Attention mechanisms have demonstrated great potential in improving the performance of deep convolutional neural networks (CNNs). However, many existing methods dedicate to developing channel or spatial attention modules for CNNs with lots of parameters, and complex attention modules inevitably affect the performance of CNNs. During our experiments of embedding Convolutional Block Attention Module (CBAM) in light-weight model YOLOv5s, CBAM does influence the speed and increase model complexity while reduce the average precision, but Squeeze-and-Excitation (SE) has a positive impact in the model as part of CBAM. To replace the spatial attention module in CBAM and offer a suitable scheme of channel and spatial attention modules, this paper proposes one Spatio-temporal Sharpening Attention Mechanism (SSAM), which sequentially infers intermediate maps along channel attention module and Sharpening Spatial Attention (SSA) module. By introducing sharpening filter in spatial attention module, we propose SSA module with low complexity. We try to find a scheme to combine our SSA module with SE module or Efficient Channel Attention (ECA) module and show best improvement in models such as YOLOv5s and YOLOv3-tiny. Therefore, we perform various replacement experiments and offer one best scheme that is to embed channel attention modules in backbone and neck of the model and integrate SSAM into YOLO head. We verify the positive effect of our SSAM on two general object detection datasets VOC2012 and MS COCO2017. One for obtaining a suitable scheme and the other for proving the versatility of our method in complex scenes. Experimental results on the two datasets show obvious promotion in terms of average precision and detection performance, which demonstrates the usefulness of our SSAM in light-weight YOLO models. Furthermore, visualization results also show the advantage of enhancing positioning ability with our SSAM.

The accuracy of X-ray pulsar-based navigation is greatly affected by the Doppler effect caused by the spacecraft orbital motion and the systematic biases introduced by the pulsar directional error, spacecraft-borne clock error, etc. In this paper, an innovative navigation method simultaneously employing the pulse phase (PP), the difference of two neighbor PPs (DPP) and the Doppler frequency (DF) of X-ray pulsars as measurements is proposed to solve this problem. With the aid of the spacecraft orbital dynamics, a single pair of PP and DF relative to the spacecraft’s state estimation error can be estimated by using the joint probability density function of the arrival photon timestamps as the likelihood function. The systematic biases involved to the PP is proved to be nearly invariant over two adjacent navigation periods and the major part of it is eliminated in the DPP; therefore, the DPP is also exploited as additional navigation measurement to weaken the impact of systematic biases on navigation accuracy. Results of photon-level simulations show that the navigation accuracy of the proposed method is remarkably better than that of the method only using PP, the method using both PP and DF and the method using both PP and DPP for Earth orbit.

The segmentation of pulmonary lobes is important in clinical assessment, lesion location, and surgical planning. Automatic lobe segmentation is challenging, mainly due to the incomplete fissures or the morphological variation resulting from lung disease. In this work, we propose a learning-based approach that incorporates information from the local fissures, the whole lung, and priori pulmonary anatomy knowledge to separate the lobes robustly and accurately. The prior pulmonary atlas is registered to the test CT images with the aid of the detected fissures. The result of the lobe segmentation is obtained by mapping the deformation function on the lobes-annotated atlas. The proposed method is evaluated in a custom dataset with COPD. Twenty-four CT scans randomly selected from the custom dataset were segmented manually and are available to the public. The experiments showed that the average dice coefficients were 0.95, 0.90, 0.97, 0.97, and 0.97, respectively, for the right upper, right middle, right lower, left upper, and left lower lobes. Moreover, the comparison of the performance with a former learning-based segmentation approach suggests that the presented method could achieve comparable segmentation accuracy and behave more robustly in cases with morphological specificity.

Multitarget tracking in clutter using bearings-only measurements is a challenging problem. In this paper, a performance improved nonlinear filter is proposed on the basis of the Random Finite Set (RFS) theory and is named as Gaussian mixture measurements-based cardinality probability hypothesis density (GMMbCPHD) filter. The GMMbCPHD filter enables to address two main issues: measurement-origin-uncertainty and measurement nonlinearity, which constitutes the key problems in bearings-only multitarget tracking in clutter. For the measurement-origin-uncertainty issue, the proposed filter estimates the intensity of RFS of multiple targets as well as propagates the posterior cardinality distribution. For the measurement-origin-nonlinearity issue, the GMMbCPHD approximates the measurement likelihood function using a Gaussian mixture rather than a single Gaussian distribution as used in extended Kalman filter (EKF). The superiority of the proposed GMMbCPHD are validated by comparing with several state-of-the-art algorithms via intensive simulation studies.