An improved blood vessel segmentation algorithm on the basis of traditional Frangi filtering and the mathematical morphological method was proposed to solve the low accuracy of automatic blood vessel segmentation of fundus retinal images and high complexity of algorithms. First, a global enhanced image was generated by using the contrast-limited adaptive histogram equalization algorithm of the retinal image. An improved Frangi Hessian model was constructed by introducing the scale equivalence factor and eigenvector direction angle of the Hessian matrix into the traditional Frangi filtering algorithm to enhance blood vessels of the global enhanced image. Next, noise interferences surrounding small blood vessels were eliminated through the improved mathematical morphological method. Then, blood vessels were segmented using the Otsu threshold method. The improved algorithm was tested by the public DRIVE and STARE data sets. According to the test results, the average segmentation accuracy, sensitivity, and specificity of retinal images in DRIVE and STARE are 95.54%, 69.42%, and 98.02% and 94.92%, 70.19%, and 97.71%, respectively. The improved algorithm achieved high average segmentation accuracy and low complexity while promising segmentation sensitivity. This improved algorithm can segment retinal vessels more accurately than other algorithms.

In order to improve the safety needs of personnel in the dark environment under the well, this article adopts the improved YOLOV8 algorithm combined with the ray method to determine whether underground personnel are entering dangerous areas and to provide early warning. First of all, this article introduces the coordinate attention mechanism on the basis of YOLOV8 target detection so that the model pays attention to the location information of the target area so as to improve the detection accuracy of obstruction and small target areas. In addition, the Soft-Non-Maximum Suppression (SNMS) module is introduced to further improve accuracy. The improved model is then combined with the ray method to be deployed and applied under a variety of angles and different scenic information cameras. The experimental results show that the proposed method obtains 99.5% of the identification accuracy and a frame speed of 45 Frames Per Second (FPS) on the self-built dataset. Compared with the YOLOV8 model, it has a higher accuracy and can effectively cope with the changes and interference factors in the underground environment. Further, it meets the requirements for real-time testing in dangerous underground areas.

Water extraction from synthetic aperture radar (SAR) images has an important application value in wetland monitoring, flood monitoring, etc. However, it still faces the problems of low generalization, weak extraction ability of detailed information, and weak suppression of background noises. Therefore, a new framework, Multi-scale Attention Detailed Feature fusion Network (MADF-Net), is proposed in this paper. It comprises an encoder and a decoder. In the encoder, ResNet101 is used as a solid backbone network to capture four feature levels at different depths, and then the proposed Deep Pyramid Pool (DAPP) module is used to perform multi-scale pooling operations, which ensure that key water features can be captured even in complex backgrounds. In the decoder, a Channel Spatial Attention Module (CSAM) is proposed, which focuses on feature areas that are critical for the identification of water edges by fusing attention weights in channel and spatial dimensions. Finally, the high-level semantic information is effectively fused with the low-level edge features to achieve the final water detection results. In the experiment, Sentinel-1 SAR images of three scenes with different characteristics and scales of water body are used. The PA and IoU of water extraction by MADF-Net can reach 92.77% and 89.03%, respectively, which obviously outperform several other networks. MADF-Net carries out water extraction with high precision from SAR images with different backgrounds, which could also be used for the segmentation and classification of other tasks from SAR images.

The SAR system possesses the ability to carry out all-day and all-weather imaging, which is highly valuable in the application of aircraft identification. However, aircraft identification from SAR images still faces great challenges due to speckle noise interference, multiscale problems, and complex background interference. To solve these problems, an efficient bidirectional path multiscale fusion and attention network (EBMA-Net) is proposed in this paper. It employs bidirectional connectivity to fuse the features of aircraft with different scales to perform the accurate detection of aircraft even when the background is highly complex. In the presented EBMA-Net, a module called efficient multiscale channel attention fusion (EMCA) and three parallel squeeze efficient channel attention (SECA) modules are proposed. In the EMCA module, the bidirectional paths are created by stacking upper and lower fusion modules, which effectively integrate shallow detailed features and deep semantic information. So, the detection performance of aircraft at different scales is improved. In the SECA module, the dependency relationship between feature channels is explicitly modeled, which can automatically learn the importance of different channels, prioritize key features, so as to improve the precision and robustness of aircraft identification. In the experiment, the public dataset of aircraft identification (i.e., SAR-AIRcraft-1.0, which is generated from the GF-3 satellite) from high-resolution SAR systems is used, and several other excellent target-detection networks are used for performance comparison, namely, YOLOv5s, YOLOv7, MGCAN, and EBPA2N. According to the results, the average aircraft detection accuracy of EBMA-Net is 91.31%, which is 4.5% higher than YOLOv7; and the false alarm rate is decreased by 5%. Its accuracy in the identification of aircraft can reach 95.6%, which is about 3.7% higher than YOLOv7. Therefore, the EBMA-Net obviously outperforms the other networks for aircraft detection and identification. The proposed EBMA-Net, which can capture the detailed information and better restrain the background interference, could also be used to perform the detection and identification of dense targets with different scales and background from SAR images.

Camera relocalization determines the position and orientation of a camera in a 3D space. Althouh methods based on scene coordinate regression yield highly accurate results in indoor scenes, they exhibit poor performance in outdoor scenarios due to their large scale and increased complexity. A visual localization method, Py-Net, is therefore proposed herein. Py-Net is based on voting segmentation and comprises a main encoder containing Py-layer and two branch decoders. The Py-layer comprises pyramid convolution and 1 × 1 convolution kernels for feature extraction across multiple levels, with fewer parameters to enhance the model’s ability to extract scene information. Coordinate attention was added at the end of the encoder for feature correction, which improved the model robustness to interference. To prevent the feature loss caused by repetitive structures and low-texture images in the scene, deep over-parameterized convolution modules were incorporated into the seg and vote decoders. Landmark segmentation and voting maps were used to establish the relation between images and landmarks in 3D space, reducing anomalies and achieving high precision with a small number of landmarks. The experimental results show that, in multiple outdoor scenes, Py-Net achieves lower distance and angle errors compared to existing methods. Additionally, compared to VS-Net, which also uses a voting segmentation structure, Py-Net reduces the number of parameters by 31.85% and decreases the model size from 236MB to 170 MB.

In category-level object pose estimation tasks, determining how to mitigate intra-class shape variations and improve pose estimation accuracy for complex objects remains a challenging problem to solve. To address this issue, this paper proposes a new network architecture, LA-Net, to efficiently ascertain object poses from features. Firstly, we extend the 3D graph convolution network architecture by introducing the LS-Layer (Linear Connection Layer), which enables the network to acquire features from different layers and perform multi-scale feature fusion. Secondly, LA-Net employs a novel attention mechanism (PSA) and a Max-Pooling layer to extract local and global geometric information, which enhances the network’s ability to perceive object poses. Finally, the proposed LA-Net recovers the rotation information of an object by decoupling the rotation mechanism. The experimental results show that LA-Net can has much better accuracy in object pose estimation compared to the baseline method (HS-Pose). Especially for objects with complex shapes, its performance is 8.2% better for the 10°5 cm metric and 5% better for the 10°2 cm metric.