Road extraction techniques based on remote sensing image have significantly advanced. Currently, fully supervised road segmentation neural networks based on remote sensing images require a significant number of densely labeled road samples, limiting their applicability in large-scale scenarios. Consequently, semi-supervised methods that utilize fewer labeled data have gained increasing attention. However, the imbalance between a small quantity of labeled data and a large volume of unlabeled data leads to local detail errors and overall cognitive mistakes in semi-supervised road extraction. To address this challenge, this paper proposes a novel consistency self-training semi-supervised method (CSSnet), which effectively learns from a limited number of labeled data samples and a large amount of unlabeled data. This method integrates self-training semi-supervised segmentation with semi-supervised classification. The semi-supervised segmentation component relies on an enhanced generative adversarial network for semantic segmentation, which significantly reduces local detail errors. The semi-supervised classification component relies on an upgraded mean-teacher network to handle overall cognitive errors. Our method exhibits excellent performance with a modest amount of labeled data. This study was validated on three separate road datasets comprising high-resolution remote sensing satellite images and UAV photographs. Experimental findings showed that our method consistently outperformed state-of-the-art semi-supervised methods and several classic fully supervised methods.

Remote sensing object detection is a difficult task because it often requires real-time feedback through numerous objects in complex environments. In object detection, Feature Pyramids Networks (FPN) have been widely used for better representations based on a multi-scale problem. However, the multiple level features cause detectors’ structures to be complex and makes redundant calculations that slow down the detector. This paper uses a single-layer feature to make the detection lightweight and accurate without relying on Feature Pyramid Structures. We proposed a method called the Cross Stage Partial Strengthen Matching Detector (StrMCsDet). The StrMCsDet generates a single-level feature map architecture in the backbone with a cross stage partial network. To provide an alternative way of replacing the traditional feature pyramid, a multi-scale encoder was designed to compensate the receptive field limitation. Additionally, a stronger matching strategy was proposed to make sure that various scale anchors may be equally matched. The StrMCsDet is different from the conventional full pyramid structure and fully exploits the feature map which deals with a multi-scale encoder. Methods achieved both comparable precision and speed for practical applications. Experiments conducted on the DIOR dataset and the NWPU-VHR-10 dataset achieved 65.6 and 73.5 mAP on 1080 Ti, respectively, which can match the performance of state-of-the-art works. Moreover, StrMCsDet requires less computation and achieved 38.5 FPS on the DIOR dataset.

Extracting roads from remote sensing images holds significant practical value across fields like urban planning, traffic management, and disaster monitoring. Current Convolutional Neural Network (CNN) methods, praised for their robust local feature learning enabled by inductive biases, deliver impressive results. However, they face challenges in capturing global context and accurately extracting the linear features of roads due to their localized receptive fields. To address these shortcomings of traditional methods, this paper proposes a novel parallel encoder architecture that integrates a CNN Encoder Module (CEM) with a Transformer Encoder Module (TEM). The integration combines the CEM’s strength in local feature extraction with the TEM’s ability to incorporate global context, achieving complementary advantages and overcoming limitations of both Transformers and CNNs. Furthermore, the architecture also includes a Linear Convolution Module (LCM), which uses linear convolutions tailored to the shape and distribution of roads. By capturing image features in four specific directions, the LCM significantly improves the model’s ability to detect and represent global and linear road features. Experimental results demonstrate that our proposed method achieves substantial improvements on the German-Street Dataset and the Massachusetts Roads Dataset, increasing the Intersection over Union (IoU) of road class by at least 3% and the overall F1 score by at least 2%.

In the field of agricultural robotics, robotic grippers play an indispensable role, directly influencing the rate of fruit damage and handling efficiency. Currently, traditional agricultural robotic grippers face challenges such as high damage rates and high requirements for position control. A robotic gripper for stable spherical fruit handling with high positional offset tolerance and a low fruit damage rate is proposed in this paper. It adopts a three-finger structure. A flexible active roller is configured at the end of each finger, allowing fruit translation with just a gentle touch. An integrated pressure sensor within the active roller further enhances the gripper’s compliance. To describe the effect of the gripper on the fruit, the interaction model was derived. Taking the tomato as a typical soft and fragile spherical fruit, three experiments were conducted to evaluate the performance of the proposed gripper. The experimental results demonstrated the handling capability of the gripper and the maximum graspable weight reached 2077 g. The average failure rate for the unilateral offset of 9 mm was only 1.33%, and for the bilateral offset of 6-6 mm was 4%, indicating the high positional offset tolerance performance and a low fruit damage rate of the gripper. The preliminary tomato-picking capability of the proposed gripper was also validated in a simplified laboratory scenario.