve the segmentation accuracy of road image by integrating road texture, road surface, and nonroad surface color features. Finally, the application of 3D reconstruction of road scene and obstacle detection technology based on binocular vision and visual navigation algorithm in intelligent vehicle trajectory tracking control is studied. Results show that the visual navigation algorithm can guide the vehicle routes along the road without a barrier, and compared with Wang Ren and two kinds of algorithm, the results show that this control algorithm effectively solves the traditional sliding mode control that is chattering phenomenon, overcomes the model matching, and does not match the interference problems, if used in the intelligent vehicle systems, it can reduce the thermal loss of electronic components and wear of actuator parts and improve the tracking accuracy.

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Lee, Yongbeom, and Seongkeun Park. "A Deep Learning-Based Perception Algorithm Using 3D LiDAR for Autonomous Driving: Simultaneous Segmentation and Detection Network (SSADNet)." Applied Sciences 10, no. 13 (June 29, 2020): 4486. http://dx.doi.org/10.3390/app10134486.

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In this paper, we propose a deep learning-based perception method in autonomous driving systems using a Light Detection and Ranging(LiDAR) point cloud data, which is called a simultaneous segmentation and detection network (SSADNet). SSADNet can be used to recognize both drivable areas and obstacles, which is necessary for autonomous driving. Unlike the previous methods, where separate networks were needed for segmentation and detection, SSADNet can perform segmentation and detection simultaneously based on a single neural network. The proposed method uses point cloud data obtained from a 3D LiDAR for network input to generate a top view image consisting of three channels of distance, height, and reflection intensity. The structure of the proposed network includes a branch for segmentation and a branch for detection as well as a bridge connecting the two parts. The KITTI dataset, which is often used for experiments on autonomous driving, was used for training. The experimental results show that segmentation and detection can be performed simultaneously for drivable areas and vehicles at a quick inference speed, which is appropriate for autonomous driving systems.

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Zhang, Yan, Xi Liu, Shiyun Wa, Yutong Liu, Jiali Kang, and Chunli Lv. "GenU-Net++: An Automatic Intracranial Brain Tumors Segmentation Algorithm on 3D Image Series with High Performance." Symmetry 13, no. 12 (December 12, 2021): 2395. http://dx.doi.org/10.3390/sym13122395.

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Automatic segmentation of intracranial brain tumors in three-dimensional (3D) image series is critical in screening and diagnosing related diseases. However, there are various challenges in intracranial brain tumor images: (1) Multiple brain tumor categories hold particular pathological features. (2) It is a thorny issue to locate and discern brain tumors from other non-brain regions due to their complicated structure. (3) Traditional segmentation requires a noticeable difference in the brightness of the interest target relative to the background. (4) Brain tumor magnetic resonance images (MRI) have blurred boundaries, similar gray values, and low image contrast. (5) Image information details would be dropped while suppressing noise. Existing methods and algorithms do not perform satisfactorily in overcoming these obstacles mentioned above. Most of them share an inadequate accuracy in brain tumor segmentation. Considering that the image segmentation task is a symmetric process in which downsampling and upsampling are performed sequentially, this paper proposes a segmentation algorithm based on U-Net++, aiming to address the aforementioned problems. This paper uses the BraTS 2018 dataset, which contains MR images of 245 patients. We suggest the generative mask sub-network, which can generate feature maps. This paper also uses the BiCubic interpolation method for upsampling to obtain segmentation results different from U-Net++. Subsequently, pixel-weighted fusion is adopted to fuse the two segmentation results, thereby, improving the robustness and segmentation performance of the model. At the same time, we propose an auto pruning mechanism in terms of the architectural features of U-Net++ itself. This mechanism deactivates the sub-network by zeroing the input. It also automatically prunes GenU-Net++ during the inference process, increasing the inference speed and improving the network performance by preventing overfitting. Our algorithm’s PA, MIoU, P, and R are tested on the validation dataset, reaching 0.9737, 0.9745, 0.9646, and 0.9527, respectively. The experimental results demonstrate that the proposed model outperformed the contrast models. Additionally, we encapsulate the model and develop a corresponding application based on the MacOS platform to make the model further applicable.

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Moreno, Francisco Miguel, Carlos Guindel, José María Armingol, and Fernando García. "Study of the Effect of Exploiting 3D Semantic Segmentation in LiDAR Odometry." Applied Sciences 10, no. 16 (August 14, 2020): 5657. http://dx.doi.org/10.3390/app10165657.

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This paper presents a study of how the performance of LiDAR odometry is affected by the preprocessing of the point cloud through the use of 3D semantic segmentation. The study analyzed the estimated trajectories when the semantic information is exploited to filter the original raw data. Different filtering configurations were tested: raw (original point cloud), dynamic (dynamic obstacles are removed from the point cloud), dynamic vehicles (vehicles are removed), far (distant points are removed), ground (the points belonging to the ground are removed) and structure (only structures and objects are kept in the point cloud). The experiments were performed using the KITTI and SemanticKITTI datasets, which feature different scenarios that allowed identifying the implications and relevance of each element of the environment in LiDAR odometry algorithms. The conclusions obtained from this work are of special relevance for improving the efficiency of LiDAR odometry algorithms in all kinds of scenarios.

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Brunet, P. M., P. Lassalle, S. Baillarin, B. Vallet, A. Le Bris, G. Romeyer, G. Le Besnerais, et al. "AI4GEO: A DATA INTELLIGENCE PLATFORM FOR 3D GEOSPATIAL MAPPING." International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLIII-B2-2021 (June 28, 2021): 817–23. http://dx.doi.org/10.5194/isprs-archives-xliii-b2-2021-817-2021.

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Abstract. The availability of 3D Geospatial information is a key issue for many expanding sectors such as autonomous vehicles, business intelligence and urban planning. Its production is now possible thanks to the abundance of available data (Earth observation satellite constellations, insitu data, …) but manual interventions are still needed to guarantee a high level of quality, which prevents mass production. New artificial intelligence and big data technologies adapted to 3D imagery can help to remove these obstacles. The AI4GEO project aims at developing an automatic solution for producing 3D geospatial information and new added-value services. This paper will first introduce AI4GEO initiative, context and overall objectives. It will then present the current status of the project and in particular it will focus on the innovative platform put in place to handle big 3D datasets for analytics needs and it will present the first results of 3D semantic segmentations and associated perspectives.

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Bavle, Hriday, Jose Sanchez-Lopez, Paloma Puente, Alejandro Rodriguez-Ramos, Carlos Sampedro, and Pascual Campoy. "Fast and Robust Flight Altitude Estimation of Multirotor UAVs in Dynamic Unstructured Environments Using 3D Point Cloud Sensors." Aerospace 5, no. 3 (September 6, 2018): 94. http://dx.doi.org/10.3390/aerospace5030094.

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This paper presents a fast and robust approach for estimating the flight altitude of multirotor Unmanned Aerial Vehicles (UAVs) using 3D point cloud sensors in cluttered, unstructured, and dynamic indoor environments. The objective is to present a flight altitude estimation algorithm, replacing the conventional sensors such as laser altimeters, barometers, or accelerometers, which have several limitations when used individually. Our proposed algorithm includes two stages: in the first stage, a fast clustering of the measured 3D point cloud data is performed, along with the segmentation of the clustered data into horizontal planes. In the second stage, these segmented horizontal planes are mapped based on the vertical distance with respect to the point cloud sensor frame of reference, in order to provide a robust flight altitude estimation even in presence of several static as well as dynamic ground obstacles. We validate our approach using the IROS 2011 Kinect dataset available in the literature, estimating the altitude of the RGB-D camera using the provided 3D point clouds. We further validate our approach using a point cloud sensor on board a UAV, by means of several autonomous real flights, closing its altitude control loop using the flight altitude estimated by our proposed method, in presence of several different static as well as dynamic ground obstacles. In addition, the implementation of our approach has been integrated in our open-source software framework for aerial robotics called Aerostack.

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Castagno, Jeremy, and Ella Atkins. "Polylidar3D-Fast Polygon Extraction from 3D Data." Sensors 20, no. 17 (August 26, 2020): 4819. http://dx.doi.org/10.3390/s20174819.

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Flat surfaces captured by 3D point clouds are often used for localization, mapping, and modeling. Dense point cloud processing has high computation and memory costs making low-dimensional representations of flat surfaces such as polygons desirable. We present Polylidar3D, a non-convex polygon extraction algorithm which takes as input unorganized 3D point clouds (e.g., LiDAR data), organized point clouds (e.g., range images), or user-provided meshes. Non-convex polygons represent flat surfaces in an environment with interior cutouts representing obstacles or holes. The Polylidar3D front-end transforms input data into a half-edge triangular mesh. This representation provides a common level of abstraction for subsequent back-end processing. The Polylidar3D back-end is composed of four core algorithms: mesh smoothing, dominant plane normal estimation, planar segment extraction, and finally polygon extraction. Polylidar3D is shown to be quite fast, making use of CPU multi-threading and GPU acceleration when available. We demonstrate Polylidar3D’s versatility and speed with real-world datasets including aerial LiDAR point clouds for rooftop mapping, autonomous driving LiDAR point clouds for road surface detection, and RGBD cameras for indoor floor/wall detection. We also evaluate Polylidar3D on a challenging planar segmentation benchmark dataset. Results consistently show excellent speed and accuracy.

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Guo, Lei, Wei Zhang, Lei Zhao, Ming Hu, and Gui Zhi Xu. "Study of Virtual Nasopharyngeal Navigation Based on Virtual Endoscopy Technology." Journal of Biomimetics, Biomaterials and Biomedical Engineering 28 (July 2016): 44–52. http://dx.doi.org/10.4028/www.scientific.net/jbbbe.28.44.

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With the rapid development of medical imaging technology, computer graphics and visualization technologies, virtual endoscopy technology emerged. It mainly includes 2D medical image segmentation, 3D image reconstruction, path planning and virtual roaming. However, the path planning of virtual endoscopy has become one of the obstacles in this field due to the high irregularity of the nasopharyngeal anatomy structure. In this study, the nasopharynx including meatus nasi, pharyngeal canal, maxillary sinus, frontal sinus, sphenoid sinus, and ethmoid sinus is segmented and 3D reconstructed using MR images. The key technology of virtual endoscopy - center path planning algorithm is implemented based on distance transform. Also, two improved algorithms of center path planning are proposed. One is the selection algorithm of branch path and the other is the extraction algorithm for complex path based on human-computer interaction. These two improved algorithms can not only allow the traditional path planning algorithm to handle multiple branching structure but make roaming path to start at any point. Our experimental results satisfied the needs of clinical practice.

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Reina, Giulio, Mauro Bellone, Luigi Spedicato, and Nicola Ivan Giannoccaro. "3D traversability awareness for rough terrain mobile robots." Sensor Review 34, no. 2 (March 17, 2014): 220–32. http://dx.doi.org/10.1108/sr-03-2013-644.

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Purpose – This research aims to address the issue of safe navigation for autonomous vehicles in highly challenging outdoor environments. Indeed, robust navigation of autonomous mobile robots over long distances requires advanced perception means for terrain traversability assessment. Design/methodology/approach – The use of visual systems may represent an efficient solution. This paper discusses recent findings in terrain traversability analysis from RGB-D images. In this context, the concept of point as described only by its Cartesian coordinates is reinterpreted in terms of local description. As a result, a novel descriptor for inferring the traversability of a terrain through its 3D representation, referred to as the unevenness point descriptor (UPD), is conceived. This descriptor features robustness and simplicity. Findings – The UPD-based algorithm shows robust terrain perception capabilities in both indoor and outdoor environment. The algorithm is able to detect obstacles and terrain irregularities. The system performance is validated in field experiments in both indoor and outdoor environments. Research limitations/implications – The UPD enhances the interpretation of 3D scene to improve the ambient awareness of unmanned vehicles. The larger implications of this method reside in its applicability for path planning purposes. Originality/value – This paper describes a visual algorithm for traversability assessment based on normal vectors analysis. The algorithm is simple and efficient providing fast real-time implementation, since the UPD does not require any data processing or previously generated digital elevation map to classify the scene. Moreover, it defines a local descriptor, which can be of general value for segmentation purposes of 3D point clouds and allows the underlining geometric pattern associated with each single 3D point to be fully captured and difficult scenarios to be correctly handled.

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Shukla, Piyush Kumar, Mohammed Zakariah, Wesam Atef Hatamleh, Hussam Tarazi, and Basant Tiwari. "AI-DRIVEN Novel Approach for Liver Cancer Screening and Prediction Using Cascaded Fully Convolutional Neural Network." Journal of Healthcare Engineering 2022 (February 1, 2022): 1–14. http://dx.doi.org/10.1155/2022/4277436.

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In experimental analysis and computer-aided design sustain scheme, segmentation of cell liver and hepatic lesions by an automated method is a significant step for studying the biomarkers characteristics in experimental analysis and computer-aided design sustain scheme. Patient to patient, the change in lesion type is dependent on the size, imaging equipment (such as the setting dissimilarity approach), and timing of the lesion, all of which are different. With practical approaches, it is difficult to determine the stages of liver cancer based on the segmentation of lesion patterns. Based on the training accuracy rate, the present algorithm confronts a number of obstacles in some domains. The suggested work proposes a system for automatically detecting liver tumours and lesions in magnetic resonance imaging of the abdomen pictures by using 3D affine invariant and shape parameterization approaches, as well as the results of this study. This point-to-point parameterization addresses the frequent issues associated with concave surfaces by establishing a standard model level for the organ’s surface throughout the modelling process. Initially, the geodesic active contour analysis approach is used to separate the liver area from the rest of the body. The proposal is as follows: It is possible to minimise the error rate during the training operations, which are carried out using Cascaded Fully Convolutional Neural Networks (CFCNs) using the input of the segmented tumour area. Liver segmentation may help to reduce the error rate during the training procedures. The stage analysis of the data sets, which are comprised of training and testing pictures, is used to get the findings and validate their validity. The accuracy attained by the Cascaded Fully Convolutional Neural Network (CFCN) for the liver tumour analysis is 94.21 percent, with a calculation time of less than 90 seconds per volume for the liver tumour analysis. The results of the trials show that the total accuracy rate of the training and testing procedure is 93.85 percent in the various volumes of 3DIRCAD datasets tested.

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Abdelhedi, Fatma, and Nabil Derbel. "Volume 2, Issue 3, Special issue on Recent Advances in Engineering Systems (Published Papers) Articles Transmit / Received Beamforming for Frequency Diverse Array with Symmetrical frequency offsets Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 1-6 (2017); View Description Detailed Analysis of Amplitude and Slope Diffraction Coefficients for knife-edge structure in S-UTD-CH Model Eray Arik, Mehmet Baris Tabakcioglu Adv. Sci. Technol. Eng. Syst. J. 2(3), 7-11 (2017); View Description Applications of Case Based Organizational Memory Supported by the PAbMM Architecture Martín, María de los Ángeles, Diván, Mario José Adv. Sci. Technol. Eng. Syst. J. 2(3), 12-23 (2017); View Description Low Probability of Interception Beampattern Using Frequency Diverse Array Antenna Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 24-29 (2017); View Description Zero Trust Cloud Networks using Transport Access Control and High Availability Optical Bypass Switching Casimer DeCusatis, Piradon Liengtiraphan, Anthony Sager Adv. Sci. Technol. Eng. Syst. J. 2(3), 30-35 (2017); View Description A Derived Metrics as a Measurement to Support Efficient Requirements Analysis and Release Management Indranil Nath Adv. Sci. Technol. Eng. Syst. J. 2(3), 36-40 (2017); View Description Feedback device of temperature sensation for a myoelectric prosthetic hand Yuki Ueda, Chiharu Ishii Adv. Sci. Technol. Eng. Syst. J. 2(3), 41-40 (2017); View Description Deep venous thrombus characterization: ultrasonography, elastography and scattering operator Thibaud Berthomier, Ali Mansour, Luc Bressollette, Frédéric Le Roy, Dominique Mottier Adv. Sci. Technol. Eng. Syst. J. 2(3), 48-59 (2017); View Description Improving customs’ border control by creating a reference database of cargo inspection X-ray images Selina Kolokytha, Alexander Flisch, Thomas Lüthi, Mathieu Plamondon, Adrian Schwaninger, Wicher Vasser, Diana Hardmeier, Marius Costin, Caroline Vienne, Frank Sukowski, Ulf Hassler, Irène Dorion, Najib Gadi, Serge Maitrejean, Abraham Marciano, Andrea Canonica, Eric Rochat, Ger Koomen, Micha Slegt Adv. Sci. Technol. Eng. Syst. J. 2(3), 60-66 (2017); View Description Aviation Navigation with Use of Polarimetric Technologies Arsen Klochan, Ali Al-Ammouri, Viktor Romanenko, Vladimir Tronko Adv. Sci. Technol. Eng. Syst. J. 2(3), 67-72 (2017); View Description Optimization of Multi-standard Transmitter Architecture Using Single-Double Conversion Technique Used for Rescue Operations Riadh Essaadali, Said Aliouane, Chokri Jebali and Ammar Kouki Adv. Sci. Technol. Eng. Syst. J. 2(3), 73-81 (2017); View Description Singular Integral Equations in Electromagnetic Waves Reflection Modeling A. S. Ilinskiy, T. N. Galishnikova Adv. Sci. Technol. Eng. Syst. J. 2(3), 82-87 (2017); View Description Methodology for Management of Information Security in Industrial Control Systems: A Proof of Concept aligned with Enterprise Objectives. Fabian Bustamante, Walter Fuertes, Paul Diaz, Theofilos Toulqueridis Adv. Sci. Technol. Eng. Syst. J. 2(3), 88-99 (2017); View Description Dependence-Based Segmentation Approach for Detecting Morpheme Boundaries Ahmed Khorsi, Abeer Alsheddi Adv. Sci. Technol. Eng. Syst. J. 2(3), 100-110 (2017); View Description Paper Improving Rule Based Stemmers to Solve Some Special Cases of Arabic Language Soufiane Farrah, Hanane El Manssouri, Ziyati Elhoussaine, Mohamed Ouzzif Adv. Sci. Technol. Eng. Syst. J. 2(3), 111-115 (2017); View Description Medical imbalanced data classification Sara Belarouci, Mohammed Amine Chikh Adv. Sci. Technol. Eng. Syst. J. 2(3), 116-124 (2017); View Description ADOxx Modelling Method Conceptualization Environment Nesat Efendioglu, Robert Woitsch, Wilfrid Utz, Damiano Falcioni Adv. Sci. Technol. Eng. Syst. J. 2(3), 125-136 (2017); View Description GPSR+Predict: An Enhancement for GPSR to Make Smart Routing Decision by Anticipating Movement of Vehicles in VANETs Zineb Squalli Houssaini, Imane Zaimi, Mohammed Oumsis, Saïd El Alaoui Ouatik Adv. Sci. Technol. Eng. Syst. J. 2(3), 137-146 (2017); View Description Optimal Synthesis of Universal Space Vector Digital Algorithm for Matrix Converters Adrian Popovici, Mircea Băbăiţă, Petru Papazian Adv. Sci. Technol. Eng. Syst. J. 2(3), 147-152 (2017); View Description Control design for axial flux permanent magnet synchronous motor which operates above the nominal speed Xuan Minh Tran, Nhu Hien Nguyen, Quoc Tuan Duong Adv. Sci. Technol. Eng. Syst. J. 2(3), 153-159 (2017); View Description A synchronizing second order sliding mode control applied to decentralized time delayed multi−agent robotic systems: Stability Proof Marwa Fathallah, Fatma Abdelhedi, Nabil Derbel Adv. Sci. Technol. Eng. Syst. J. 2(3), 160-170 (2017); View Description Fault Diagnosis and Tolerant Control Using Observer Banks Applied to Continuous Stirred Tank Reactor Martin F. Pico, Eduardo J. Adam Adv. Sci. Technol. Eng. Syst. J. 2(3), 171-181 (2017); View Description Development and Validation of a Heat Pump System Model Using Artificial Neural Network Nabil Nassif, Jordan Gooden Adv. Sci. Technol. Eng. Syst. J. 2(3), 182-185 (2017); View Description Assessment of the usefulness and appeal of stigma-stop by psychology students: a serious game designed to reduce the stigma of mental illness Adolfo J. Cangas, Noelia Navarro, Juan J. Ojeda, Diego Cangas, Jose A. Piedra, José Gallego Adv. Sci. Technol. Eng. Syst. J. 2(3), 186-190 (2017); View Description Kinect-Based Moving Human Tracking System with Obstacle Avoidance Abdel Mehsen Ahmad, Zouhair Bazzal, Hiba Al Youssef Adv. Sci. Technol. Eng. Syst. J. 2(3), 191-197 (2017); View Description A security approach based on honeypots: Protecting Online Social network from malicious profiles Fatna Elmendili, Nisrine Maqran, Younes El Bouzekri El Idrissi, Habiba Chaoui Adv. Sci. Technol. Eng. Syst. J. 2(3), 198-204 (2017); View Description Pulse Generator for Ultrasonic Piezoelectric Transducer Arrays Based on a Programmable System-on-Chip (PSoC) Pedro Acevedo, Martín Fuentes, Joel Durán, Mónica Vázquez, Carlos Díaz Adv. Sci. Technol. Eng. Syst. J. 2(3), 205-209 (2017); View Description Enabling Toy Vehicles Interaction With Visible Light Communication (VLC) M. A. Ilyas, M. B. Othman, S. M. Shah, Mas Fawzi Adv. Sci. Technol. Eng. Syst. J. 2(3), 210-216 (2017); View Description Analysis of Fractional-Order 2xn RLC Networks by Transmission Matrices Mahmut Ün, Manolya Ün Adv. Sci. Technol. Eng. Syst. J. 2(3), 217-220 (2017); View Description Fire extinguishing system in large underground garages Ivan Antonov, Rositsa Velichkova, Svetlin Antonov, Kamen Grozdanov, Milka Uzunova, Ikram El Abbassi Adv. Sci. Technol. Eng. Syst. J. 2(3), 221-226 (2017); View Description Directional Antenna Modulation Technique using A Two-Element Frequency Diverse Array Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 227-232 (2017); View Description Classifying region of interests from mammograms with breast cancer into BIRADS using Artificial Neural Networks Estefanía D. Avalos-Rivera, Alberto de J. Pastrana-Palma Adv. Sci. Technol. Eng. Syst. J. 2(3), 233-240 (2017); View Description Magnetically Levitated and Guided Systems Florian Puci, Miroslav Husak Adv. Sci. Technol. Eng. Syst. J. 2(3), 241-244 (2017); View Description Energy-Efficient Mobile Sensing in Distributed Multi-Agent Sensor Networks Minh T. Nguyen Adv. Sci. Technol. Eng. Syst. J. 2(3), 245-253 (2017); View Description Validity and efficiency of conformal anomaly detection on big distributed data Ilia Nouretdinov Adv. Sci. Technol. Eng. Syst. J. 2(3), 254-267 (2017); View Description S-Parameters Optimization in both Segmented and Unsegmented Insulated TSV upto 40GHz Frequency Juma Mary Atieno, Xuliang Zhang, HE Song Bai Adv. Sci. Technol. Eng. Syst. J. 2(3), 268-276 (2017); View Description Synthesis of Important Design Criteria for Future Vehicle Electric System Lisa Braun, Eric Sax Adv. Sci. Technol. Eng. Syst. J. 2(3), 277-283 (2017); View Description Gestural Interaction for Virtual Reality Environments through Data Gloves G. Rodriguez, N. Jofre, Y. Alvarado, J. Fernández, R. Guerrero Adv. Sci. Technol. Eng. Syst. J. 2(3), 284-290 (2017); View Description Solving the Capacitated Network Design Problem in Two Steps Meriem Khelifi, Mohand Yazid Saidi, Saadi Boudjit Adv. Sci. Technol. Eng. Syst. J. 2(3), 291-301 (2017); View Description A Computationally Intelligent Approach to the Detection of Wormhole Attacks in Wireless Sensor Networks Mohammad Nurul Afsar Shaon, Ken Ferens Adv. Sci. Technol. Eng. Syst. J. 2(3), 302-320 (2017); View Description Real Time Advanced Clustering System Giuseppe Spampinato, Arcangelo Ranieri Bruna, Salvatore Curti, Viviana D’Alto Adv. Sci. Technol. Eng. Syst. J. 2(3), 321-326 (2017); View Description Indoor Mobile Robot Navigation in Unknown Environment Using Fuzzy Logic Based Behaviors Khalid Al-Mutib, Foudil Abdessemed Adv. Sci. Technol. Eng. Syst. J. 2(3), 327-337 (2017); View Description Validity of Mind Monitoring System as a Mental Health Indicator using Voice Naoki Hagiwara, Yasuhiro Omiya, Shuji Shinohara, Mitsuteru Nakamura, Masakazu Higuchi, Shunji Mitsuyoshi, Hideo Yasunaga, Shinichi Tokuno Adv. Sci. Technol. Eng. Syst. J. 2(3), 338-344 (2017); View Description The Model of Adaptive Learning Objects for virtual environments instanced by the competencies Carlos Guevara, Jose Aguilar, Alexandra González-Eras Adv. Sci. Technol. Eng. Syst. J. 2(3), 345-355 (2017); View Description An Overview of Traceability: Towards a general multi-domain model Kamal Souali, Othmane Rahmaoui, Mohammed Ouzzif Adv. Sci. Technol. Eng. Syst. J. 2(3), 356-361 (2017); View Description L-Band SiGe HBT Active Differential Equalizers with Variable, Positive or Negative Gain Slopes Using Dual-Resonant RLC Circuits Yasushi Itoh, Hiroaki Takagi Adv. Sci. Technol. Eng. Syst. J. 2(3), 362-368 (2017); View Description Moving Towards Reliability-Centred Management of Energy, Power and Transportation Assets Kang Seng Seow, Loc K. Nguyen, Kelvin Tan, Kees-Jan Van Oeveren Adv. Sci. Technol. Eng. Syst. J. 2(3), 369-375 (2017); View Description Secure Path Selection under Random Fading Furqan Jameel, Faisal, M Asif Ali Haider, Amir Aziz Butt Adv. Sci. Technol. Eng. Syst. J. 2(3), 376-383 (2017); View Description Security in SWIPT with Power Splitting Eavesdropper Furqan Jameel, Faisal, M Asif Ali Haider, Amir Aziz Butt Adv. Sci. Technol. Eng. Syst. J. 2(3), 384-388 (2017); View Description Performance Analysis of Phased Array and Frequency Diverse Array Radar Ambiguity Functions Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 389-394 (2017); View Description Adaptive Discrete-time Fuzzy Sliding Mode Control For a Class of Chaotic Systems Hanene Medhaffar, Moez Feki, Nabil Derbel Adv. Sci. Technol. Eng. Syst. J. 2(3), 395-400 (2017); View Description Fault Tolerant Inverter Topology for the Sustainable Drive of an Electrical Helicopter Igor Bolvashenkov, Jörg Kammermann, Taha Lahlou, Hans-Georg Herzog Adv. Sci. Technol. Eng. Syst. J. 2(3), 401-411 (2017); View Description Computational Intelligence Methods for Identifying Voltage Sag in Smart Grid Turgay Yalcin, Muammer Ozdemir Adv. Sci. Technol. Eng. Syst. J. 2(3), 412-419 (2017); View Description A Highly-Secured Arithmetic Hiding cum Look-Up Table (AHLUT) based S-Box for AES-128 Implementation Ali Akbar Pammu, Kwen-Siong Chong, Bah-Hwee Gwee Adv. Sci. Technol. Eng. Syst. J. 2(3), 420-426 (2017); View Description Service Productivity and Complexity in Medical Rescue Services Markus Harlacher, Andreas Petz, Philipp Przybysz, Olivia Chaillié, Susanne Mütze-Niewöhner Adv. Sci. Technol. Eng. Syst. J. 2(3), 427-434 (2017); View Description Principal Component Analysis Application on Flavonoids Characterization Che Hafizah Che Noh, Nor Fadhillah Mohamed Azmin, Azura Amid Adv. Sci. Technol. Eng. Syst. J. 2(3), 435-440 (2017); View Description A Reconfigurable Metal-Plasma Yagi-Yuda Antenna for Microwave Applications Giulia Mansutti, Davide Melazzi, Antonio-Daniele Capobianco Adv. Sci. Technol. Eng. Syst. J. 2(3), 441-448 (2017); View Description Verifying the Detection Results of Impersonation Attacks in Service Clouds Sarra Alqahtani, Rose Gamble Adv. Sci. Technol. Eng. Syst. J. 2(3), 449-459 (2017); View Description Image Segmentation Using Fuzzy Inference System on YCbCr Color Model Alvaro Anzueto-Rios, Jose Antonio Moreno-Cadenas, Felipe Gómez-Castañeda, Sergio Garduza-Gonzalez Adv. Sci. Technol. Eng. Syst. J. 2(3), 460-468 (2017); View Description Segmented and Detailed Visualization of Anatomical Structures based on Augmented Reality for Health Education and Knowledge Discovery Isabel Cristina Siqueira da Silva, Gerson Klein, Denise Munchen Brandão Adv. Sci. Technol. Eng. Syst. J. 2(3), 469-478 (2017); View Description Intrusion detection in cloud computing based attack patterns and risk assessment Ben Charhi Youssef, Mannane Nada, Bendriss Elmehdi, Regragui Boubker Adv. Sci. Technol. Eng. Syst. J. 2(3), 479-484 (2017); View Description Optimal Sizing and Control Strategy of renewable hybrid systems PV-Diesel Generator-Battery: application to the case of Djanet city of Algeria Adel Yahiaoui, Khelifa Benmansour, Mohamed Tadjine Adv. Sci. Technol. Eng. Syst. J. 2(3), 485-491 (2017); View Description RFID Antenna Near-field Characterization Using a New 3D Magnetic Field Probe Kassem Jomaa, Fabien Ndagijimana, Hussam Ayad, Majida Fadlallah, Jalal Jomaah Adv. Sci. Technol. Eng. Syst. J. 2(3), 492-497 (2017); View Description Design, Fabrication and Testing of a Dual-Range XY Micro-Motion Stage Driven by Voice Coil Actuators Xavier Herpe, Matthew Dunnigan, Xianwen Kong Adv. Sci. Technol. Eng. Syst. J. 2(3), 498-504 (2017); View Description Self-Organizing Map based Feature Learning in Bio-Signal Processing Marwa Farouk Ibrahim Ibrahim, Adel Ali Al-Jumaily Adv. Sci. Technol. Eng. Syst. J. 2(3), 505-512 (2017); View Description A delay-dependent distributed SMC for stabilization of a networked robotic system exposed to external disturbances." Advances in Science, Technology and Engineering Systems Journal 2, no. 3 (June 2016): 513–19. http://dx.doi.org/10.25046/aj020366.

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Biran, Yahav, George Collins, Borky John M, and Joel Dubow. "Volume 2, Issue 3, Special issue on Recent Advances in Engineering Systems (Published Papers) Articles Transmit / Received Beamforming for Frequency Diverse Array with Symmetrical frequency offsets Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 1-6 (2017); View Description Detailed Analysis of Amplitude and Slope Diffraction Coefficients for knife-edge structure in S-UTD-CH Model Eray Arik, Mehmet Baris Tabakcioglu Adv. Sci. Technol. Eng. Syst. J. 2(3), 7-11 (2017); View Description Applications of Case Based Organizational Memory Supported by the PAbMM Architecture Martín, María de los Ángeles, Diván, Mario José Adv. Sci. Technol. Eng. Syst. J. 2(3), 12-23 (2017); View Description Low Probability of Interception Beampattern Using Frequency Diverse Array Antenna Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 24-29 (2017); View Description Zero Trust Cloud Networks using Transport Access Control and High Availability Optical Bypass Switching Casimer DeCusatis, Piradon Liengtiraphan, Anthony Sager Adv. Sci. Technol. Eng. Syst. J. 2(3), 30-35 (2017); View Description A Derived Metrics as a Measurement to Support Efficient Requirements Analysis and Release Management Indranil Nath Adv. Sci. Technol. Eng. Syst. J. 2(3), 36-40 (2017); View Description Feedback device of temperature sensation for a myoelectric prosthetic hand Yuki Ueda, Chiharu Ishii Adv. Sci. Technol. Eng. Syst. J. 2(3), 41-40 (2017); View Description Deep venous thrombus characterization: ultrasonography, elastography and scattering operator Thibaud Berthomier, Ali Mansour, Luc Bressollette, Frédéric Le Roy, Dominique Mottier Adv. Sci. Technol. Eng. Syst. J. 2(3), 48-59 (2017); View Description Improving customs’ border control by creating a reference database of cargo inspection X-ray images Selina Kolokytha, Alexander Flisch, Thomas Lüthi, Mathieu Plamondon, Adrian Schwaninger, Wicher Vasser, Diana Hardmeier, Marius Costin, Caroline Vienne, Frank Sukowski, Ulf Hassler, Irène Dorion, Najib Gadi, Serge Maitrejean, Abraham Marciano, Andrea Canonica, Eric Rochat, Ger Koomen, Micha Slegt Adv. Sci. Technol. Eng. Syst. J. 2(3), 60-66 (2017); View Description Aviation Navigation with Use of Polarimetric Technologies Arsen Klochan, Ali Al-Ammouri, Viktor Romanenko, Vladimir Tronko Adv. Sci. Technol. Eng. Syst. J. 2(3), 67-72 (2017); View Description Optimization of Multi-standard Transmitter Architecture Using Single-Double Conversion Technique Used for Rescue Operations Riadh Essaadali, Said Aliouane, Chokri Jebali and Ammar Kouki Adv. Sci. Technol. Eng. Syst. J. 2(3), 73-81 (2017); View Description Singular Integral Equations in Electromagnetic Waves Reflection Modeling A. S. Ilinskiy, T. N. Galishnikova Adv. Sci. Technol. Eng. Syst. J. 2(3), 82-87 (2017); View Description Methodology for Management of Information Security in Industrial Control Systems: A Proof of Concept aligned with Enterprise Objectives. Fabian Bustamante, Walter Fuertes, Paul Diaz, Theofilos Toulqueridis Adv. Sci. Technol. Eng. Syst. J. 2(3), 88-99 (2017); View Description Dependence-Based Segmentation Approach for Detecting Morpheme Boundaries Ahmed Khorsi, Abeer Alsheddi Adv. Sci. Technol. Eng. Syst. J. 2(3), 100-110 (2017); View Description Paper Improving Rule Based Stemmers to Solve Some Special Cases of Arabic Language Soufiane Farrah, Hanane El Manssouri, Ziyati Elhoussaine, Mohamed Ouzzif Adv. Sci. Technol. Eng. Syst. J. 2(3), 111-115 (2017); View Description Medical imbalanced data classification Sara Belarouci, Mohammed Amine Chikh Adv. Sci. Technol. Eng. Syst. J. 2(3), 116-124 (2017); View Description ADOxx Modelling Method Conceptualization Environment Nesat Efendioglu, Robert Woitsch, Wilfrid Utz, Damiano Falcioni Adv. Sci. Technol. Eng. Syst. J. 2(3), 125-136 (2017); View Description GPSR+Predict: An Enhancement for GPSR to Make Smart Routing Decision by Anticipating Movement of Vehicles in VANETs Zineb Squalli Houssaini, Imane Zaimi, Mohammed Oumsis, Saïd El Alaoui Ouatik Adv. Sci. Technol. Eng. Syst. J. 2(3), 137-146 (2017); View Description Optimal Synthesis of Universal Space Vector Digital Algorithm for Matrix Converters Adrian Popovici, Mircea Băbăiţă, Petru Papazian Adv. Sci. Technol. Eng. Syst. J. 2(3), 147-152 (2017); View Description Control design for axial flux permanent magnet synchronous motor which operates above the nominal speed Xuan Minh Tran, Nhu Hien Nguyen, Quoc Tuan Duong Adv. Sci. Technol. Eng. Syst. J. 2(3), 153-159 (2017); View Description A synchronizing second order sliding mode control applied to decentralized time delayed multi−agent robotic systems: Stability Proof Marwa Fathallah, Fatma Abdelhedi, Nabil Derbel Adv. Sci. Technol. Eng. Syst. J. 2(3), 160-170 (2017); View Description Fault Diagnosis and Tolerant Control Using Observer Banks Applied to Continuous Stirred Tank Reactor Martin F. Pico, Eduardo J. Adam Adv. Sci. Technol. Eng. Syst. J. 2(3), 171-181 (2017); View Description Development and Validation of a Heat Pump System Model Using Artificial Neural Network Nabil Nassif, Jordan Gooden Adv. Sci. Technol. Eng. Syst. J. 2(3), 182-185 (2017); View Description Assessment of the usefulness and appeal of stigma-stop by psychology students: a serious game designed to reduce the stigma of mental illness Adolfo J. Cangas, Noelia Navarro, Juan J. Ojeda, Diego Cangas, Jose A. Piedra, José Gallego Adv. Sci. Technol. Eng. Syst. J. 2(3), 186-190 (2017); View Description Kinect-Based Moving Human Tracking System with Obstacle Avoidance Abdel Mehsen Ahmad, Zouhair Bazzal, Hiba Al Youssef Adv. Sci. Technol. Eng. Syst. J. 2(3), 191-197 (2017); View Description A security approach based on honeypots: Protecting Online Social network from malicious profiles Fatna Elmendili, Nisrine Maqran, Younes El Bouzekri El Idrissi, Habiba Chaoui Adv. Sci. Technol. Eng. Syst. J. 2(3), 198-204 (2017); View Description Pulse Generator for Ultrasonic Piezoelectric Transducer Arrays Based on a Programmable System-on-Chip (PSoC) Pedro Acevedo, Martín Fuentes, Joel Durán, Mónica Vázquez, Carlos Díaz Adv. Sci. Technol. Eng. Syst. J. 2(3), 205-209 (2017); View Description Enabling Toy Vehicles Interaction With Visible Light Communication (VLC) M. A. Ilyas, M. B. Othman, S. M. Shah, Mas Fawzi Adv. Sci. Technol. Eng. Syst. J. 2(3), 210-216 (2017); View Description Analysis of Fractional-Order 2xn RLC Networks by Transmission Matrices Mahmut Ün, Manolya Ün Adv. Sci. Technol. Eng. Syst. J. 2(3), 217-220 (2017); View Description Fire extinguishing system in large underground garages Ivan Antonov, Rositsa Velichkova, Svetlin Antonov, Kamen Grozdanov, Milka Uzunova, Ikram El Abbassi Adv. Sci. Technol. Eng. Syst. J. 2(3), 221-226 (2017); View Description Directional Antenna Modulation Technique using A Two-Element Frequency Diverse Array Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 227-232 (2017); View Description Classifying region of interests from mammograms with breast cancer into BIRADS using Artificial Neural Networks Estefanía D. Avalos-Rivera, Alberto de J. Pastrana-Palma Adv. Sci. Technol. Eng. Syst. J. 2(3), 233-240 (2017); View Description Magnetically Levitated and Guided Systems Florian Puci, Miroslav Husak Adv. Sci. Technol. Eng. Syst. J. 2(3), 241-244 (2017); View Description Energy-Efficient Mobile Sensing in Distributed Multi-Agent Sensor Networks Minh T. Nguyen Adv. Sci. Technol. Eng. Syst. J. 2(3), 245-253 (2017); View Description Validity and efficiency of conformal anomaly detection on big distributed data Ilia Nouretdinov Adv. Sci. Technol. Eng. Syst. J. 2(3), 254-267 (2017); View Description S-Parameters Optimization in both Segmented and Unsegmented Insulated TSV upto 40GHz Frequency Juma Mary Atieno, Xuliang Zhang, HE Song Bai Adv. Sci. Technol. Eng. Syst. J. 2(3), 268-276 (2017); View Description Synthesis of Important Design Criteria for Future Vehicle Electric System Lisa Braun, Eric Sax Adv. Sci. Technol. Eng. Syst. J. 2(3), 277-283 (2017); View Description Gestural Interaction for Virtual Reality Environments through Data Gloves G. Rodriguez, N. Jofre, Y. Alvarado, J. Fernández, R. Guerrero Adv. Sci. Technol. Eng. Syst. J. 2(3), 284-290 (2017); View Description Solving the Capacitated Network Design Problem in Two Steps Meriem Khelifi, Mohand Yazid Saidi, Saadi Boudjit Adv. Sci. Technol. Eng. Syst. J. 2(3), 291-301 (2017); View Description A Computationally Intelligent Approach to the Detection of Wormhole Attacks in Wireless Sensor Networks Mohammad Nurul Afsar Shaon, Ken Ferens Adv. Sci. Technol. Eng. Syst. J. 2(3), 302-320 (2017); View Description Real Time Advanced Clustering System Giuseppe Spampinato, Arcangelo Ranieri Bruna, Salvatore Curti, Viviana D’Alto Adv. Sci. Technol. Eng. Syst. J. 2(3), 321-326 (2017); View Description Indoor Mobile Robot Navigation in Unknown Environment Using Fuzzy Logic Based Behaviors Khalid Al-Mutib, Foudil Abdessemed Adv. Sci. Technol. Eng. Syst. J. 2(3), 327-337 (2017); View Description Validity of Mind Monitoring System as a Mental Health Indicator using Voice Naoki Hagiwara, Yasuhiro Omiya, Shuji Shinohara, Mitsuteru Nakamura, Masakazu Higuchi, Shunji Mitsuyoshi, Hideo Yasunaga, Shinichi Tokuno Adv. Sci. Technol. Eng. Syst. J. 2(3), 338-344 (2017); View Description The Model of Adaptive Learning Objects for virtual environments instanced by the competencies Carlos Guevara, Jose Aguilar, Alexandra González-Eras Adv. Sci. Technol. Eng. Syst. J. 2(3), 345-355 (2017); View Description An Overview of Traceability: Towards a general multi-domain model Kamal Souali, Othmane Rahmaoui, Mohammed Ouzzif Adv. Sci. Technol. Eng. Syst. J. 2(3), 356-361 (2017); View Description L-Band SiGe HBT Active Differential Equalizers with Variable, Positive or Negative Gain Slopes Using Dual-Resonant RLC Circuits Yasushi Itoh, Hiroaki Takagi Adv. Sci. Technol. Eng. Syst. J. 2(3), 362-368 (2017); View Description Moving Towards Reliability-Centred Management of Energy, Power and Transportation Assets Kang Seng Seow, Loc K. Nguyen, Kelvin Tan, Kees-Jan Van Oeveren Adv. Sci. Technol. Eng. Syst. J. 2(3), 369-375 (2017); View Description Secure Path Selection under Random Fading Furqan Jameel, Faisal, M Asif Ali Haider, Amir Aziz Butt Adv. Sci. Technol. Eng. Syst. J. 2(3), 376-383 (2017); View Description Security in SWIPT with Power Splitting Eavesdropper Furqan Jameel, Faisal, M Asif Ali Haider, Amir Aziz Butt Adv. Sci. Technol. Eng. Syst. J. 2(3), 384-388 (2017); View Description Performance Analysis of Phased Array and Frequency Diverse Array Radar Ambiguity Functions Shaddrack Yaw Nusenu Adv. Sci. Technol. Eng. Syst. J. 2(3), 389-394 (2017); View Description Adaptive Discrete-time Fuzzy Sliding Mode Control For a Class of Chaotic Systems Hanene Medhaffar, Moez Feki, Nabil Derbel Adv. Sci. Technol. Eng. Syst. J. 2(3), 395-400 (2017); View Description Fault Tolerant Inverter Topology for the Sustainable Drive of an Electrical Helicopter Igor Bolvashenkov, Jörg Kammermann, Taha Lahlou, Hans-Georg Herzog Adv. Sci. Technol. Eng. Syst. J. 2(3), 401-411 (2017); View Description Computational Intelligence Methods for Identifying Voltage Sag in Smart Grid Turgay Yalcin, Muammer Ozdemir Adv. Sci. Technol. Eng. Syst. J. 2(3), 412-419 (2017); View Description A Highly-Secured Arithmetic Hiding cum Look-Up Table (AHLUT) based S-Box for AES-128 Implementation Ali Akbar Pammu, Kwen-Siong Chong, Bah-Hwee Gwee Adv. Sci. Technol. Eng. Syst. J. 2(3), 420-426 (2017); View Description Service Productivity and Complexity in Medical Rescue Services Markus Harlacher, Andreas Petz, Philipp Przybysz, Olivia Chaillié, Susanne Mütze-Niewöhner Adv. Sci. Technol. Eng. Syst. J. 2(3), 427-434 (2017); View Description Principal Component Analysis Application on Flavonoids Characterization Che Hafizah Che Noh, Nor Fadhillah Mohamed Azmin, Azura Amid Adv. Sci. Technol. Eng. Syst. J. 2(3), 435-440 (2017); View Description A Reconfigurable Metal-Plasma Yagi-Yuda Antenna for Microwave Applications Giulia Mansutti, Davide Melazzi, Antonio-Daniele Capobianco Adv. Sci. Technol. Eng. Syst. J. 2(3), 441-448 (2017); View Description Verifying the Detection Results of Impersonation Attacks in Service Clouds Sarra Alqahtani, Rose Gamble Adv. Sci. Technol. Eng. Syst. J. 2(3), 449-459 (2017); View Description Image Segmentation Using Fuzzy Inference System on YCbCr Color Model Alvaro Anzueto-Rios, Jose Antonio Moreno-Cadenas, Felipe Gómez-Castañeda, Sergio Garduza-Gonzalez Adv. Sci. Technol. Eng. Syst. J. 2(3), 460-468 (2017); View Description Segmented and Detailed Visualization of Anatomical Structures based on Augmented Reality for Health Education and Knowledge Discovery Isabel Cristina Siqueira da Silva, Gerson Klein, Denise Munchen Brandão Adv. Sci. Technol. Eng. Syst. J. 2(3), 469-478 (2017); View Description Intrusion detection in cloud computing based attack patterns and risk assessment Ben Charhi Youssef, Mannane Nada, Bendriss Elmehdi, Regragui Boubker Adv. Sci. Technol. Eng. Syst. J. 2(3), 479-484 (2017); View Description Optimal Sizing and Control Strategy of renewable hybrid systems PV-Diesel Generator-Battery: application to the case of Djanet city of Algeria Adel Yahiaoui, Khelifa Benmansour, Mohamed Tadjine Adv. Sci. Technol. Eng. Syst. J. 2(3), 485-491 (2017); View Description RFID Antenna Near-field Characterization Using a New 3D Magnetic Field Probe Kassem Jomaa, Fabien Ndagijimana, Hussam Ayad, Majida Fadlallah, Jalal Jomaah Adv. Sci. Technol. Eng. Syst. J. 2(3), 492-497 (2017); View Description Design, Fabrication and Testing of a Dual-Range XY Micro-Motion Stage Driven by Voice Coil Actuators Xavier Herpe, Matthew Dunnigan, Xianwen Kong Adv. Sci. Technol. Eng. Syst. J. 2(3), 498-504 (2017); View Description Self-Organizing Map based Feature Learning in Bio-Signal Processing Marwa Farouk Ibrahim Ibrahim, Adel Ali Al-Jumaily Adv. Sci. Technol. Eng. Syst. J. 2(3), 505-512 (2017); View Description A delay-dependent distributed SMC for stabilization of a networked robotic system exposed to external disturbances Fatma Abdelhedi, Nabil Derbel Adv. Sci. Technol. Eng. Syst. J. 2(3), 513-519 (2017); View Description Modelization of cognition, activity and motivation as indicators for Interactive Learning Environment Asmaa Darouich, Faddoul Khoukhi, Khadija Douzi Adv. Sci. Technol. Eng. Syst. J. 2(3), 520-531 (2017); View Description Homemade array of surface coils implementation for small animal magnetic resonance imaging Fernando Yepes-Calderon, Olivier Beuf Adv. Sci. Technol. Eng. Syst. J. 2(3), 532-539 (2017); View Description An Encryption Key for Secure Authentication: The Dynamic Solution Zubayr Khalid, Pritam Paul, Khabbab Zakaria, Himadri Nath Saha Adv. Sci. Technol. Eng. Syst. J. 2(3), 540-544 (2017); View Description Multi-Domain Virtual Network Embedding with Coordinated Link Mapping Shuopeng Li, Mohand Yazid Saidi, Ken Chen Adv. Sci. Technol. Eng. Syst. J. 2(3), 545-552 (2017); View Description Semantic-less Breach Detection of Polymorphic Malware in Federated Cloud." Advances in Science, Technology and Engineering Systems Journal 2, no. 3 (June 2017): 553–61. http://dx.doi.org/10.25046/aj020371.

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Wenning, Marius, Anton Akira Backhaus, Tobias Adlon, and Peter Burggräf. "Testing the reliability of monocular obstacle detection methods in a simulated 3D factory environment." Journal of Intelligent Manufacturing, July 11, 2022. http://dx.doi.org/10.1007/s10845-022-01983-4.

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AbstractAutomated driving in public traffic still faces many technical and legal challenges. However, automating vehicles at low speeds in controlled industrial environments is already achievable today. A reliable obstacle detection is mandatory to prevent accidents. Recent advances in convolutional neural network-based algorithms hypothetically allow the replacement of distance measuring laser scanners with common monocameras. In this paper, we present a photorealistic 3D simulated factory environment for testing vision-based obstacle detecting algorithms preceding field tests on the safety–critical system. We further test two obstacle detection methods employing state-of-the-art semantic segmentation and depth estimation in a range of challenging test scenarios. Both models performed well under common factory settings. Some edge cases, however, lead to vehicle crashes.

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Chen, Liyuan, Zhiyuan Zhang, Lei Yu, Jiyou Peng, Bin Feng, Jun Zhao, Yanfang Liu, et al. "A clinically relevant online patient QA solution with daily CT scans and EPID-based in vivo dosimetry: a feasibility study on rectal cancer." Physics in Medicine & Biology, October 11, 2022. http://dx.doi.org/10.1088/1361-6560/ac9950.

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Abstract Objective: Adaptive radiation therapy (ART) could protect organs at risk (OARs) while maintain high dose coverage to targets. However, there is still a lack of efficient online patient quality assurance (QA) methods, which is an obstacle to large-scale adoption of ART. We aim to develop a clinically relevant online patient QA solution for ART using daily CT scans and EPID-based in vivo dosimetry. Approach: Ten patients with rectal cancer at our center were included. Patients’ daily CT scans and portal images were collected to generate reconstructed 3D dose distributions. Contours of targets and OARs were recontoured on these daily CT scans by a clinician or an auto-segmentation algorithm, then dose-volume indices were calculated, and the percent deviation of these indices to their original plans were determined. This deviation was regarded as the metric for clinically relevant patient QA. The tolerance level was obtained using a 95% confidence interval of the QA metric distribution. These deviations could be further divided into anatomically relevant or delivery relevant indicators for error source analysis. Finally, our QA solution was validated on an additional six clinical patients. Main results: In rectal cancer, the 95% confidence intervals of the QA metric for PTV ΔD95 (%) were [-3.11%, 2.35%], and for PTV ΔD2 (%) were [-0.78%, 3.23%]. In validation, 68% for PTV ΔD95 (%), and 79% for PTV ΔD2 (%) of the 28 fractions are within tolerances of the QA metrics. one patient’s dosimetric impact of anatomical variations during treatment were observed through the source of error analysis. Significance: The online patient QA solution using daily CT scans and EPID-based in vivo dosimetry is clinically feasible. Source of error analysis has the potential for distinguishing sources of error and guiding ART for future treatments.

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Granda, Fausto Lenin, Leyre Azpilicueta, Darwin Aguilar, and Cesar Vargas. "3D ray launching simulation of urban vehicle to infrastructure radio propagation links." Congreso de Ciencia y Tecnología ESPE 13, no. 1 (June 23, 2018). http://dx.doi.org/10.24133/cctespe.v13i1.786.

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Vehicular ad hoc networks (VANETs) enable vehicles to communicate with each other as well as with roadside units (RSUs), and Smart Cities must be able to take advantage of its applications and benefits on transportation operations. In urban environments some propagation impairments as reflection from, diffraction around and transmission loss through objects gives rise temporal and spatial variation of path loss and multipath effects. This work evaluates some parameters of a Vehicle-to-Infrastructure (V2I) wireless channel link such as large-scale path loss and multipath metrics in an urban scenario, using a deterministic 3D Ray-Launching (3D-RL) algorithm. Spatial analysis using Wireless Sensor Networks (WSNs) at 868 MHz, 2.4 Ghz and 5.9 GHz is presented. Results show the impact of factors as: geometry, dielectric properties and relative position of the obstacles, placement of the RSU and frequency link, in the V2I communication. The 3D-RL simulation shows better representation of the propagation phenomena when compared with an analytical path loss model, mainly at special types of intersections as roundabouts and give insight of the importance of the spatial distance and scenario segmentation to get consistent results.

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Zhang, Yihuan, Liang Wang, Xuhui Jiang, Yong Zeng, and Yifan Dai. "An efficient LiDAR-based localization method for self-driving cars in dynamic environments." Robotica, April 20, 2021, 1–18. http://dx.doi.org/10.1017/s0263574721000369.

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Abstract Real-time localization is an important mission for self-driving cars and it is difficult to achieve precise pose information in dynamic environments. In this paper, a novel localization method is proposed to estimate the pose of self-driving cars using a 3D-LiDAR sensor. First, the multi-frame curb features and laser intensity features are extracted. Meanwhile, based on the high-precision curb map generated offline, obstacles on road are detected using region segmentation methods and their features are removed. Furthermore, a map-matching method is proposed to match the features to the map, a robust iterative closest point algorithm is utilized to deal with curb features along with a probability search method dealing with intensity features. Finally, two separate Kalman filters are used to fuse the low-cost global positioning systems and map-matching results. Both offline and online experiments are carried out in dynamic environments and the results demonstrate the accuracy and robustness of the proposed method.

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Chennareddy, Susmita, Roshini Kalagara, Stavros Matsoukas, Jacopo Scaggiante, Colton Smith, Shahram Majidi, Johanna Fifi, J. Mocco, and Christopher Kellner. "Abstract 1122‐000235: Artificial Intelligence Algorithms for Hemorrhage Detection in CTs and MRI Scans: A Systematic Review." Stroke: Vascular and Interventional Neurology 1, S1 (November 2021). http://dx.doi.org/10.1161/svin.01.suppl_1.000235.

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Introduction : Stroke is a leading cause of morbidity and mortality worldwide, with hemorrhagic strokes accounting for 10–20% of all strokes. Patients presenting with intracerebral hemorrhage (ICH) often face higher rates of mortality and poorer prognosis than those with other stroke types. As ICH treatment relies on in‐hospital neuroimaging findings, one potential barrier in the effective management of ICH includes increased time to ICH detection and treatment, particularly due to delays in imaging interpretation in busy hospitals and emergency departments. Artificial Intelligence (AI) driven software has recently been developed and become commercially available for the detection of Intracranial Hemorrhage (ICH) and Chronic Cerebral Microbleeds (CMBs). Such adjunct tools may enhance patient care by decreasing time to treatment and diagnosis by helping to adjudicate diagnoses in difficult cases. This systematic review aims to describe the current literature surrounding all currently existing AI algorithms for ICH detection with either non‐contrast computed tomography (CT) scans or CMBs detection with magnetic resonance imaging (MRI). Methods : Following PRISMA guidelines, MEDLINE and EMBASE were searched for studies published through March 1st, 2021, and all studies investigating AI algorithms for hemorrhage detection in non‐contrast CT scans or CMBs detection on MRI scans were eligible for inclusion. Any studies focusing on AI for hemorrhage segmentation only, including studies that enrolled patients with hemorrhages only as their study group, were excluded. Extracted data included development methods, training, validation and testing datasets, and accuracy metrics for each algorithm, when available. Meta‐analysis was not conducted due to heterogeneity in reported accuracy metrics and highly variant algorithmic development. The completed protocol is available for review in the PROSPERO registry. Results : After the removal of duplicates, a total of 609 studies were identified and screened. After an initial screening and full text review, 40 studies were included in this review. Of these, 18 tested a 2‐Dimensional (2D) convolutional neural network (CNN) AI algorithm, 3 used a purley 3‐Dimension (3D) CNN, and 2 utilized a hybrid 2D‐3D CNN. Of note, one software was able to identify ICH in the setting of ischemic stroke using MRI scans. Included papers noted the following challenges when developing these AI algorithms: extensive time required to create suitable datasets, the volumetric nature of the imaging exams, fine tuning the system, and focusing on the reduction of false positives. Diagnostic accuracy data was available for 21 of these studies, which reported a mean accuracy of 94.37% and a mean AUC of 0.958. Conclusions : As reported in this study, many AI‐driven software tools have been developed over the last 5 years. These tools have high diagnostic accuracy on average and have the potential to contribute to the diagnosis of ICH or CMBs with expert‐level accuracy. With time to treatment often dependent on time to diagnosis, this AI software may increase both the speed and accuracy of adjudicating diagnoses. Although there have been several obstacles faced by the developers of these algorithms, AI‐driven software is an important frontier for the future of clinical medicine.

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Journal articles on the topic '3D obstacle segmentation'

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