The present work titled QRGB consists of the development of a Python application for generating QR codes using the additive color generation method (RGB). This innovative method increases the information density stored in QR codes by using three color layers (red, green, and blue), each representing a different data set. QRGB offers an efficient and secure solution for storing and transmitting large amounts of information in limited spaces, significantly improving the capabilities of traditional black-and-white QR codes.By using three color layers (red, green, and blue), QRGB codes can store up to three times more information in the same space. This technique not only increases storage capacity but also enhances information security, making it more difficult to counterfeit or manipulate the code. The superposition of multiple data layers allows for redundancy implementation, increasing the code's robustness against damage or reading errors.QRGB codes are especially useful in applications that require the transmission of large amounts of data in limited spaces, such as in the packaging industry, digital business cards, and interactive advertising. Additionally, they have great potential in areas such as document and ticket security, where the authenticity and integrity of information are crucial.These points provide a solid foundation for understanding the innovation and advantages of colored QR codes (QRGB) compared to traditional QR codes, highlighting their applicability and potential in various sectors.The Python application developed for QRGB utilizes advanced color image processing techniques, applying models and methods to generate and decode QR codes using the RGB color system, thus enhancing information density and security through the innovative use of additive color layers.

Here, we report the prediction of vegetative stages variables of canary bean crop by means of RGB and multispectral images obtained from UAV during the ripening stage, correlating the vegetation indices with biometric variables measured manually in the field. Results indicated a highly significant correlation of plant height with eight RGB image vegetation indices for the canary bean crop, which were used for predictive models, obtaining a maximum correlation of R2 = 0.79. On the other hand, the estimated indices of multispectral images did not show significant correlations.

Fusarium graminearum is a cereal pathogen responsible for economic losses worldwide every year. An understanding of its growth is key to control its infection, but current growth models are limited because their size-based approach provides little information about the mold's metabolism. Recently, a RGB (red, green and blue) imaging analysis demonstrated the predictability of F. graminearum color change as it grows in yeast extract agar (YEA). This study aimed to verify the same phenomenon in oats (a_w = 0.94, 0.97 and 0.99) and rice (a_w = 0.97, 0.98 and 0.99). Photos were taken using a professional camera and a smartphone (iPhone 6) after incubation and during the subsequent 16 days, and average RGB was quantified using ImageJ software. The photos showed very similar color variations, regardless of the type of grain or a_w. The mold first adopted a k-selection strategy by growing as a mycelium and then a r-selection strategy, increasing spore production. All RGB channels showed positive Pearson correlations between them (p < 0.001) and it was possible to design a model showing two lag phases, the first prior to a mycelial phase and the second prior to a sporular phase at the end of the experiment.

Deoxynivalenol (DON) is a well-known mycotoxin, responsible for outbreaks of gastrointestinal disorders in Japan. Fusarium graminearum, a parasite of cereal crops, produces this toxin and this is one of the reasons why it is important to understand its metabolism. It is possible to predict the mold’s color change and the quantity of DON synthesized throughout its lifecycle. Furthermore, a_w has been found to affect the amount of DON. This study aimed to analyze the potential of F. graminearum surface color as a predictor of DON concentration at a_w = 0.94, 0.97 and 0.99. Thus, 36 specimens were incubated at 25 °C, 12 at each a_w. After 4, 8, 12 and 16 days, 3 specimens from each a_w were collected for color analysis and DON quantification. For color analysis, photos were taken and red, green and blue (RGB) channels were measured on ImageJ software. DON was quantified through liquid chromatography (HPLC). Color changes were only observed at a_w = 0.99 because at lower a_w the molds presented high growth of white mycelium. Yet, DON increased in all cases. It was only possible to relate the colors with DON concentration at a_w = 0.99, where they presented inverse proportionality.

In recent years, the proliferation of digital communication systems has been fueled by the increasing use of connected devices in both consumer and industrial sectors. The predominant reliance on radio frequency communication for data transfer faces challenges due to physical limitations and regulatory restrictions on frequency ranges. Responding to these challenges, Visible Light Communication (VLC) has emerged as an innovative solution, utilising the visible light spectrum to modulate the intensity of light emitted by sources like white LEDs. This paper explores the feasibility of employing Red/Green/Blue (RGB) LEDs for three-dimensional visible light communications using off-the-shelves equipment. This type of communication is known as Wavelength Division Multiplexing (WDM) as data is encoded in the three colour wavelength. On-Off Keying (OOK) is used as modulation on each wavelength. Afterwards, the more efficient Orthogonal Frequency Division Multiplexing (OFDM) modulation scheme is explored. The implemented solution involves three emission circuits, each modulating the one colour component of the RGB LED current. The reception's side involves dichroic R/G/B colour filters and a Transimpedance Amplifier (TIA) circuit, with a Raspberry Pi 4 facilitating offline data decoding sampled by an Arduino UNO. The prototype demonstrates successful VLC communication with OOK modulation at distances up to 1.5m for red and blue LEDs and 0.75m for green LEDs, achieving data rates up to 800 bit/s.

Since it was proposed, the Robot Operating System (ROS) has fostered solutions for various problems in robotics in the form of ROS packages. One of these problems is Simultaneous Localization and Mapping (SLAM), a problem solved by computing the robot pose and a map of its environment of operation at the same time. The increasingly availability of robot kits ready to be programmed and also of RGB-D sensors often pose the question of which SLAM package should be used given the application requirements. When the SLAM subsystem must deliver estimates for robot navigation, as is the case of applications involving autonomous navigation, this question is even more relevant. This work introduces an experimental analysis of GMapping and RTAB-Map, two ROS compatible SLAM packages, regarding their SLAM accuracy, quality of produced maps and use of produced maps in navigation tasks. Our analysis aims ground robots equipped with RGB-D sensors for indoor environments and is supported by experiments conducted on datasets from simulation, benchmarks and from our own robot.

Size-based fungal growth studies have limitations. For example, the growth in size stops in closed systems once it reaches the borders and poorly describes the metabolic status, especially in the stationary phase. This might lead mycotoxin studies to unrealistic results. Color change could be a viable alternative as pigments are results of the mold’s metabolic activity. This study aimed to verify the possibility of using gray values and the RGB system to analyze the growth of Fusarium graminearum. It consisted color and area measurement using the ImageJ software for specimens grown in yeast extract agar (YEA). The results suggest the usability of color and gray values as reliable tools to analyze the growth of F. graminearum.

Remote Photoplethysmography (rPPG) has emerged as a non-intrusive and promising physiological sensing capability in HCI research, gradually extending its applications in health-monitoring and clinical care contexts. With advanced machine learning models, recent datasets collected in real-world conditions have gradually enhanced the performance of rPPG methods in recovering heart-rate and heart-rate variability metrics. However, the signal quality of reference ground-truth PPG data in existing datasets is by and large neglected, while poor quality references negatively influence models. Here, this work introduces a new imaging blood volume pulse (iBVP) dataset of synchronized RGB and thermal infrared videos with PPG ground-truth signals from the ear and its high resolution signal quality labels, for the first time. Participants perform rhythmic breathing, head-movement, and stress-inducing tasks, which help reflect real-world variations in psycho-physiological states. This work conducts dense (per sample) signal quality assessment to discard noisy segments of ground-truth and corresponding video frames. We further present a novel end-to-end machine learning framework, iBVPNet that features an efficient and effective spatio-temporal feature aggregation for reliable estimation of BVP signals. Finally, this work examines the feasibility of extracting BVP signals from thermal video frames, which is underexplored. The iBVP dataset and source codes are publicly available for research use.

This paper introduces PatchFusion, an innovative approach for nonrigid tracking and reconstruction of deformable objects using a single RGB-D sensor. Existing methods face challenges in accurately capturing the rapid deformations of soft and flexible objects, thereby limiting their utility in diverse scenarios. Our approach overcomes this challenge by employing a dynamic patch-based framework that adapts to rapid inter-frame motions. Firstly, patch-wise rigid transformation fields for non-overlapping patches are solved via Iterative Closest Point (ICP) by incorporating geometric features as additional similarity constraints, thereby enhancing robustness and accuracy. Secondly, deformation optimization based on a nonrigid solver is applied to refine the coarse transformation fields. In order to enable simultaneous tracking and reconstruction of deformable objects, the patch-based rigid solver is designed to run in parallel with the nonrigid solver, serving as a plug-and-play module requiring minimal modifications for integration while enabling real-time performance. Following a comprehensive evaluation, PatchFusion showcases superior performance in effectively dealing with rapid inter-frame deformations when compared to existing techniques, rendering it a promising solution with broad applicability across domains such as robotics, computer vision, and human-computer interaction.

In order to apply visible light communication systems in different scenarios, this article utilizes an excellent temperature adjustable light source mixed with RGB LEDs, and applies it in a visible light communication system. It utilizes color division multiplexing technology to achieve three-channel communication, thereby improving the communication bandwidth of the system. The communication system adopts three constant current driving circuits to control the duty cycle of Pulse Width Modulation (PWM) of each channel, thereby changing the proportion of RGB LEDs, and obtaining different color temperatures to achieve the purpose of color control for mixed color LEDs. The experimental results show that when adjusting the color temperature, the change in luminous flux is very small, with fluctuations of less than 2.24%; When adjusting the brightness, the color temperature fluctuation is within 40K, which is less than the 50K color temperature limit that the human eye can distinguish, and the average color temperature error is 0.609%; Color tolerance less than 5.5×10-3 indicates good dimming effect, and the communication performance of the system is better in the high color temperature range, which is significantly superior to the low color temperature range. When the error rate is below 3.8×10-3, the total modulation bandwidth of the three channels reaches 11.7 MHz.

Emerging applications of optical technologies are driving the development of miniaturised light sources, which in turn require the fabrication of matching micro-optical elements with sub-1 mm cross sections and high optical quality. This is particularly challenging for spatially-constrained biomedical applications where reduced dimensionality is required, such as endoscopy, optogenetics, or optical implants. Planarisation of a lens by the Fresnel lens approach was adapted for a conical lens (axicon) and was made by direct femtosecond 780 nm/100 fs laser writing in SZ2080™polymer with photo-initiator. Optical characterisation of the positive and negative fraxicons is presented. Numerical modeling of fraxicon optical performance under illumination by incoherent and spatially extended light sources is compared with the ideal case of plane wave illumination. Considering the potential for rapid replication in soft polymers and resists, this approach holds great promise for the most demanding technological applications.

Vegetation indexes help perform precision farming because they provide useful information regarding moisture, nutrient content, and crop health. Primary sources of those indexes are satellites and unmanned aerial vehicles equipped with expensive multispectral sensors. Reducing the price of obtaining such information would increase the availability of precision farming for small farms. Several studies have proposed deep neural network methods to estimate the indexes from RGB color images. However, these methods report relatively large errors for mature plants when highly non-linear relationships of images and vegetation indexes arise. One could apply multilayer random forest-based models (Deep Forests) to solve this problem, but the discriminative power of such models is limited: they cannot catch complex dependencies between image features. In this paper, we propose a method that combines ideas of deep forests, random forests of kernel trees, and global pruning of random forests to tackle the problem. As a result, the method considers the properties of objects with a complex structure: the presence of relationships between groups of features, displacement, and scaling of objects. The experimental results show that the proposed method outperforms neural network-based solutions in several datasets.

Enhancing underwater images in epicontinental sea is a challenging problem owing to the influence of ocean currents, the refraction, absorption and scattering of light by suspended particles, and the weak illumination intensity. Recently, different methods have relied on the underwater image formation model and deep learning techniques to restore the underwater image, but they tend to degrade underwater image, interference of background clutter and miss boundary details of blue regions. Improved image fusion and enhancement algorithm based on a priori dark channel is proposed in this paper. Image edge features sharpening and dark detail enhancement by homomorphism filtering in CIELab color space is realized. In RGB color space, the multi-scale retinal with color restoration (MSRCR) algorithm is used to improve color deviation and enhance color saturation, and the contrast-limited adaptive histogram equalization (CLAHE) algorithm is used to de fog and enhance image contrast. Finally, according to the dark channel images of the three processing results, the final enhanced image is obtained by linear fusion of multiple images and multiple channels. Experimental results demonstrate the effectiveness and practicality of the proposed method on various datasets.

Kinect is a device that has been widely used in many areas since it was released in 2010. Kinect SDK was announced in 2011 and used in many other areas than its original purpose, which was a controller for gaming. In particular, it has been used by a number of artists in digital media art since it is inexpensive and has a fast recognition rate. However, there is a problem. Kinect create 3D coordinates with a single 2D RGB image for x, y value - single depth image for z value. And this creates a significant limitation on the installation for interactivity of media art. Because the Cartesian XY coordinate and the spherical Z coordinate system are used in combination, depth error depending on the distance is generated, which makes real-time rotation recognition and coordinate correction difficult above coordinate system. This paper proposes a real-time calibration method of Kinect recognition range expansion for useful application in the digital media art area. The proposed method can recognize the viewer accurately by calibrating a coordinate in any direction in front of the viewer. 3,400 datasets witch acquire from experiment were measured as five stances: the 1m attention stance, 1m hands-up stance, 2m attention stance, 2m hands-up stance, and 2m hands-half-up stance, which were taken and recorded every 0.5 sec. The experimental results showed that the accuracy rate was improved about 11.5% compared with front measurement data according to Kinect reference installation method.

Abstract: The two-dimensional Fuzzy Transform was applied in image compression. The quality of the image compressed with this methodis better than that obtained using methods based on fuzzy relation equations and comparable with that of the JPEG method, with better compression execution times. In this paper we propose a variation of the method based on the two-dimensional Fuzzy Transform of image compression, in which the image is first partitioned into blocks and then each block is compressed with the higher compression rate. The advantage of this method consistsinto a greater compression of the image, guaranteeing a high quality of the reconstructed image.The results show that our method is better than the Fuzzy Transform method improving also the quality of the reconstructed image.

Phenology is one of the ubiquitous fingerprints of climate change on our ecosystems. Monitoring the spatiotemporal patterns of vegetation phenology is thus critical. A wide range of sensors have been used to monitor vegetation phenology. Sensor point of view and resolution can potentially impact estimates of phenology. We compared three different sensors from three different remote sensing platforms—a UAV mounted RGB camera, an under canopy, upward facing hemispherical camera with R, G and NIR capabilities, and a tower mounted RGB PhenoCam—to estimate spring phenological transition in a mixed-species temperate forest in central Virginia, USA. Our study had two objectives: 1) to compare the above- and below- canopy inference of canopy greenness (green chromatic coordinate and normalized difference vegetation index) and canopy structural attributes (leaf area and gap fraction) by matching under-canopy hemispherical photos with high spatial resolution (0.03 m) drone imagery to find the appropriate spatial coverage and resolution for comparison; 2) to compare how each sensor performed in estimating the temporality of the spring phenological transition. We find that a spatial buffer of 20 m radius for UAV imagery is most closely comparable to under-canopy imagery in this system. Sensors and platforms agree within +/- 5 days of when canopy greenness stabilizes from the spring phenophase into the growing season. This work has implications for paring UAV imagery with both tower-based observation platforms, as well as plot-based studies (e.g. long-term monitoring, existing research networks, permanent plots).

The 3D reconstruction method using RGB-D camera has a good balance in hardware cost, point cloud quality and automation. However, due to the limitation of inherent structure and imaging principle, the acquired point cloud has problems such as a lot of noise and difficult registration. This paper proposes a three-dimensional reconstruction method using Azure Kinect to solve these inherent problems. Shoot color map, depth map and near-infrared image of the target from six perspectives by Azure Kinect sensor. Multiply the 8-bit infrared image binarization with the general RGB-D image alignment result provided by Microsoft to remove ghost images and most of the background noise. In order to filter the floating point and outlier noise of the point cloud, a neighborhood maximum filtering method is proposed to filter out the abrupt points in the depth map. The floating points in the point cloud are removed before generating the point cloud, and then using the through filter filters out outlier noise. Aiming at the shortcomings of the classic ICP algorithm, an improved method is proposed. By continuously reducing the size of the down-sampling grid and the distance threshold between the corresponding points, the point clouds of each view are continuously registered three times, until get the complete color point cloud. A large number of experimental results on rape plants show that the point cloud accuracy obtained by this method is 0.739mm, a complete scan time is 338.4 seconds, and the color reduction is high. Compared with a laser scanner, the proposed method has considerable reconstruction accuracy and a significantly ahead of the reconstruction speed, but the hardware cost is much lower and it is easy to automate the scanning system. This research shows a low-cost, high-precision 3D reconstruction technology, which has the potential to be widely used for non-destructive measurement of crop phenotype.

Color distortion in an image poses a challenge for classification and regression when the input data consists of pictures. Because of that, a new algorithm for color standardization of photos is proposed, which serves as a base for a deep neural network regression model. This approach utilizes a custom color template, which was developed based on an initial series of studies and digital imaging. Using the equalized histogram of R, G, B channels from the digital template and its photo, a color mapping strategy is computed. By applying this approach, the histograms are adjusted, and the colors of photos taken with a smartphone are standardized. The proposed algorithm has been developed for a series of photos where the entire surface roughly maintains a uniform color, and the differences in color between the photographs of individual objects are minor. The optimized approach was validated in the colorimetric determination procedure of vitamin C. The dataset for deep neural network in the regression variant was formed from photos of samples under two separate lighting conditions. For the concentration range of vitamin C from 0 to 87.72 µg·mL-1, the RMSE for the test set ranged between 0.75 and 1.95 µg·mL-1, in comparison to the non-standardized variant, where this indicator was at the level of 1.48-2.29 µg·mL-1. The consistency of the predicted concentration results with actual data expressed using R2 was between 0.9956 and 0.9999, for each of the standardized variants. This approach allows for the removal of light reflections on the shiny surface of solutions, which is a common problem in liquid samples. The color matching algorithm has a universal character, and its application scope is not limited.

Это исследование сосредоточено на разработке системы искусственного зрения для гибкого дельта-робота-манипулятора и ее интеграции с межмашинной связью для оптимизации взаимодействия устройств в реальном времени. Эта интеграция направлена ​​на увеличение скорости роботизированной системы и улучшение ее общей производительности. Предлагаемое сочетание системы искусственного зрения с межмашинной связью позволяет обнаруживать и распознавать цели с высокой точностью в режиме реального времени в ограниченном пространстве, предназначенном для позиционирования, дальнейшей локализации и выполнения производственных процессов, таких как сборка или сортировка деталей. . В данном исследовании RGB-изображения используются в качестве входных данных для алгоритма MASK-R-CNN, а результаты обрабатываются в соответствии с особенностями прототипа дельта-манипулятора робота. Данные, полученные от MASK-R-CNN, адаптированы для использования в системе управления дельта-роботом с учетом ее уникальных характеристик и требований к позиционированию. Технология M2M позволяет манипулятору робота быстро реагировать на изменения, например, на перемещение объектов или изменение их положения, что имеет решающее значение для задач сортировки и упаковки. Система была протестирована в условиях, близких к реальным, чтобы оценить ее производительность и надежность.

Light Detection and Ranging (LiDAR) technology, a cutting-edge advancement in mobile applications, presents a myriad of compelling use cases, including enhancing low-light photography, capturing and sharing 3D images of fascinating objects, and elevating the overall augmented reality (AR) experience. However, its widespread adoption has been hindered by the prohibitive costs and substantial power consumption associated with its implementation. To surmount these obstacles, this paper proposes a low-power, low-cost, SPAD-based system-on-chip (SoC) which packages the microlens arrays (MLA) and incorporates with a light-weight RGB-guided sparse depth imaging completion neural network for 3D LiDAR imaging. The proposed SoC integrates an 8x8 Single-Photon Avalanche Detectors (SPADs) macro pixel array with time-to-digital converters (TDC) and charge pump, fabricated using a 180nm bipolar-CMOS-DMOS (BCD) process. A random MLA-based homogenizing diffuser efficiently transforms Gaussian beams into flat-topped beams with a 45° field of view (FOV), enabling flash projection at the transmitter. To further enhance resolution and broaden application possibilities, a lightweight neural network employing RGB-guided sparse depth complementation is proposed, enabling a substantial expansion of image resolution from 8x8 to quarter video graphics array level (QVGA; 256x256). Experimental results demonstrate the effectiveness and stability of the hardware encompassing the SoC and optical system, as well as the lightweight features and accuracy of the algorithmic neural network. This integrated state-of-the-art hardware-software solution offers a promising and inspiring foundation for developing consumer-level 3D imaging applications.

This paper has two major parts. In the first part histogram equalization for the image enhancement was implemented without using the built-in function in MATLAB. Here, at first, a color image of a rat was chosen and the image was transformed into a grayscale image. After this conversion, histogram equalization was implemented on the grayscale image. Later on, in the same image for each RGB channel, histogram equalization was implemented to observe the effect of histogram equalization on each channel. In the end, the histogram equalization was implemented to this specific color image of a rat. In the second part, for the grayscale image in part 1, the desired histogram of another colored image of a rat was introduced and histogram specification was implemented on the original colored image.

This paper has two major parts. In the first part histogram equalization for the image enhancement was implemented without using the built-in function in MATLAB. Here, at first, a color image of a rat was chosen and the image was transformed into a grayscale image. After this conversion, histogram equalization was implemented on the grayscale image. Later on, in the same image for each RGB channel, histogram equalization was implemented to observe the effect of histogram equalization on each channel. In the end, the histogram equalization was implemented to this specific color image of a rat. In the second part, for the grayscale image in part 1, the desired histogram of another colored image of a rat was introduced and histogram specification was implemented on the original colored image.

This paper describes the first results of an Image Recognition Based Location (IRBL) for mobile application focusing on the procedure to generate a Database of range images (RGB-D). In an indoor environment, to estimate the camera position and orientation, a prior spatial knowledge of the surrounding is needed. In order to achieve this objective a complete 3D survey of two different environment (Bangbae metro station of Seoul and E.T.R.I. building in Daejeon – Republic of Korea) was performed using LiDAR (Light Detection And Ranging) instrument and the obtained scans were processed in order to obtain a spatial model of the environments. From this, two databases of reference images were generated using a specific software realized by the Geomatics group of Politecnico di Torino (ScanToRGBDImage). This tool allow to generate synthetically different RGB-D images) centered in the each scan position in the environment. Later, the external parameters (X, Y, Z, ω, φ, κ) and the range information extracted from the DB images retrieved, are used as reference information for pose estimation of a set of acquired mobile pictures in the IRBL procedure. In this paper the survey operations, the approach for generating the RGB-D images and the IRB strategy are reported. Finally the analysis of the results and the validation test are described.

Unmanaged forest ecosystems play a critical role in addressing the ongoing climate and biodiversity crises. As there is no commercial interest in monitoring the health and development of such inaccessible habitats, low-cost assessment approaches are needed. We used a method combining RGB imagery acquired using an Unmanned Aerial Vehicle (UAV), Sentinel-2 data and field surveys to determine the carbon stock of an unmanaged forest in the UNESCO World Heritage Site wilderness area Dürrenstein-Lassingtal in Austria. The entry-level consumer drone (DJI Mavic Mini) and free of charge Sentinel-2 multispectral datasets were used for the evaluation. We merged the Sentinel-2 derived vegetation index NDVI with aerial photogrammetry data and used an orthomosaic and a Digital Surface Model (DSM) to map the extent of woodland in the study area. The Random Forest (RF) Machine Learning (ML) algorithm was used to classify land cover. Based on the acquired field data, the average carbon stock per hectare of forest was determined to be 371.423 ± 51.106 t of CO2 and applied to the ML-generated classification. An overall accuracy of 80.8% with a Cohen’s kappa value of 0.74 was achieved for the land cover classification, while the carbon stock of the living Above-Ground Biomass (AGB) was estimated with an accuracy of -1.0% (± 5.9%). In conclusion, the proposed approach demonstrated that the combination of low-cost remote sensing data and field work can predict above-ground biomass with high accuracy. The results and the estimation error distribution highlight the importance of accurate field data.

In this paper, an intelligent blind guide system based on 2D LiDAR and RGB-D camera sensing is proposed, and the system is mounted on the smart cane. The intelligent guide system relies on 2D LiDAR, RGB-D camera, IMU, GPS, Jetson nano B01, STM32 and other hardware. The main advantage of the intelligent guide system proposed by us is that the distance between the smart cane and obstacles can be measured by 2D LiDAR based on Cartographer algorithm, thus achieving Simultaneous localization and mapping (SLAM). At the same time, through the improved yolov5 algorithm, pedestrians, vehicles, pedestrian crosswalks, traffic lights, warning posts, stone piers, tactile paving and other objects in front of the visually impaired can be quickly and effectively identified. Laser SLAM and improved yolov5 obstacle identification tests were carried out inside a teaching building on the campus of Hainan Normal University and on a pedestrian crossing on Longkun South Road in Haikou City, Hainan Province. The results show that the intelligent guide system developed by us can drive the wheels and omnidirectional wheels at the bottom of the smart cane, and give the smart cane a self-leading blind guide function like a "guide dog", which can effectively guide the visually impaired to avoid obstacles and reach the predetermined destination, and can quickly and effectively identify the obstacles on the way out. The laser SLAM speed of this system is 25~31FPS, which can realize the short-distance obstacle avoidance and navigation function both in indoor and outdoor envionments. The improved yolov5 helps to identify 86 types of objects, the recognition rate for pedestrian crosswalks and for vehicles are 84.6% and 71.8%, respectively; the overall recognition rate for 86 types of objects is 61.2%, and the obstacle recognition rate of the intelligent guide system is 25-26FPS.

Phenotyping is the task of measuring plant attributes for analyzing the current state of the plant. In agriculture, phenotyping can be used to make decisions concerning the management of crops, such as the watering policy, or whether to spray for a certain pest. Currently, large scale phenotyping in fields is typically done using manual labor, which is a costly, low throughput process. Researchers often advocate the use of automated systems for phenotyping, relying on the use of sensors for making measurements. The recent rise of low cost, yet reasonably accurate, RGB-D sensors has opened the way for using these sensors in field phenotyping applications. In this paper, we investigate the applicability of 4 different RGB-D sensors for this task. We conduct an outdoor experiment, measuring plant attribute in various distances and light conditions. Our results show that modern RGB-D sensors, in particular, the Intel D435 sensor, provides a viable tool for close range phenotyping tasks in fields.

The application of smartphone-based color evaluation of passive sampling devices for gases has only been sparsely reported. The present review aims to compile available publications with respect to the configuration of the passive samplers, conditions of smartphone photographing, analytical procedure for color detection and quantification (including calibration processes), and their application to different target gases. The performance of the methods - whenever available - is presented regarding the analytical specifications selectivity, sensitivity, and limit of detection in comparison with other color evaluation methods of passive samplers. Practical aspects like requirements of instrumentation and ease of use will be outlined in view of the potential employment in education and citizen science projects. In one section of the review the inconsistent terminology of passive and diffusive sampling is discussed in order to clarify the distinction of information obtained from the uptake of the passive samplers between gas-phase concentration and the accumulated deposition flux of gaseous analytes. Colorimetric gas sensors are included in the review when applied in passive sampling configurations and evaluation is performed with smartphone-based color evaluation. Differences in the analytical procedures employed after the passive sampling step and prior to the detection of the colored compounds are also presented.

This work addresses the problem of automatic head pose estimation and its application in 3D gaze estimation using low quality RGB--D sensors without any subject cooperation or manual intervention. The previous works on 3D head pose estimation using RGB--D sensors require either an offline step for supervised learning or 3D head model construction which may require manual intervention or subject cooperation for complete head model reconstruction. In this paper, we propose a 3D pose estimator based on low quality depth data, which is not limited by any of the aforementioned steps. Instead, the proposed technique relies on modeling the subject's face in 3--D rather than the complete head, which in turn, relaxes all of the constraints with the previous works. The proposed method is robust, highly accurate and fully automatic. Moreover, it does not need any offline step. Unlike some of the previous works, the method only uses depth data for pose estimation. The experimental results on the Biwi head pose database confirm the efficiency of our algorithm in handling large pose variations and partial occlusion. We also evaluate the performance of our algorithm on IDIAP database for 3D head pose and eye gaze estimation.

This study aims to clarify the influence of photographic environments under different light sources on image-based SPAD value prediction. Radish leaf patches of 1.5 cm diameter were photographed under halogen or LED light. The input variables for the SPAD value prediction using random forests were RGB values, HSL values, and HSV values. Additionally, the light color temperature (LCT) and illuminance (ILL) were used as the input variables. Model performance was assessed using Pearson’s correlation coefficient (COR), Nash-Sutcliffe efficiency (NSE), and root mean squared error (RMSE). SPAD value prediction resulted in high accuracy in a stable light environment; CORRGB+ILL+LCT and CORHSL+ILL+LCT were 0.929 and 0.922, respectively. Image-based SPAD value prediction was effective under halogen light with a similar color temperature at dusk; CORRGB+ILL and CORHSL+ILL were 0.895 and 0.876, respectively. The HSL value under LED could be used to predict the SPAD value with high accuracy; COR, NSE, and RMSE were 0.972, 0.944, and 2.07, respectively. The partial dependence plots of the H value indicate a change from blue to green with increasing SPAD values. Further studies are required to examine this method under outdoor conditions in spatiotemporally dynamic light environments.

Forest canopy gaps are important for the ecosystem dynamics. Depending on tree species, small canopy openings might be also associated to intra-crown porosity and to space between crowns. Yet, little is known on the relationships between the fine-scaled pattern of canopy openings and biodiversity features. This research explored the possibility of i)- mapping forest canopy gaps from a very high resolution orthomosaic (10 cm), processed from a versatile imaging platform such as unmanned aerial vehicles (UAV), ii)- to derive patch metrics that can be tested as covariates of variables of interest for forest biodiversity monitoring. This is attempted in a test area of 240 ha covered by temperate deciduous forest types in Central Italy and containing 50 forest inventory plots of about 530 m². Correlation and linear regression techniques were used to explore relationships between patch metrics and understorey (density, development and species diversity) or forest habitat biodiversity variables (density of micro-habitat bearing trees, vertical species profile, tree species diversity). The results revealed that small openings in the canopy cover (75% smaller than 7 m²) can be faithfully extracted from UAV RGB imagery, using the red band and contrast split segmentation. Highest correlations were observed in the mixed forest (beech and turkey oak), while beech forest had the poorest ones and turkey oak forest displayed intermediate results. Moderate to strong linear relationships were found between gap metrics and understorey variables in mixed forest type, with adjusted R² from linear regression ranging from 0.52 to 0.87. Equally good results, in the same forest types, were observed for forest habitat biodiversity variables (0.52<adjusted R²<0.79) with highest values found for density of trees with microhabitats and vertical species profile. In conclusion, this research highlights that UAV remote sensing can potentially provide covariate surfaces of variables of interest for forest biodiversity monitoring, conventionally collected in forest inventory plots. By integrating the two sources of data, these variables can be mapped over small forest areas with satisfactory levels of accuracy, at a much higher spatial resolution than would be possible by field-based forest inventory solely.

To follow the growth and development of each tree (N = 1200) Pinus sylvestris L., var. Negorelskaya starting from the seed and continuing at the juvenile (or even generative) stage is the goal of an ambitious project to create a plant passport if possible. Five datasets of replenished empirical (tab-ular and file) and systematic data reflect the early results of a unique ongoing experiment conducted with families moved along a climatic gradient from the collection area (1731 degree days, 722 mm) to the experimental area (2326 degree days; 786 mm). Datasets of morphometric, VIS-spectrometric, and germination seed data, combined with the first results of biometric data (including the Dickson quality index) of seedlings produced from these seeds, will allow scientists in the future to conduct correlation and other statistical analysis, or train a neural network to determine the presence of connections between a seed and a plant. These data contribute to the early non-destructive diag-nosis and grading of seeds according to VIS-spectrometric properties. This dataset structure can complement the FLR-Library. In the future, by tracing seedlings in their early growth (for example, over three growing seasons at the site being restored), it will be possible to determine the degree of intensification of FRM production depending on the initial properties of the seed.