Accurate and efficient environmental awareness is a fundamental capability of autonomous driving technology and the real-time data collected by sensors offer autonomous vehicles an intuitive impression of their environment. Unfortunately, the ambient noise caused by varying weather conditions immediately affects the ability of autonomous vehicles to accurately understand their environment and its expected impact. In recent years, researchers have improved the environmental perception capabilities of simultaneous localization and mapping (SLAM), object detection and tracking, semantic segmentation and panoptic segmentation, but relatively few studies have focused on enhancing environmental perception capabilities in adverse weather conditions, such as rain, snow and fog. To enhance the environmental perception of autonomous vehicles in adverse weather, we developed a dynamic filtering method called Dynamic Distance–Intensity Outlier Removal (DDIOR), which integrates the distance and intensity of points based on the systematic and accurate analysis of LiDAR point cloud data characteristics in snowy weather. Experiments on the publicly available WADS dataset (Winter Adverse Driving dataSet) showed that our method can efficiently remove snow noise while fully preserving the detailed features of the environment.

In unsupervised domain adaptation (UDA) of remote sensing images (RSIs), the huge inter-domain discrepancies and intra-domain variances lead to complicated class-level relations. Specifically, the instances of the same class differ greatly while instances of different classes are similar, whether across different RSIs domains or within the same RSIs domain. However, existing methods cannot fully consider these problems, limiting the performance of UDA semantic segmentation of RSIs. To this end, this paper proposes a novel cross-domain multi-prototypes learning method, the core idea of which is to abstract the cross-and intra-domain class-level relations into multiple prototypes. Specifically, the multiple prototypes belonging to different classes can detailedly describe complex inter-class relations, and the multiple prototypes within the same class can better model rich intra-class relations. Further, the source and target samples are jointly used for prototypes calculation, to fully fuse the feature information of different RSIs. In a nutshell, utilizing the samples from different RSIs domains to learn multiple prototypes for each class can achieve better domain alignment at the class level. In addition, considering that RSIs simultaneously contain large targets with wide coverage and important small targets, two masked consistency learning strategies are designed to better explore the contextual structure of target RSIs and improve the quality of pseudo labels for prototype updating. The global consistency strategy can strengthen the utilization of global context relations, while the local consistency strategy can further improve the learning of local context details. Therefore, the proposed method is actually a prototype and context enhanced learning method for UDA semantic segmentation of RSIs. Extensive experiments demonstrate that the proposed method can achieve better performance than existing state-of-the-art UDA methods.

In the existing unsupervised domain adaptation (UDA) methods for remote sensing images (RSIs) semantic segmentation, class symmetry is a widely followed ideal assumption, where the source and target RSIs have exactly the same class space. In practice, however, it is often very difficult to find a source RSI with exactly the same classes as the target RSI. More commonly, there are multiple source RSIs available. And there is always an intersection or inclusion relationship between the class spaces of each source-target pair, which can be referred to as class asymmetry. Nevertheless, the class asymmetry domain adaptation segmentation of RSIs with multiple sources has not yet been explored. To this end, a novel class asymmetry RSIs domain adaptation method is proposed for the first time in this paper, which consists of four key components. Firstly, a multi-branch segmentation network is built to learn an expert for each source RSI. Secondly, a novel collaborative learning method with the cross-domain mixing strategy is proposed, to supplement the class information for each source while achieving the domain adaptation of each source-target pair. Thirdly, a pseudo-label generation strategy is proposed to effectively combine strengths of different experts, which can be flexibly applied to two cases where the source class union is equal to or includes the target class set. Fourthly, a multiview-enhanced knowledge integration module is developed for the high-level knowledge routing and transfer from multiple domains to target predictions. The experimental results of six different class settings on airborne and spaceborne RSIs show that, the proposed method can effectively perform the multi-source domain adaptation in the case of class asymmetry, and the obtained segmentation performance of target RSIs is significantly better than the existing relevant methods.

The last decade has witnessed significant advances in semantic segmentation brought about by deep learning. However, existing methods only fit the data-label correspondence in a data-driven manner and do not fully conform to the abstraction and structuralization characteristics of the human visual cognition process, which limits the upper bounds of their performance. To this end, a multi-grained logical prototype (MGLP) method is proposed to rethink semantic segmentation based on these two key characteristics. Its novel design can be summarized as follows. (1) For abstraction, prototypes of the same class at different grain levels are established: a label generation method is proposed to automatically generate a multi-grained label space, which can guide the learning of the multi-grained prototypes for each class. (2) For structuralization, the intrinsic logical structure across different semantic levels is explicitly modeled: the horizontal metric relationships are established via metric relation operations on prototypes at the same grain level, to improve the discriminability between classes while taking the vertical semantic hierarchy into account. Moveover, the vertical logical relationships are established as the sub-to-super positive and super-to-sub negative constraints, to strengthen the semantic dependencies among prototypes at different grain levels. (3) MGLP is plug-and-play and can be directly combined with existing segmentation methods. Extensive experimental results indicate that MGLP can significantly improve the segmentation performance of existing methods, which opens up a new avenue for future research.

Urban warfare has become one of the main forms of modern combat in the twenty-first century. The main reason why urban warfare results in hundreds of casualties is that the situational information of the combatant is insufficient. Accessing information via an Augmented Reality system can elevate combatants’ situational awareness to effectively improve the efficiency of decision-making and reduce the injuries. This paper begins with the concept of Urban Warfare Augmented Reality (UWAR) and illuminates the objectives of developing UWAR, i.e., transparent battlefield, intuitional perception and natural interaction. Real-time outdoor registration, information presentation and natural interaction are presented as key technologies of a practical UWAR system. Then, the history and current research state of these technologies are summarized and their future developments are highlighted from three perspectives, i.e., (1) Better integration with Geographic Information System and Virtual Geographic Environment; (2) More intelligent software; (3) More powerful hardware.

In view of the lack of data association in spatiotemporal information analysis and the lack of spatiotemporal situation analysis in knowledge graphs, this paper combines the semantic web of the geographic knowledge graph with the visual analysis model of spatial information and puts forward the comprehensive utilization of the related technologies of the geographic knowledge graph and big data visual analysis. Then, it realizes the situational analysis of COVID-19 (Coronavirus Disease 2019) and the exploration of patient relationships through interactive collaborative analysis. The main contributions of the paper are as follows. (1) Based on the characteristics of the geographic knowledge graph, a patient entity model and an entity relationship type and knowledge representation method are proposed, and a knowledge graph of the spatiotemporal information of COVID-19 is constructed. (2) To analyse the COVID-19 patients’ situations and explore their relationships, an analytical framework is designed. The framework, combining the semantic web of the geographic knowledge graph and the visual analysis model of geographic information, allows one to analyse the semantic web by using the node attribute similarity calculation, key stage mining, community prediction and other methods. (3) An efficient epidemic prevention and anti-epidemic method, which is of referential significance, is proposed. It is based on experiments and the collaborative analysis of the semantic web and spatial information, allowing for real-time situational understanding, the discovery of patients’ relationships, the analysis of the spatiotemporal distribution of patients, super spreader mining, key node analysis, and the prevention and control of high-risk groups.