RFID (Radio Frequency Identification) offers a way to identify objects without any contact. However, positioning accuracy is limited since RFID neither provides distance nor bearing information about the tag. This paper proposes a new and innovative approach for the localization of moving object using a particle filter by incorporating RFID phase and laser-based clustering from 2d laser range data. First of all, we calculate phase-based velocity of the moving object based on RFID phase difference. Meanwhile, we separate laser range data into different clusters, and compute the distance-based velocity and moving direction of these clusters. We then compute and analyze the similarity between two velocities, and select K clusters having the best similarity score. We predict the particles according to the velocity and moving direction of laser clusters. Finally, we update the weights of the particles based on K clusters and achieve the localization of moving objects. The feasibility of this approach is validated on a Scitos G5 service robot and the results prove that we have successfully achieved a localization accuracy up to 0.25 m.

Timely detection of defects is essential for ensuring safe and stable operation of concrete buildings. Automatic segmentation of concrete buildings’ surfaces is challenging due to the high diversity of crack appearance, the detailed information, and the unbalanced proportion of crack pixels and background pixels. In this work, the Double Feature Pyramid Network is designed for high-precision crack segmentation. Our work reached the state-of-the-art level in crack segmentation, with key contributions outlined as follows: firstly, considering the diversity of crack shapes, the network constructs a feature pyramid containing three feature extraction backbones to extract the global feature map with three scale input images. In particular, due to the biggest challenge being too much single-pixel crack area, the targeted feature pyramid based on the high-resolution is added to extract adequate shallow semantic information. Lastly, designing a cascade feature fusion unit to aggregate the extracted multi-dimensional feature maps and obtain the final prediction. Compared with existing crack detection methods, the superior performance of this method has been verified based on extensive experiments, with Pixel Accuracy of 65.99%, Intersection over Union of 44.71%, and Recall of 62.95%, providing a reliable and efficient solution for the health monitoring and maintenance of concrete structures. This work contributes to the advancement of research and practical applications in related fields, offering robust support for the monitoring and maintenance of concrete structures.