As an important direction in computer vision, human pose estimation has received extensive attention in recent years. A High-Resolution Network (HRNet) can achieve effective estimation results as a classical human pose estimation method. However, the complex structure of the model is not conducive to deployment under limited computer resources. Therefore, an improved Efficient and Lightweight HRNet (EL-HRNet) model is proposed. In detail, point-wise and grouped convolutions were used to construct a lightweight residual module, replacing the original 3 × 3 module to reduce the parameters. To compensate for the information loss caused by the network’s lightweight nature, the Convolutional Block Attention Module (CBAM) is introduced after the new lightweight residual module to construct the Lightweight Attention Basicblock (LA-Basicblock) module to achieve high-precision human pose estimation. To verify the effectiveness of the proposed EL-HRNet, experiments were carried out using the COCO2017 and MPII datasets. The experimental results show that the EL-HRNet model requires only 5 million parameters and 2.0 GFlops calculations and achieves an AP score of 67.1% on the COCO2017 validation set. In addition, PCKh@0.5mean is 87.7% on the MPII validation set, and EL-HRNet shows a good balance between model complexity and human pose estimation accuracy.

Human pose estimation is a crucial area of study in computer vision. Transformer-based pose estimation algorithms have gained popularity for their excellent performance and relatively compact parameterization. However, these algorithms often face challenges including high computational demands and insensitivity to local details. To address these problems, the Twin attention module was introduced in TransPose to improve model efficiency and reduce resource consumption. Additionally, to address issues related to insufficient joint feature representation and poor network recognition performance, the enhanced TransPose model, named VTTransPose, replaced the basic block in the third subnet with the intra-level feature fusion module V block. The performance of the proposed VTTransPose model was validated on the public datasets COCO val2017 and COCO test-dev2017. The experimental results on COCO val2017 and COCO test-dev2017 indicate that the AP evaluation index scores of the VTTransPose network proposed are 76.5 and 73.6 respectively, marking improvements of 0.4 and 0.2 over the original TransPose network. Additionally, VTTransPose exhibited a reduction of 4.8G FLOPs, 2M parameters, and approximately 40% lower memory usage during training compared to the original TransPose model. All the experimental results demonstrate that the proposed VTTransPose is more accurate, efficient, and lightweight compared to the original TransPose model.

The purpose of human object detection is to obtain the number of people and their position in images, which is one of the core problems in the field of machine vision. However, the high missing detection rate from small- and medium-sized human bodies due to the large variety of human scale in human object detection tasks still influences the performance of human object detection. To solve the above problem, this paper proposed an improved ASPP_BiFPN_YOLOv4 (ABYOLOv4) method to detect human object detection. In detail, Atrous Spatial Pyramid Pooling (ASPP) module was used to replace the original Spatial Pyramid Pooling module to increase the receptive field level of the network and improve the perception ability of multi-scale targets. Then, the original Path Aggregation Network (PANet) multi-scale fusion module was replaced by the self-built bi-layer bidirectional feature pyramid network (Bi-FPN). Meanwhile, a new feature was imported into the proposed model to reuse the mid- and low-level features, which could enhance the ability of the network to express the characteristics of small- and medium-sized targets. Finally, the standard convolution in Bi-FPN was replaced by depth-separable convolution to make the network achieve the balance of accuracy and the number of parameters. To identify the performance of the proposed ABYOLOv4 model, the human object detection experiment is carried out by using the public data set of VOC2007 and VOC2012, the improved YOLOv4 algorithm is 0.5% higher than the original AP algorithm, and the weight file size of the model is reduced by 45.3 M. The experimental results demonstrated that the proposed ABYOLOv4 network has higher accuracy and lower computational cost for human target detection.

In recent years, the steady-state visual evoked potentials (SSVEP) based brain control method has been employed to help people with disabilities because of its advantages of high information transmission rate and low training time. However, the existing SSVEP brain control methods cannot adapt to dynamic or unstructured environments. Moreover, the recognition accuracy from the conventional decoding algorithm still needs to improve. To address the above problems, this study proposed a steady-state hybrid visual evoked potentials (SSHVEP) paradigm using the grasping targets in their environment to improve the connection between the subjects’ and their dynamic environments. Moreover, a novel EEG decoding method, using the multivariate variational mode decomposition (MVMD) algorithm for adaptive sub-band division and convolutional neural network (CNN) for target recognition, was applied to improve the decoding accuracy of the SSHVEPs. 18 subjects participated in the offline and online experiments. The offline accuracy across 18 subjects by the 9-target SSHVEP paradigm was up to 95.41 ± 2.70%, which is a 5.80% improvement compared to the conventional algorithm. To further validate the performance of the proposed method, the brain-controlled grasping robot system using the SSHVEP paradigm was built. The average accuracy reached 93.21 ± 10.18% for the online experiment. All the experimental results demonstrated the effectiveness of the brain computer interaction method based on the SSHVEP paradigm and the MVMD combined CNN algorithm studied in this paper.

Hand pose estimation is the basis of dynamic gesture recognition. In vision-based hand pose estimation, the performance of hand pose estimation is affected due to the high flexibility of hand joints, local similarity and severe occlusion among hand joints. In this paper, the structural relations between hand joints are established, and the improved nonparametric structure regularization machine (NSRM) is used to achieve more accurate estimation of hand pose. Based on the NSRM network, the backbone network is replaced by the new high-resolution net proposed in this paper to improve the network performance, and then the number of parameters is decreased by reducing the input and output channels of some convolutional layers. The experiment of hand pose estimation is carried out by using public dataset, the experimental results show that the improved NSRM network has higher accuracy and faster inference speed for hand pose estimation.

An intelligent mobile robot navigation model based on dynamic approach is constructed, which is integrated both head-for-target behavior and obstacle avoidance behavior. The model is described by nonlinear differential equations. It is based on the stability theory of dynamical system. The weight coefficient of each behavior which represents superiority in competition between behaviors is optimized by genetic algorithm. Navigation of mobile robot based on this model is simulated in computer. And the feasibility of genetic algorithm application for intelligent mobile robot navigation is examined. The results indicate that genetic algorithm integrates well with the dynamic approach for intelligent mobile robot navigating.