Faster Region-based Convolutional Network (Faster R-CNN) is a state-of-the-art object detection method. However, the object detection effect of Faster R-CNN is not good based on the Region Proposal Network (RPN). Inspired by RPN of Faster R-CNN, we propose a novel proposal generation method called Enhanced Region Proposal Network (ERPN). Four improvements are presented in ERPN. Firstly, our proposed deconvolutional feature pyramid network (DFPN) is introduced to improve the quality of region proposals. Secondly, novel anchor boxes are designed with interspersed scales and adaptive aspect ratios. Thereafter, the capability of object localization is increased. Thirdly, a particle swarm optimization (PSO) based support vector machine (SVM), termed PSO-SVM, is developed to distinguish the positive and negative anchor boxes. Fourthly, the classification part of multi-task loss function in RPN is improved. Consequently, the effect of classification loss is strengthened. In this study, our proposed ERPN is compared with five object detection methods on both PASCAL VOC and COCO data sets. For the VGG-16 model, our ERPN obtains 78.6% mAP on VOC 2007 data set, 74.4% mAP on VOC 2012 data set and 31.7% on COCO data set. The performance of ERPN is the best among the comparison object detection methods. Furthermore, the detection speed of ERPN is 5.8 fps. Additionally, ERPN obtains good effect on small object detection.

It is of great clinical significance to establish an accurate intelligent model to diagnose the somatization disorder of community correctional personnel. In this study, a novel machine learning framework is proposed to predict the severity of somatization disorder in community correction personnel. The core of this framework is to adopt the improved bacterial foraging optimization (IBFO) to optimize two key parameters (penalty coefficient and the kernel width) of a kernel extreme learning machine (KELM) and build an IBFO-based KELM (IBFO-KELM) for the diagnosis of somatization disorder patients. The main innovation point of the IBFO-KELM model is the introduction of opposition-based learning strategies in traditional bacteria foraging optimization, which increases the diversity of bacterial species, keeps a uniform distribution of individuals of initial population, and improves the convergence rate of the BFO optimization process as well as the probability of escaping from the local optimal solution. In order to verify the effectiveness of the method proposed in this study, a 10-fold cross-validation method based on data from a symptom self-assessment scale (SCL-90) is used to make comparison among IBFO-KELM, BFO-KELM (model based on the original bacterial foraging optimization model), GA-KELM (model based on genetic algorithm), PSO-KELM (model based on particle swarm optimization algorithm) and Grid-KELM (model based on grid search method). The experimental results show that the proposed IBFO-KELM prediction model has better performance than other methods in terms of classification accuracy, Matthews correlation coefficient (MCC), sensitivity and specificity. It can distinguish very well between severe somatization disorder and mild somatization and assist the psychological doctor with clinical diagnosis.

Accurate and reliable state estimation and mapping are the foundation of most autonomous driving systems. In recent years, researchers have focused on pose estimation through geometric feature matching. However, most of the works in the literature assume a static scenario. Moreover, a registration based on a geometric feature is vulnerable to the interference of a dynamic object, resulting in a decline of accuracy. With the development of a deep semantic segmentation network, we can conveniently obtain the semantic information from the point cloud in addition to geometric information. Semantic features can be used as an accessory to geometric features that can improve the performance of odometry and loop closure detection. In a more realistic environment, semantic information can filter out dynamic objects in the data, such as pedestrians and vehicles, which lead to information redundancy in generated map and map-based localization failure. In this paper, we propose a method called LiDAR inertial odometry (LIO) with loop closure combined with semantic information (LIO-CSI), which integrates semantic information to facilitate the front-end process as well as loop closure detection. First, we made a local optimization on the semantic labels provided by the Sparse Point-Voxel Neural Architecture Search (SPVNAS) network. The optimized semantic information is combined into the front-end process of tightly-coupled light detection and ranging (LiDAR) inertial odometry via smoothing and mapping (LIO-SAM), which allows us to filter dynamic objects and improve the accuracy of the point cloud registration. Then, we proposed a semantic assisted scan-context method to improve the accuracy and robustness of loop closure detection. The experiments were conducted on an extensively used dataset KITTI and a self-collected dataset on the Jilin University (JLU) campus. The experimental results demonstrate that our method is better than the purely geometric method, especially in dynamic scenarios, and it has a good generalization ability.

Unmanned ground vehicles (UGVs) are an important research application of artificial intelligence. In particular, the deep learning-based object detection method is widely used in UGV-based environmental perception. Good experimental results are achieved by the deep learning-based object detection method Faster region-based convolutional neural network (Faster R-CNN). However, the exploration space of the region proposal network (RPN) is restricted by its expression. In our paper, a boosted RPN (BRPN) with three improvements is developed to solve this problem. First, a novel enhanced pooling network is designed in this paper. Therefore, the BRPN can adapt to objects with different shapes. Second, the expression of BRPN loss function is improved to learn the negative samples. Furthermore, the grey wolf optimizer (GWO) is used to optimize the parameters of the improved BRPN loss function. Thereafter, the performance of the BRPN loss function is promoted. Third, a novel GA-SVM classifier is applied to strengthen the classification capacity. The PASCAL VOC 2007, VOC 2012 and KITTI datasets are used to test the BRPN. Consequently, excellent experimental results are obtained by our deep learning-based object detection method.