LiDAR-camera fusion for road detection using a recurrent conditional random field model.

Reliable road detection is an essential task in autonomous driving systems. Two categories of sensors are commonly used, cameras and light detection and ranging (LiDAR), each of which can provide corresponding supplements. Nevertheless, existing sensor fusion methods do not fully utilize multimodal data. Most of them are dominated by images and take point clouds as a supplement rather than making the best of them, and the correlation between modalities is ignored. This paper proposes a recurrent conditional random field (R-CRF) model to fuse images and point clouds for road detection. The R-CRF model integrates results (information) from modalities in a probabilistic way. Each modality is independently processed with its semantic segmentation network. The probability scores obtained are considered a unary term for individual pixel nodes in a random field, while RGB images and the densified LiDAR images are used as pairwise terms. The energy function is then iteratively optimized by mean-field variational inference, and the labelling results are refined by exploiting fully connected graphs of the RGB image and LiDAR images. Extensive experiments are conducted on the public KITTI-Road dataset, and the proposed method achieves competitive performance.

Selenium enhanced phytoremediation of diesel contaminated soil by Alternanthera philoxeroides.

Using a 60-day pot culture experiment, we investigated the effect of selenium on phytoremediation of soil containing high-level diesel by Alternanthera philoxeroides (alligator weed). Diesel (20 g kg-1) decreased the growth of A. philoxeroides and induced oxidative stress, as indicated by tissue levels of hydrogen peroxide (H2O2) and malondialdehyde (MDA). Adding Se (0.5 or 1.5 mg kg-1) to diesel-treated soil alleviated oxidative stress and improved biomass production, and the low dose was as effective as the high dose. After 60 days, the reduction in rhizospheric soil diesel was 20.1 ±â€¯0.55% without Se and 35.2 ±â€¯3.6% with Se, showing a significant increase in efficiency. Again, the low Se dose was as effective as the high dose. These findings advance the field phytoremediation by demonstrating that Se, at 0.5 mg kg-1, enhances removal and increases plant tolerance to petroleum hydrocarbons.

Se enhanced phytoremediation of diesel in soil by Trifolium repens.

A pot-culture experiment was conducted to assess the effects of selenium (Se) (0.5 mg kg-1) on Trifolium repens exposed to various levels of diesel (0, 15, 20, 25 g kg-1) for 30 days and 60 days. Exposure to diesel for 60 day led to concentration-dependent decreases in root morphogenesis, chlorophyll content and CAT activity, and to dose-dependent increases in MDA content and SOD activity. The residual diesel concentration in soil increased and the removal efficiency decreased with soil diesel concentration. The chlorophyll content and residual diesel concentration after were slightly higher at 30 days than at 60days. Application of Se to soil increased Trifolium repens tolerance to diesel and significantly increased the phytoremediation effect at 60 days, with a removal rate of 36 ±â€¯8%, compared to 28 ±â€¯7% in the control. These results contribute to the ongoing effort to develop an effective phytoremediation system for soils highly contaminated by diesel.

Selenium alleviates phytotoxicity of phenanthrene and pyrene in Alternanthera Philoxeroides.

To investigate if selenium can alleviate phytotoxicity of phenanthrene and pyrene, two high molecular weight (HMW) PAHs (polycyclic aromatic hydrocarbons) in Alternanthera philoxeroides are considered. A 60-day pot-culture experiment was carried out to assess the effects of selenium (0.5 mg Se·kg-1 soil) on A. philoxeroides exposed to two PAH pollutants, pyrene (PYR) and phenanthrene (PHE), at levels of 10, 100, and 1000 mg·kg-1. The test index included growth, chlorophyl, gas exchange and chlorophyl fluorescence parameters, and indicators of oxidative stress (H2O2 and malondialdehyde MDA). The response of plants to PAH exposure was concentration dependent; indicators of plant health declined, while indicators of plant stress rose. The maximum values of H2O2 and MDA were recorded at 1000 mg·kg-1 PYR, followed by 1000 mg·kg-1 PHE. However, application of Se (0.5 mg·kg-1) to the soil significantly decreased the phytotoxic response to PAH exposure. This study demonstrated that Se increases the tolerance of A. philoxeroides to PYR and PHE, improving the feasibility of phytoremediating high level PAH contamination and expediting ecological restoration.

Use of selenium to alleviate naphthalene induced oxidative stress in Trifolium repens L.

Polycyclic aromatic hydrocarbons (PAHs) are among the most dangerous of environmental contaminants, due to their toxicity, carcinogenicity and mutagenicity. This study investigated the use of selenium (Se) to protect plants from the toxic effects of naphthalene (NPH). Exposing Trifolium repens L. (white clover) to a high concentration of NPH (soil spiked to 500mgkg-1) for 60 d significantly decreased biomass, CO2 assimilation rate (Pn), stomatal conductance (Gs) and intercellular CO2 concentration (Ci), while inducing production of H2O2 and malondialdehyde (MDA). Application of Se (soil spiked to 0.5mgkg-1) to plants exposed to NPH clearly protected the plants; biomass, Pn, Gs and Ci were significantly higher and contents of MDA and H2O2 decreased. The protection provided to Trifolium repens L. by Se is attributed primarily to an increase in photosynthesis and a decrease in oxidative stress. This study demonstrates that a low concentration of Se protects plants against oxidative stress induced by NPH and can provide a means for improving phytoremediation in PAHs contaminated soils.