YPR-SLAM: A SLAM System Combining Object Detection and Geometric Constraints for Dynamic Scenes.

Traditional SLAM systems assume a static environment, but moving objects break this ideal assumption. In the real world, moving objects can greatly influence the precision of image matching and camera pose estimation. In order to solve these problems, the YPR-SLAM system is proposed. First of all, the system includes a lightweight YOLOv5 detection network for detecting both dynamic and static objects, which provides pre-dynamic object information to the SLAM system. Secondly, utilizing the prior information of dynamic targets and the depth image, a method of geometric constraint for removing motion feature points from the depth image is proposed. The Depth-PROSAC algorithm is used to differentiate the dynamic and static feature points so that dynamic feature points can be removed. At last, the dense cloud map is constructed by the static feature points. The YPR-SLAM system is an efficient combination of object detection and geometry constraint in a tightly coupled way, eliminating motion feature points and minimizing their adverse effects on SLAM systems. The performance of the YPR-SLAM was assessed on the public TUM RGB-D dataset, and it was found that YPR-SLAM was suitable for dynamic situations.

Bibliometric Analysis of Forensic Human Remains Identification Literature from 1991 to 2022.

OBJECTIVES: To describe the current state of research and future research hotspots through a metrological analysis of the literature in the field of forensic anthropological remains identification research. METHODS: The data retrieved and extracted from the Web of Science Core Collection (WoSCC), the core database of the Web of Science information service platform (hereinafter referred to as "WoS"), was used to analyze the trends and topic changes in research on forensic identification of human remains from 1991 to 2022. Network visualisation of publication trends, countries (regions), institutions, authors and topics related to the identification of remains in forensic anthropology was analysed using python 3.9.2 and Gephi 0.10. RESULTS: A total of 873 papers written in English in the field of forensic anthropological remains identification research were obtained. The journal with the largest number of publications was Forensic Science International (164 articles). The country (region) with the largest number of published papers was China (90 articles). Katholieke Univ Leuven (Netherlands, 21 articles) was the institution with the largest number of publications. Topic analysis revealed that the focus of forensic anthropological remains identification research was sex estimation and age estimation, and the most commonly studied remains were teeth. CONCLUSIONS: The volume of publications in the field of forensic anthropological remains identification research has a distinct phasing. However, the scope of both international and domestic collaborations remains limited. Traditionally, human remains identification has primarily relied on key areas such as the pelvis, skull, and teeth. Looking ahead, future research will likely focus on the more accurate and efficient identification of multiple skeletal remains through the use of machine learning and deep learning techniques.

Bibliometrics Analysis in English and Chinese Literature on Drowning in Forensic Medicine from 1991 to 2020.

OBJECTIVES: To explore the research hotspots and development trends of the field of forensic drowning from 1991 to 2020 by bibliometrics methods. METHODS: Based on Web of Science, CNKI database, Wanfang Data knowledge service platform, python 3.9.2, CiteSpace 5.8.R3, Gephi 0.9.2, etc. were used to analyze the publishing trends, countries/regions, institutions, authors and topics of the study on drowning. RESULTS: A total of 631 English literature were obtained, including 59 articles from Chinese authors, and 386 Chinese literature were obtained. The Chinese and English journals with the largest number of related literatures were Chinese Journal of Forensic Science (80 articles) and Forensic Science International (106 articles), respectively. Japan published the most articles in English, and China ranked third. Osaka City Univ (Japan, 28 articles) published the most English articles, and Guangzhou Forens Sci Inst (China, 22 articles) ranked second. Among Chinese literature, Guangzhou Forens Sci Inst (32 articles) published the most. The topic analysis of Chinese and English literature showed that diatom examination, virtual autopsy, postmortem biochemical examination, the nature of death, and postmortem submersion interval were the hot spots of current research, but English literature had more studies on new technologies and methods, while Chinese literature was more inclined to practice, application and experience summary. CONCLUSIONS: The number of literature in forensic medicine on drowning is relatively stable. The scope of international and domestic collaborations in this field is still limited. The automated examination of diatoms, the establishment of diatom DNA barcodes and virtual autopsy will be the most important research hotspots in the coming period and are expected to achieve breakthroughs in drowning diagnosis, drowning location inference, postmortem submersion interval estimation, etc.

A Bibliometric Analysis of Deafness Gene Literature From 2009 to 2018 based on Web of Science.

To find the trend and hot points of deafness gene research in the nearly 10 years, a bibliometric analysis of literature in the fields from Web of Science was performed. Python 3.7, Gephi 0.9.2, and SPSS 22.0 were used for cleaning, restructuring, and analysis. A total of 2828 article documents were collected, which were from 651 Science Citation Index Expanded journals, 93 countries/regions, 18 199 authors, and 3148 organizations. PLoS One published more papers than other journals. Among the journals that published more than 30 papers, 10 journals were included in the genetics and heredity class. The top country/region with highest number of papers was United States. However, the top author and top affiliation was Dai Pu (China) and People's Liberate Army General Hospital (China), respectively. The results of co-occurrence network, hierarchical clustering, and multidimensional scale analysis of keywords showed that 2 groups were classified. The 2 groups focused on the gene mutation of deafness and the research objects, methods, factors, and gene locus, respectively. Multidimensional scale analysis told the research character and some research details. The gene mutation and variant of family and population diseases were the hot points.

Bibliometric Analysis of Medical Malpractice Literature in Legal Medicine from 1975 to 2018: Web of Science Review.

OBJECTIVE: To determine the history of malpractice literature using forensic science based on a bibliometric and graph theory. METHODS: Documented data were retrieved from the Web of Science Core Collection of Clarivate Analytics on February 22, 2019. We selected articles for the years 1975-2018 from among documents concerning malpractice in the "Medicine, Legal" section and the Science Citation Index Expanded and the Social Sciences Citation Index. Descriptive statistics and co-occurrence analyses were performed using Microsoft Excel 2016, Gephi 0.9.2, and VOSviewer 1.6.10 software. RESULTS: In all, 379 papers and 3160 citing articles were retrieved. The most active publication year was 2013. Relative growth rate showed no malpractice explosion during the study period. Full articles comprised 83.11% of all papers. There were marked differences between the number of publications during the first 21 years and the last 23 years. More studies were published in the United States than in other countries and regions, but malpractice research has diminished during the most recent 3 years. Journal of Law, Medicine and Ethics contributed the most to the field, with 51 documents. The journal with the highest impact factor, however, was Forensic Science International: Genetics. B. Madea topped the list of authors with the highest number of documents. Three clusters were identified, led by authors C. Terranova, B. Madea, and T.A. Brennan, respectively. The malpractice topics that received the most attention were malpractice claims, the types of malpractice, and the causes of medical malpractice. Our study of the citing papers also provided interesting results. CONCLUSION: This bibliometric analysis indicated that studying the field of medical malpractice was poor during 1975-2018. United States was the most prolific country, and B. Madea published more documents in the field. The studies in Medicine, Legal mostly focused on the claims, appraisement methods, and causes of medical malpractice. In the future, forensic scientists should pay more attention to medical malpractice.

[The analysis of variation of Han female adolescent bone development in Henan and Zhejiang province].

OBJECTIVE: To study the difference of Han female adolescent bone development in Henan and Zhejiang province. METHODS: All radiography including sternal end of clavicle and six main bone joints were taken from 599 female adolescents with age between 12 to 19 in Henan and Zhejiang province. Twenty four skeletal development indexes were analyzed based on "The Grading Standards" of skeletal growth of teenagers and then the bone age were calculated using mathematical model functions. The ratios of the bone age and the chronological age were analyzed by statistical software. RESULTS: The development of Henan female adolescents' skeleton was about 0.39 years earlier than that in Zhejiang at the age of 14-15 years old. The development of Henan female adolescents' skeleton was about 0.37 years later than that in Zhejiang at the age of 15-16 years old. The development of Henan female adolescents' skeleton was about 0.38 years later than that in Zhejiang at the age of 18-19 years old. There was no statistics significance in other age group. CONCLUSION: The female adolescent bone development in Henan province is faster at earlier stage and then slower than that in Zhejiang province. The results provide potential value for the forensic medicine, anthropology and clinical medicine.

[Application of Demirjian's method for chronological age estimation in teenagers of Shanghai Han population].

OBJECTIVE: To study the applicability of Demirjian's method for age estimation in teenagers of Shanghai Han population in China. METHODS: Paired t-test was performed between the chronological age and the age determined by Demirjian's method of 501 teenagers whose orthopantomograms were collected from the ninth hospital of Shanghai. There were 168 boys and 333 girls involved in this study with chronological age from 11 to 20 years. Uni-factor model was used to explore the relationships of the two kinds of age. RESULTS: For the marked difference between the chronological age and determined age, Demirjian's method was not suitable to the Chinese Han adolescents. The results of paired t-test between chronological age and predicted age from quadratic equation showed that there was no significant difference in boys aged 12-16 years, in girls aged 12-14 years and 15-17 years repectively. The uni-factor model could make the error of determined age less than 1 year to 81.04% of the samples. CONCLUSION: The age between 11 and 17 years can be well estimated by our method, except for the 17 years of age and above.

[Age estimation by dental radiological imaging].

Dental age plays an important role in age estimation. It has often been used together with skeletal age to improve the accuracy of age estimation abroad, but seldom performed in China. As a noninvasive technology, dental radiological imaging has been widely used in age estimation. By observing the age-related changes such as the pulp cavity and development of crown and root on radiographs. Gleiser and Hunt, as well as Demirjian have developed different methods to determine the age of human. Demirjian's method has been proved to be more accurate but with limitation when used in persons of eighteen and above. The accuracy and reliability of the measurements on pulp cavity could be improved as the development of computed tomography with its high resolution and intelligent software. As a convenient and accurate method, age estimation from dental computed tomographs would be more promising in the future for forensic scientists and anthropologists.