The original ORB feature detection algorithm has many problems, such as uneven distribution of feature points, many feature mismatches and poor robustness. A visual odometer method based on improved ORB is proposed. First of all, in order to solve the problem of low extraction efficiency and uneven distribution in the process of key points extraction, an improved quadtree algorithm is proposed which set an appropriate quadtree depth for the image pyramid layer to improve calculation efficiency and filter key points. Secondly, aiming at the problem of mismatching in the feature matching process of adjacent frames, the PROSAC algorithm improved based on RANSAC is used to sort all the sampling points according to the matching quality, and the matching point pairs with good quality are selected to improve the matching accuracy. The experimental results shows that the improved visual odometer method has higher accuracy and less calculation time than the original algorithm.

Electric vehicles (EVs) face structural constraints and competition with internal combustion engine vehicles (ICEVs); however, this relationship remains underexplored. This study examines EV adoption by considering social practice theory and focusing on competition between EVs and ICEVs. Drawing on a survey of 5000 participants from seven Chinese megacities, we identify four key factors shaping consumer behavior: power output and acceleration, purchase affordability, environmental benefits, and purchase subsidies. The findings revealed that government policy significantly moderates EV adoption, enhances the effects of subsidies, and amplifies barriers related to ICEV performance. EV experience and trip purposes, particularly for commuting and education, influence evaluations, with ICEVs performing better in terms of performance and affordability in specific scenarios. To shift consumer evaluations from ICEVs to EVs, our policy recommendations emphasize imposing taxes on ICEVs, strengthening the EV infrastructure, improving the performance of EVs, and promoting their long-term benefits through clear policies and public awareness campaigns.

Mandatory recycling policies in China’s megacities have had varying degrees of effectiveness, revealing a persistent gap between policy goals and actual public participation. Using a “perception-to-action” framework integrating environmental risk perception into the theory of planned behavior, this study quantitatively evaluated the psychological drivers of 4,983 urban residents. The findings demonstrate that the psychological mechanism driving recycling is not universal, with this heterogeneity being caused by two important factors: (1) an “infrastructure ceiling effect,” where the influence of perceived behavioral control on behavior diminishes as urban infrastructure matures; and (2) “demographic divergence,” where age, education, and income systematically alter the dominant psychological pathways from risk perception to action. Ultimately, effective urban recycling governance requires an abandonment of one-size-fits-all campaigns and should, instead, adopt “precision governance” that precisely targets social norms while adapting to the life cycle of urban infrastructure and the distinct psychological profiles of its residents.