As one of the core technologies for autonomous mobile robots, Visual Simultaneous Localization and Mapping (VSLAM) has been widely researched in recent years. However, most state-of-the-art VSLAM adopts a strong scene rigidity assumption for analytical convenience, which limits the utility of these algorithms for real-world environments with independent dynamic objects. Hence, this paper presents a semantic and geometric constraints VSLAM (SGC-VSLAM), which is built on the RGB-D mode of ORB-SLAM2 with the addition of dynamic detection and static point cloud map construction modules. In detail, a novel improved quadtree-based method was adopted for SGC-VSLAM to enhance the performance of the feature extractor in ORB-SLAM (Oriented FAST and Rotated BRIEF-SLAM). Moreover, a new dynamic feature detection method called semantic and geometric constraints was proposed, which provided a robust and fast way to filter dynamic features. The semantic bounding box generated by YOLO v3 (You Only Look Once, v3) was used to calculate a more accurate fundamental matrix between adjacent frames, which was then used to filter all of the truly dynamic features. Finally, a static point cloud was estimated by using a new drawing key frame selection strategy. Experiments on the public TUM RGB-D (Red-Green-Blue Depth) dataset were conducted to evaluate the proposed approach. This evaluation revealed that the proposed SGC-VSLAM can effectively improve the positioning accuracy of the ORB-SLAM2 system in high-dynamic scenarios and was also able to build a map with the static parts of the real environment, which has long-term application value for autonomous mobile robots.

Because the threshing device of a combine harvester determines the harvesting level and threshing separation performance of a combine harvester, the analysis and study of the threshing device of a combine harvester is key to improving its performance. Based on the threshing device of a half-feed combine harvester, the simulation model of a discrete element threshing device is established in this paper. With the threshing drum rotation speed, feed volume, and concave sieve vibration frequency as the variable factors, the BP neural network model and linear regression equation model established for the loss rate and impurity content for two kinds of threshing performance indicators, respectively, and through the discrete element threshing performance test, two kinds of methods of threshing performance prediction are analyzed. The results show that the neural network and linear regression can be used for the threshing performance indicators, however, the BP neural network prediction effect has a better prediction precision, better reliability, and the trained neural network can be used in the general case of the threshing performance indicators. This provides a new idea for improving the threshing performance of a combine harvester.

Hand action recognition is an important part of intelligent monitoring, human–computer interaction, robotics and other fields. Compared with other methods, the hand action recognition method using skeleton information can ignore the error effects caused by complex background and movement speed changes, and the computational cost is relatively small. The spatial-temporal graph convolution networks (ST-GCN) model has excellent performance in the field of skeleton-based action recognition. In order to solve the problem of the root joint and the further joint not being closely connected, resulting in a poor hand-action-recognition effect, this paper firstly uses the dilated convolution to replace the standard convolution in the temporal dimension. This is in order to process the time series features of the hand action video, which increases the receptive field in the temporal dimension and enhances the connection between features. Then, by adding non-physical connections, the connection between the joints of the fingertip and the root of the finger is established, and a new partition strategy is adopted to strengthen the hand correlation of each joint point information. This helps to improve the network’s ability to extract the spatial-temporal features of the hand. The improved model is tested on public datasets and real scenarios. The experimental results show that compared with the original model, the 14-category top-1 and 28-category top-1 evaluation indicators of the dataset have been improved by 4.82% and 6.96%. In the real scene, the recognition effect of the categories with large changes in hand movements is better, and the recognition results of the categories with similar trends of hand movements are poor, so there is still room for improvement.