A novel theory for rapid localization of the transverse-sigmoid sinus junction and "keyhole" in the retrosigmoid keyhole approach: micro-anatomical study, technique nuances, and clinical application.

To determine a rapid and accurate method for locating the keypoint and "keyhole" in the suboccipital retrosigmoid keyhole approach. (1) Twelve adult skull specimens were selected to locate the anatomical landmarks on the external surface of the skull.The line between the infraorbital margin and superior margin of the external acoustic meatus was named the baseline. A coordinate system was established using the baseline and its perpendicular line through the top point of diagastric groove.The perpendicular distance (x), and the horizontal distance (y) between the central point of the "keyhole" and the top point of the digastric groove in that coordinate system were measured. The method was applied to fresh cadaveric specimens and 53 clinical cases to evaluate its application value. (1) x and y were 14.20 ± 2.63 mm and 6.54 ± 1.83 mm, respectively (left) and 14.95 ± 2.53 mm and 6.65 ± 1.61 mm, respectively (right). There was no significant difference between the left and right sides of the skull (P > 0.05). (2) The operative area was satisfactorily exposed in the fresh cadaveric specimens, and no venous sinus injury was observed. (3) In clinical practice, drilling did not cause injury to venous sinuses, the mean diameter of the bone windows was 2.0-2.5 cm, the mean craniotomy time was 26.01 ± 3.46 min, and the transverse and sigmoid sinuses of 47 patients were well-exposed. We propose a "one point, two lines, and two distances" for "keyhole" localization theory, that is we use the baseline between the infraorbital margin and superior margin of the external acoustic meatus and the perpendicular line to the baseline through the top point of the digastric groove to establish a coordinate system. And the drilling point was 14.0 mm above and 6.5 mm behind the top point of the digastric groove in the coordinate system.

Efficient Structure from Motion for Large-Size Videos from an Open Outdoor UAV Dataset.

Modern UAVs (unmanned aerial vehicles) equipped with video cameras can provide large-scale high-resolution video data. This poses significant challenges for structure from motion (SfM) and simultaneous localization and mapping (SLAM) algorithms, as most of them are developed for relatively small-scale and low-resolution scenes. In this paper, we present a video-based SfM method specifically designed for high-resolution large-size UAV videos. Despite the wide range of applications for SfM, performing mainstream SfM methods on such videos poses challenges due to their high computational cost. Our method consists of three main steps. Firstly, we employ a visual SLAM (VSLAM) system to efficiently extract keyframes, keypoints, initial camera poses, and sparse structures from downsampled videos. Next, we propose a novel two-step keypoint adjustment method. Instead of matching new points in the original videos, our method effectively and efficiently adjusts the existing keypoints at the original scale. Finally, we refine the poses and structures using a rotation-averaging constrained global bundle adjustment (BA) technique, incorporating the adjusted keypoints. To enrich the resources available for SLAM or SfM studies, we provide a large-size (3840 × 2160) outdoor video dataset with millimeter-level-accuracy ground control points, which supplements the current relatively low-resolution video datasets. Experiments demonstrate that, compared with other SLAM or SfM methods, our method achieves an average efficiency improvement of 100% on our collected dataset and 45% on the EuRoc dataset. Our method also demonstrates superior localization accuracy when compared with state-of-the-art SLAM or SfM methods.

Accurate Robot Arm Attitude Estimation Based on Multi-View Images and Super-Resolution Keypoint Detection Networks.

Robot arm monitoring is often required in intelligent industrial scenarios. A two-stage method for robot arm attitude estimation based on multi-view images is proposed. In the first stage, a super-resolution keypoint detection network (SRKDNet) is proposed. The SRKDNet incorporates a subpixel convolution module in the backbone neural network, which can output high-resolution heatmaps for keypoint detection without significantly increasing the computational resource consumption. Efficient virtual and real sampling and SRKDNet training methods are put forward. The SRKDNet is trained with generated virtual data and fine-tuned with real sample data. This method decreases the time and manpower consumed in collecting data in real scenarios and achieves a better generalization effect on real data. A coarse-to-fine dual-SRKDNet detection mechanism is proposed and verified. Full-view and close-up dual SRKDNets are executed to first detect the keypoints and then refine the results. The keypoint detection accuracy, PCK@0.15, for the real robot arm reaches up to 96.07%. In the second stage, an equation system, involving the camera imaging model, the robot arm kinematic model and keypoints with different confidence values, is established to solve the unknown rotation angles of the joints. The proposed confidence-based keypoint screening scheme makes full use of the information redundancy of multi-view images to ensure attitude estimation accuracy. Experiments on a real UR10 robot arm under three views demonstrate that the average estimation error of the joint angles is 0.53 degrees, which is superior to that achieved with the comparison methods.

Real-Time Object Detection for Autonomous Solar Farm Inspection via UAVs.

Robotic missions for solar farm inspection demand agile and precise object detection strategies. This paper introduces an innovative keypoint-based object detection framework specifically designed for real-time solar farm inspections with UAVs. Moving away from conventional bounding box or segmentation methods, our technique focuses on detecting the vertices of solar panels, which provides a richer granularity than traditional approaches. Drawing inspiration from CenterNet, our architecture is optimized for embedded platforms like the NVIDIA AGX Jetson Orin, achieving close to 60 FPS at a resolution of 1024 ×1376 pixels, thus outperforming the camera's operational frequency. Such a real-time capability is essential for efficient robotic operations in time-critical industrial asset inspection environments. The design of our model emphasizes reduced computational demand, positioning it as a practical solution for real-world deployment. Additionally, the integration of active learning strategies promises a considerable reduction in annotation efforts and strengthens the model's operational feasibility. In summary, our research emphasizes the advantages of keypoint-based object detection, offering a practical and effective approach for real-time solar farm inspections with UAVs.

A Deep Learning Model for Markerless Pose Estimation Based on Keypoint Augmentation: What Factors Influence Errors in Biomechanical Applications?

In biomechanics, movement is typically recorded by tracking the trajectories of anatomical landmarks previously marked using passive instrumentation, which entails several inconveniences. To overcome these disadvantages, researchers are exploring different markerless methods, such as pose estimation networks, to capture movement with equivalent accuracy to marker-based photogrammetry. However, pose estimation models usually only provide joint centers, which are incomplete data for calculating joint angles in all anatomical axes. Recently, marker augmentation models based on deep learning have emerged. These models transform pose estimation data into complete anatomical data. Building on this concept, this study presents three marker augmentation models of varying complexity that were compared to a photogrammetry system. The errors in anatomical landmark positions and the derived joint angles were calculated, and a statistical analysis of the errors was performed to identify the factors that most influence their magnitude. The proposed Transformer model improved upon the errors reported in the literature, yielding position errors of less than 1.5 cm for anatomical landmarks and 4.4 degrees for all seven movements evaluated. Anthropometric data did not influence the errors, while anatomical landmarks and movement influenced position errors, and model, rotation axis, and movement influenced joint angle errors.

Automated Video-Based Capture of Crustacean Fisheries Data Using Low-Power Hardware.

This work investigates the application of Computer Vision to the problem of the automated counting and measuring of crabs and lobsters onboard fishing boats. The aim is to provide catch count and measurement data for these key commercial crustacean species. This can provide vital input data for stock assessment models, to enable the sustainable management of these species. The hardware system is required to be low-cost, have low-power usage, be waterproof, available (given current chip shortages), and able to avoid over-heating. The selected hardware is based on a Raspberry Pi 3A+ contained in a custom waterproof housing. This hardware places challenging limitations on the options for processing the incoming video, with many popular deep learning frameworks (even light-weight versions) unable to load or run given the limited computational resources. The problem can be broken into several steps: (1) Identifying the portions of the video that contain each individual animal; (2) Selecting a set of representative frames for each animal, e.g, lobsters must be viewed from the top and underside; (3) Detecting the animal within the frame so that the image can be cropped to the region of interest; (4) Detecting keypoints on each animal; and (5) Inferring measurements from the keypoint data. In this work, we develop a pipeline that addresses these steps, including a key novel solution to frame selection in video streams that uses classification, temporal segmentation, smoothing techniques and frame quality estimation. The developed pipeline is able to operate on the target low-power hardware and the experiments show that, given sufficient training data, reasonable performance is achieved.

SSA Net: Small Scale-Aware Enhancement Network for Human Pose Estimation.

In the field of human pose estimation, heatmap-based methods have emerged as the dominant approach, and numerous studies have achieved remarkable performance based on this technique. However, the inherent drawbacks of heatmaps lead to serious performance degradation in methods based on heatmaps for smaller-scale persons. While some researchers have attempted to tackle this issue by improving the performance of small-scale persons, their efforts have been hampered by the continued reliance on heatmap-based methods. To address this issue, this paper proposes the SSA Net, which aims to enhance the detection accuracy of small-scale persons as much as possible while maintaining a balanced perception of persons at other scales. SSA Net utilizes HRNetW48 as a feature extractor and leverages the TDAA module to enhance small-scale perception. Furthermore, it abandons heatmap-based methods and instead adopts coordinate vector regression to represent keypoints. Notably, SSA Net achieved an AP of 77.4% on the COCO Validation dataset, which is superior to other heatmap-based methods. Additionally, it achieved highly competitive results on the Tiny Validation and MPII datasets as well.

Research Method of Discontinuous-Gait Image Recognition Based on Human Skeleton Keypoint Extraction.

As a biological characteristic, gait uses the posture characteristics of human walking for identification, which has the advantages of a long recognition distance and no requirement for the cooperation of subjects. This paper proposes a research method for recognising gait images at the frame level, even in cases of discontinuity, based on human keypoint extraction. In order to reduce the dependence of the network on the temporal characteristics of the image sequence during the training process, a discontinuous frame screening module is added to the front end of the gait feature extraction network, to restrict the image information input to the network. Gait feature extraction adds a cross-stage partial connection (CSP) structure to the spatial-temporal graph convolutional networks' bottleneck structure in the ResGCN network, to effectively filter interference information. It also inserts XBNBlock, on the basis of the CSP structure, to reduce estimation caused by network layer deepening and small-batch-size training. The experimental results of our model on the gait dataset CASIA-B achieve an average recognition accuracy of 79.5%. The proposed method can also achieve 78.1% accuracy on the CASIA-B sample, after training with a limited number of image frames, which means that the model is more robust.

DSPose: Dual-Space-Driven Keypoint Topology Modeling for Human Pose Estimation.

Human pose estimation is the basis of many downstream tasks, such as motor intervention, behavior understanding, and human-computer interaction. The existing human pose estimation methods rely too much on the similarity of keypoints at the image feature level, which is vulnerable to three problems: object occlusion, keypoints ghost, and neighbor pose interference. We propose a dual-space-driven topology model for the human pose estimation task. Firstly, the model extracts relatively accurate keypoints features through a Transformer-based feature extraction method. Then, the correlation of keypoints in the physical space is introduced to alleviate the error localization problem caused by excessive dependence on the feature-level representation of the model. Finally, through the graph convolutional neural network, the spatial correlation of keypoints and the feature correlation are effectively fused to obtain more accurate human pose estimation results. The experimental results on real datasets also further verify the effectiveness of our proposed model.

Fast and Accurate ROI Extraction for Non-Contact Dorsal Hand Vein Detection in Complex Backgrounds Based on Improved U-Net.

In response to the difficulty of traditional image processing methods to quickly and accurately extract regions of interest from non-contact dorsal hand vein images in complex backgrounds, this study proposes a model based on an improved U-Net for dorsal hand keypoint detection. The residual module was added to the downsampling path of the U-Net network to solve the model degradation problem and improve the feature information extraction ability of the network; the Jensen-Shannon (JS) divergence loss function was used to supervise the final feature map distribution so that the output feature map tended to Gaussian distribution and improved the feature map multi-peak problem; and Soft-argmax is used to calculate the keypoint coordinates of the final feature map to realize end-to-end training. The experimental results showed that the accuracy of the improved U-Net network model reached 98.6%, which was 1% better than the original U-Net network model; the improved U-Net network model file was only 1.16 M, which achieved a higher accuracy than the original U-Net network model with significantly reduced model parameters. Therefore, the improved U-Net model in this study can realize dorsal hand keypoint detection (for region of interest extraction) for non-contact dorsal hand vein images and is suitable for practical deployment in low-resource platforms such as edge-embedded systems.