Frontiers in Neurorobotics最新文献

{"title":"Vehicle recognition pipeline via DeepSort on aerial image datasets.","authors":"Muhammad Hanzla, Muhammad Ovais Yusuf, Naif Al Mudawi, Touseef Sadiq, Nouf Abdullah Almujally, Hameedur Rahman, Abdulwahab Alazeb, Asaad Algarni","doi":"10.3389/fnbot.2024.1430155","DOIUrl":"10.3389/fnbot.2024.1430155","url":null,"abstract":"<p><strong>Introduction: </strong>Unmanned aerial vehicles (UAVs) are widely used in various computer vision applications, especially in intelligent traffic monitoring, as they are agile and simplify operations while boosting efficiency. However, automating these procedures is still a significant challenge due to the difficulty of extracting foreground (vehicle) information from complex traffic scenes.</p><p><strong>Methods: </strong>This paper presents a unique method for autonomous vehicle surveillance that uses FCM to segment aerial images. YOLOv8, which is known for its ability to detect tiny objects, is then used to detect vehicles. Additionally, a system that utilizes ORB features is employed to support vehicle recognition, assignment, and recovery across picture frames. Vehicle tracking is accomplished using DeepSORT, which elegantly combines Kalman filtering with deep learning to achieve precise results.</p><p><strong>Results: </strong>Our proposed model demonstrates remarkable performance in vehicle identification and tracking with precision of 0.86 and 0.84 on the VEDAI and SRTID datasets, respectively, for vehicle detection.</p><p><strong>Discussion: </strong>For vehicle tracking, the model achieves accuracies of 0.89 and 0.85 on the VEDAI and SRTID datasets, respectively.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"18 ","pages":"1430155"},"PeriodicalIF":2.6,"publicationDate":"2024-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11362136/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142106542","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Feature Interaction Dual Self-attention network for sequential recommendation.","authors":"Yunfeng Zhu, Shuchun Yao, Xun Sun","doi":"10.3389/fnbot.2024.1456192","DOIUrl":"https://doi.org/10.3389/fnbot.2024.1456192","url":null,"abstract":"<p><p>Combining item feature information helps extract comprehensive sequential patterns, thereby improving the accuracy of sequential recommendations. However, existing methods usually combine features of each item using a vanilla attention mechanism. We argue that such a combination ignores the interactions between features and does not model integrated feature representations. In this study, we propose a novel Feature Interaction Dual Self-attention network (FIDS) model for sequential recommendation, which utilizes dual self-attention to capture both feature interactions and sequential transition patterns. Specifically, we first model the feature interactions for each item to form meaningful higher-order feature representations using a multi-head attention mechanism. Then, we adopt two independent self-attention networks to capture the transition patterns in both the item sequence and the integrated feature sequence, respectively. Moreover, we stack multiple self-attention blocks and add residual connections at each block for all self-attention networks. Finally, we combine the feature-wise and item-wise sequential patterns into a fully connected layer for the next item recommendation. We conduct experiments on two real-world datasets, and our experimental results show that the proposed FIDS method outperforms state-of-the-art recommendation models.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"18 ","pages":"1456192"},"PeriodicalIF":2.6,"publicationDate":"2024-08-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11362132/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142117065","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"RL-CWtrans Net: multimodal swimming coaching driven via robot vision.","authors":"Guanlin Wang","doi":"10.3389/fnbot.2024.1439188","DOIUrl":"10.3389/fnbot.2024.1439188","url":null,"abstract":"<p><p>In swimming, the posture and technique of athletes are crucial for improving performance. However, traditional swimming coaches often struggle to capture and analyze athletes' movements in real-time, which limits the effectiveness of coaching. Therefore, this paper proposes RL-CWtrans Net: a robot vision-driven multimodal swimming training system that provides precise and real-time guidance and feedback to swimmers. The system utilizes the Swin-Transformer as a computer vision model to effectively extract the motion and posture features of swimmers. Additionally, with the help of the CLIP model, the system can understand natural language instructions and descriptions related to swimming. By integrating visual and textual features, the system achieves a more comprehensive and accurate information representation. Finally, by employing reinforcement learning to train an intelligent agent, the system can provide personalized guidance and feedback based on multimodal inputs. Experimental results demonstrate significant advancements in accuracy and practicality for this multimodal robot swimming coaching system. The system is capable of capturing real-time movements and providing immediate feedback, thereby enhancing the effectiveness of swimming instruction. This technology holds promise.</p>","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"18 ","pages":"1439188"},"PeriodicalIF":2.6,"publicationDate":"2024-08-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11349712/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142106540","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"A novel discrete zeroing neural network for online solving time-varying nonlinear optimization problems","authors":"Feifan Song, Yanpeng Zhou, Changxian Xu, Zhongbo Sun","doi":"10.3389/fnbot.2024.1446508","DOIUrl":"https://doi.org/10.3389/fnbot.2024.1446508","url":null,"abstract":"To reduce transportation time, a discrete zeroing neural network (DZNN) method is proposed to solve the shortest path planning problem with a single starting point and a single target point. The shortest path planning problem is reformulated as an optimization problem, and a discrete nonlinear function related to the energy function is established so that the lowest-energy state corresponds to the optimal path solution. Theoretical analyzes demonstrate that the discrete ZNN model (DZNNM) exhibits zero stability, effectiveness, and real-time performance in handling time-varying nonlinear optimization problems (TVNOPs). Simulations with various parameters confirm the efficiency and real-time performance of the developed DZNNM for TVNOPs, indicating its suitability and superiority for solving the shortest path planning problem in real time.","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"89 1","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-08-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141932869","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"CLIB: Contrastive learning of ignoring background for underwater fish image classification","authors":"Qiankun Yan, Xiujuan Du, Chong Li, Xiaojing Tian","doi":"10.3389/fnbot.2024.1423848","DOIUrl":"https://doi.org/10.3389/fnbot.2024.1423848","url":null,"abstract":"Aiming at the problem that the existing methods are insufficient in dealing with the background noise anti-interference of underwater fish images, a contrastive learning method of ignoring background called CLIB for underwater fish image classification is proposed to improve the accuracy and robustness of underwater fish image classification. First, CLIB effectively separates the subject from the background in the image through the extraction module and applies it to contrastive learning by composing three complementary views with the original image. To further improve the adaptive ability of CLIB in complex underwater images, we propose a multi-view-based contrastive loss function, whose core idea is to enhance the similarity between the original image and the subject and maximize the difference between the subject and the background, making CLIB focus more on learning the core features of the subject during the training process, and effectively ignoring the interference of background noise. Experiments on the Fish4Knowledge, Fish-gres, WildFish-30, and QUTFish-89 public datasets show that our method performs well, with improvements of 1.43–6.75%, 8.16–8.95%, 13.1–14.82%, and 3.92–6.19%, respectively, compared with the baseline model, further validating the effectiveness of CLIB.","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"13 1","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-07-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141869852","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Machine learning-based gait adaptation dysfunction identification using CMill-based gait data","authors":"Hang Yang, Zhenyi Liao, Hailei Zou, Kuncheng Li, Ye Zhou, Zhenzhen Gao, Yajun Mao, Caiping Song","doi":"10.3389/fnbot.2024.1421401","DOIUrl":"https://doi.org/10.3389/fnbot.2024.1421401","url":null,"abstract":"BackgroundCombining machine learning (ML) with gait analysis is widely applicable for diagnosing abnormal gait patterns.ObjectiveTo analyze gait adaptability characteristics in stroke patients, develop ML models to identify individuals with GAD, and select optimal diagnostic models and key classification features.MethodsThis study was investigated with 30 stroke patients (mean age 42.69 years, 60% male) and 50 healthy adults (mean age 41.34 years, 58% male). Gait adaptability was assessed using a CMill treadmill on gait adaptation tasks: target stepping, slalom walking, obstacle avoidance, and speed adaptation. The preliminary analysis of variables in both groups was conducted using t-tests and Pearson correlation. Features were extracted from demographics, gait kinematics, and gait adaptability datasets. ML models based on Support Vector Machine, Decision Tree, Multi-layer Perceptron, K-Nearest Neighbors, and AdaCost algorithm were trained to classify individuals with and without GAD. Model performance was evaluated using accuracy (ACC), sensitivity (SEN), F1-score and the area under the receiver operating characteristic (ROC) curve (AUC).ResultsThe stroke group showed a significantly decreased gait speed (<jats:italic>p</jats:italic> = 0.000) and step length (SL) (<jats:italic>p</jats:italic> = 0.000), while the asymmetry of SL (<jats:italic>p</jats:italic> = 0.000) and ST (<jats:italic>p</jats:italic> = 0.000) was higher compared to the healthy group. The gait adaptation tasks significantly decreased in slalom walking (<jats:italic>p</jats:italic> = 0.000), obstacle avoidance (<jats:italic>p</jats:italic> = 0.000), and speed adaptation (<jats:italic>p</jats:italic> = 0.000). Gait speed (<jats:italic>p</jats:italic> = 0.000) and obstacle avoidance (<jats:italic>p</jats:italic> = 0.000) were significantly correlated with global F-A score in stroke patients. The AdaCost demonstrated better classification performance with an ACC of 0.85, SEN of 0.80, F1-score of 0.77, and ROC-AUC of 0.75. Obstacle avoidance and gait speed were identified as critical features in this model.ConclusionStroke patients walk slower with shorter SL and more asymmetry of SL and ST. Their gait adaptability was decreased, particularly in obstacle avoidance and speed adaptation. The faster gait speed and better obstacle avoidance were correlated with better functional mobility. The AdaCost identifies individuals with GAD and facilitates clinical decision-making. This advances the future development of user-friendly interfaces and computer-aided diagnosis systems.","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"78 1","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-07-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141873250","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Robust visual SLAM algorithm based on target detection and clustering in dynamic scenarios","authors":"Fubao Gan, Shanyong Xu, Linya Jiang, Yuwen Liu, Quanzeng Liu, Shihao Lan","doi":"10.3389/fnbot.2024.1431897","DOIUrl":"https://doi.org/10.3389/fnbot.2024.1431897","url":null,"abstract":"We propose a visual Simultaneous Localization and Mapping (SLAM) algorithm that integrates target detection and clustering techniques in dynamic scenarios to address the vulnerability of traditional SLAM algorithms to moving targets. The proposed algorithm integrates the target detection module into the front end of the SLAM and identifies dynamic objects within the visual range by improving the YOLOv5. Feature points associated with the dynamic objects are disregarded, and only those that correspond to static targets are utilized for frame-to-frame matching. This approach effectively addresses the camera pose estimation in dynamic environments, enhances system positioning accuracy, and optimizes the visual SLAM performance. Experiments on the TUM public dataset and comparison with the traditional ORB-SLAM3 algorithm and DS-SLAM algorithm validate that the proposed visual SLAM algorithm demonstrates an average improvement of 85.70 and 30.92% in positioning accuracy in highly dynamic scenarios. In comparison to the DynaSLAM system using MASK-RCNN, our system exhibits superior real-time performance while maintaining a comparable ATE index. These results highlight that our pro-posed SLAM algorithm effectively reduces pose estimation errors, enhances positioning accuracy, and showcases enhanced robustness compared to conventional visual SLAM algorithms.","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"54 1","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-07-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141774590","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"I-BaR: integrated balance rehabilitation framework","authors":"Tugce Ersoy, Pınar Kaya, Elif Hocaoglu, Ramazan Unal","doi":"10.3389/fnbot.2024.1401931","DOIUrl":"https://doi.org/10.3389/fnbot.2024.1401931","url":null,"abstract":"Neurological diseases are observed in approximately 1 billion people worldwide. A further increase is foreseen at the global level as a result of population growth and aging. Individuals with neurological disorders often experience cognitive, motor, sensory, and lower extremity dysfunctions. Thus, the possibility of falling and balance problems arise due to the postural control deficiencies that occur as a result of the deterioration in the integration of multi-sensory information. We propose a novel rehabilitation framework, Integrated Balance Rehabilitation (I-BaR), to improve the effectiveness of the rehabilitation with objective assessment, individualized therapy, convenience with different disability levels and adoption of assist-as-needed paradigm and, with integrated rehabilitation process as whole, that is, ankle-foot preparation, balance, and stepping phases, respectively. Integrated Balance Rehabilitation allows patients to improve their balance ability by providing multi-modal feedback: visual via utilization of virtual reality; vestibular via anteroposterior and mediolateral perturbations with the robotic platform; proprioceptive via haptic feedback.","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"49 1","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-07-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141532147","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"EMG-YOLO: road crack detection algorithm for edge computing devices","authors":"Yan Xing, Xu Han, Xiaodong Pan, Dong An, Weidong Liu, Yuanshen Bai","doi":"10.3389/fnbot.2024.1423738","DOIUrl":"https://doi.org/10.3389/fnbot.2024.1423738","url":null,"abstract":"IntroductionRoad cracks significantly shorten the service life of roads. Manual detection methods are inefficient and costly. The YOLOv5 model has made some progress in road crack detection. However, issues arise when deployed on edge computing devices. The main problem is that edge computing devices are directly connected to sensors. This results in the collection of noisy, poor-quality data. This problem adds computational burden to the model, potentially impacting its accuracy. To address these issues, this paper proposes a novel road crack detection algorithm named EMG-YOLO.MethodsFirst, an Efficient Decoupled Header is introduced in YOLOv5 to optimize the head structure. This approach separates the classification task from the localization task. Each task can then focus on learning its most relevant features. This significantly reduces the model’s computational resources and time. It also achieves faster convergence rates. Second, the IOU loss function in the model is upgraded to the MPDIOU loss function. This function works by minimizing the top-left and bottom-right point distances between the predicted bounding box and the actual labeled bounding box. The MPDIOU loss function addresses the complex computation and high computational burden of the current YOLOv5 model. Finally, the GCC3 module replaces the traditional convolution. It performs global context modeling with the input feature map to obtain global context information. This enhances the model’s detection capabilities on edge computing devices.ResultsExperimental results show that the improved model has better performance in all parameter indicators compared to current mainstream algorithms. The EMG-YOLO model improves the accuracy of the YOLOv5 model by 2.7%. The mAP (0.5) and mAP (0.9) are improved by 2.9% and 0.9%, respectively. The new algorithm also outperforms the YOLOv5 model in complex environments on edge computing devices.DiscussionThe EMG-YOLO algorithm proposed in this paper effectively addresses the issues of poor data quality and high computational burden on edge computing devices. This is achieved through optimizing the model head structure, upgrading the loss function, and introducing global context modeling. Experimental results demonstrate significant improvements in both accuracy and efficiency, especially in complex environments. Future research can further optimize this algorithm and explore more lightweight and efficient object detection models for edge computing devices.","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"29 17 1","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-07-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141501150","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"The transmission line foreign body detection algorithm based on weighted spatial attention","authors":"Yuanyuan Wang, Haiyang Tian, Tongtong Yin, Zhaoyu Song, Abdullahi Suleiman Hauwa, Haiyan Zhang, Shangbing Gao, Liguo Zhou","doi":"10.3389/fnbot.2024.1424158","DOIUrl":"https://doi.org/10.3389/fnbot.2024.1424158","url":null,"abstract":"IntroductionThe secure operation of electric power transmission lines is essential for the economy and society. However, external factors such as plastic film and kites can cause damage to the lines, potentially leading to power outages. Traditional detection methods are inefficient, and the accuracy of automated systems is limited in complex background environments.MethodsThis paper introduces a Weighted Spatial Attention (WSA) network model to address the low accuracy in identifying extraneous materials within electrical transmission infrastructure due to background texture occlusion. Initially, in the model preprocessing stage, color space conversion, image enhancement, and improved Large Selective Kernel Network (LSKNet) technology are utilized to enhance the model's proficiency in detecting foreign objects in intricate surroundings. Subsequently, in the feature extraction stage, the model adopts the dynamic sparse BiLevel Spatial Attention Module (BSAM) structure proposed in this paper to accurately capture and identify the characteristic information of foreign objects in power lines. In the feature pyramid stage, by replacing the feature pyramid network structure and allocating reasonable weights to the Bidirectional Feature Pyramid Network (BiFPN), the feature fusion results are optimized, ensuring that the semantic information of foreign objects in the power line output by the network is effectively identified and processed.ResultsThe experimental outcomes reveal that the test recognition accuracy of the proposed WSA model on the PL (power line) dataset has improved by three percentage points compared to that of the YOLOv8 model, reaching 97.6%. This enhancement demonstrates the WSA model's superior capability in detecting foreign objects on power lines, even in complex environmental backgrounds.DiscussionThe integration of advanced image preprocessing techniques, the dynamic sparse BSAM structure, and the BiFPN has proven effective in improving detection accuracy and has the potential to transform the approach to monitoring and maintaining power transmission infrastructure.","PeriodicalId":12628,"journal":{"name":"Frontiers in Neurorobotics","volume":"78 1","pages":""},"PeriodicalIF":3.1,"publicationDate":"2024-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141501151","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}