In the realms of autonomous driving and robotics, radar sensors are garnering growing interest. Scene understanding is crucial for the safe navigation of autonomous systems. Panoptic segmentation and tracking tasks enable the dynamic, semantic multilevel description of the environment surrounding vehicles and different instances. However, previous panoptic segmentation and tracking methods have primarily focused on LiDAR. To tackle the complex challenge of panoptic segmentation and tracking for radar data, we introduce RadarMask, an innovative method that addresses this issue for the first time within the radar domain. Our approach is end-to-end, requiring no post-processing. We also introduce simple and effective point cloud feature modules and target motion estimation modules tailored to the unique characteristics of radar points. Finally, we demonstrate the effectiveness of our algorithm on the RadarScenes dataset, achieving state-of-the-art performance in comparisons. The implementation of our method can be found at: https://github.com/yb-guo/RadarMask.

The existing method of detecting defects in train components, which relies on visual identification, requires extensive involvement from inspectors and presents certain limitations. In this study, a two-stage defect detection based on prior knowledge was developed, which first detects the types and positions of components, and then conducts targeted detection of possible existing defect types. The algorithm introduces the prior knowledge of the relative spatial position relationship of components and optimizes the detection of sub-components by cascaded convolutional neural networks and local scale-up. In this study, three methods were used, including deep learning, template matching, and quantitative evaluation based on prior knowledge, to perform targeted detection of defect types that may occur in components. Experiments have verified the adaptability and accuracy of the method, demonstrating its high value for engineering applications.

To improve the efficiency of deep reinforcement learning (DRL)-based methods for robot manipulator trajectory planning in random working environments, we present three dense reward functions. These rewards differ from the traditional sparse reward. First, a posture reward function is proposed to speed up the learning process with a more reasonable trajectory by modeling the distance and direction constraints, which can reduce the blindness of exploration. Second, a stride reward function is proposed to improve the stability of the learning process by modeling the distance and movement distance of joint constraints. Finally, in order to further improve learning efficiency, we are inspired by the cognitive process of human behavior and propose a stage incentive mechanism, including a hard-stage incentive reward function and a soft-stage incentive reward function. Extensive experiments show that the soft-stage incentive reward function is able to improve the convergence rate, get higher mean reward and lower standard deviation after convergence.

To realize a robust robotic grasping system for unknown objects in an unstructured environment, large amounts of grasp data and 3D model data for the object are required; the sizes of these data directly affect the rate of successful grasps. To reduce the time cost of data acquisition and labeling and increase the rate of successful grasps, we developed a self-supervised learning mechanism to control grasp tasks performed by manipulators. First, a manipulator automatically collects the point cloud for the objects from multiple perspectives to increase the efficiency of data acquisition. The complete point cloud for the objects is obtained using the hand-eye vision of the manipulator and the truncated signed distance function algorithm. Then, the point cloud data for the objects are used to generate a series of six-degrees-of-freedom grasp poses, and the force-closure decision algorithm is used to add the grasp quality label to each grasp pose to realize the automatic labeling of grasp data. Finally, the point cloud in the gripper closing area corresponding to each grasp pose is obtained and used to train the grasp-quality classification model for the manipulator. The results of performing actual grasping experiments demonstrate that the proposed self-supervised learning method can increase the rate of successful grasps for the manipulator. Note to Practitioners—Most of the existing grasp planning methods of the manipulator are based on public datasets or simulation data to train model algorithms. Owing to the limited types of objects, the limited amount of data in the public datasets, and the lack of real sensor noise in the simulation data, the robustness of the trained algorithm model is insufficient, and it is difficult to apply to unstructured production environments. To solve the above problems, we propose a 6-DOF capture planning method based on self-supervised learning and introduce a self-supervised learning mechanism to solve the problem of grasp data acquisition in real scenes. The manipulator automatically collects object data from multiple perspectives, performs desktop-level 3D reconstruction, and finally uses the force-closure decision algorithm to automatically label the data in order to realize automatic acquisition and labeling of the grasp data in a real scenario. Preliminary experiments show that this method can obtain high-quality grasp data and can be applied to grasp operations in real multi-target and cluttered environments. However, it has not been tested in actual production environments. This paper focuses on the data acquisition module in the 6-DOF grasp planning framework. In future research, we will design a more efficient grasp planning module to improve the grasp efficiency of the manipulator.

Small target detection in infrared (IR) images has been widely applied for both military and civilian purposes. In this study, because IR images contain sparse and low-rank features in most scenarios, we propose an optimal IR patch-image (OIPI) model-based detection method to detect small targets in heavily cluttered IR images. First, the OIPI model was generated based on a conventional IR image model using a novel optimal patch size and sliding step adaptive selection algorithm. Secondly, the sparse and low-rank features of IR images were extracted and fused to generate an adaptive weighted parameter. Thirdly, the adaptive inexact augmented Lagrange multiplier (AIALM) algorithm was applied in the OIPI model to solve the robust principal component analysis (RPCA) optimization problem. Finally, an adaptive threshold method is proposed to segment and calibrate targets. Experimental results indicate that the proposed algorithm is capable of detecting small targets more stably and accurately, compared with state-of-the-art methods.

Uterine cancer (also known as endometrial cancer) can seriously affect the female reproductive system, and histopathological image analysis is the gold standard for diagnosing endometrial cancer. Due to the limited ability to model the complicated relationships between histopathological images and their interpretations, existing computer-aided diagnosis (CAD) approaches using traditional machine learning algorithms often failed to achieve satisfying results. In this study, we develop a CAD approach based on a convolutional neural network (CNN) and attention mechanisms, called HIENet. In the ten-fold cross-validation on ∼3,300 hematoxylin and eosin (H&E) image patches from ∼500 endometrial specimens, HIENet achieved a 76.91 ± 1.17% (mean ± s. d.) accuracy for four classes of endometrial tissue, i.e., normal endometrium, endometrial polyp, endometrial hyperplasia, and endometrial adenocarcinoma. Also, HIENet obtained an area-under-the-curve (AUC) of 0.9579 ± 0.0103 with an 81.04 ± 3.87% sensitivity and 94.78 ± 0.87% specificity in a binary classification task that detected endometrioid adenocarcinoma. Besides, in the external validation on 200 H&E image patches from 50 randomly-selected female patients, HIENet achieved an 84.50% accuracy in the four-class classification task, as well as an AUC of 0.9829 with a 77.97% (95% confidence interval, CI, 65.27%∼87.71%) sensitivity and 100% (95% CI, 97.42%∼100.00%) specificity. The proposed CAD method outperformed three human experts and five CNN-based classifiers regarding overall classification performance. It was also able to provide pathologists better interpretability of diagnoses by highlighting the histopathological correlations of local pixel-level image features to morphological characteristics of endometrial tissue.