Qing Tian

Underwater laser range-gated imaging (ULRGI) effectively suppresses water backscattering via time-slicing mechanisms, making it a primary modality for underwater vision. However, factors such as the inherent optical properties of water, intra-slice residual scattering, gating timing errors, and sensor noise make it difficult to separate target signals from the background. Consequently, the resulting images are generally affected by texture degradation and low contrast, severely limiting the accuracy of downstream tasks like object detection and environmental perception. To this end, we propose the use of a Wavelet-guided Multi-stage Gated Enhancement Network (WMGNet). Operating progressively across three stages, WMGNet’s first two stages employ an encoder–decoder architecture that leverages multi-scale frequency decomposition in the wavelet domain to pinpoint intra-slice scattering and decouple target signals from noise. To precisely extract fine details, we design a TextureBlock integrating feature gating (ConvGLU) and high-frequency attention (HFAttention). Additionally, a pixel-wise ground-truth guided attention module (GGAM) is introduced to optimize the precision and target-specificity of multi-stage feature fusion. Extensive comparative and ablation experiments demonstrate that the proposed WMGNet effectively eliminates scattering interference and restores texture details in underwater imaging. On our custom ULRGI dataset, it achieves state-of-the-art performance with a PSNR of 36.31 dB, an SSIM of 0.921, an MAE of 2.672, and an LPIPS of 0.060. Notably, it outperforms the second-best method by a margin of 3.06 dB in PSNR and reduces the MAE by 50.69%. Furthermore, evaluations on three public datasets confirm its robust cross-scenario generalization, yielding competitive PSNR values of 33.22 dB, 31.59 dB, and 32.06 dB, respectively. Overall, WMGNet provides a highly effective and robust solution for high-resolution underwater imaging.

Accurate recognition of milling tool wear states is vital for ensuring machining quality and equipment reliability. This paper proposes a multimodal large language model (LLM)-based framework that fuses time-series sensor data and textual machining parameters into a unified embedding representation processed by a modified Qwen2.5 backbone. To enhance nonlinear representation capability and domain adaptability, the model integrates a SwiGLU-activated output head and employs an Enhanced Low-Rank Adaptation (LoRA) strategy for efficient fine-tuning under variable machining conditions. Experiments conducted on the PHM2010 dataset demonstrate that the proposed approach achieves 94.70% accuracy and an F1-score of 0.94, significantly outperforming conventional deep learning and Transformer-based baselines. These results confirm the effectiveness of the proposed multimodal fusion strategy and highlight the strong potential of multimodal large language models in intelligent manufacturing applications.

Underwater laser range-gated imaging (ULRGI) effectively suppresses backscatter from water bodies through a time-gated photon capture mechanism, significantly extending underwater detection ranges compared to conventional imaging techniques. However, as imaging distance increases, rapid laser power attenuation causes localized pixel loss in captured images. To address ULRGI’s limitations in multi-frame stacking—particularly poor real-time performance and artifact generation—this paper proposes the Photon-Level Physically Guided Underwater Laser-Gated Image Restoration Network (PLPGR-Net). To overcome image degradation caused by water scattering and address the challenge of strong coupling between target echo signals and scattering noise, we designed a three-branch architecture driven by photon-level physical priors. This architecture comprises: scattering background suppression module, sparse photon perception module, and enhanced U-Net high-frequency information recovery module. By establishing a multidimensional physical constraint loss system, we guide image reconstruction across three dimensions—pixels, features, and physical laws—ensuring the restored results align with underwater photon distribution characteristics. This approach significantly enhances operational efficiency in critical applications such as underwater infrastructure inspection and cultural relic detection. Comparative experiments using proprietary datasets and state-of-the-art denoising and underwater image restoration algorithms validate the method’s outstanding performance in deeply integrating physical interpretability with deep learning generalization capabilities.

Autonomous vehicle technology is advancing, with 3D object detection based on point clouds being crucial. However, point clouds’ irregularity, sparsity, and large data volume, coupled with irrelevant background points, hinder detection accuracy. We propose a two-stage multi-scale 3D object detection network. Firstly, considering that a large number of useless background points are usually generated by the ground during detection, we propose a new ground filtering algorithm to increase the proportion of foreground points and enhance the accuracy and efficiency of the two-stage detection. Secondly, given that different types of targets to be detected vary in size, and the use of a single-scale voxelization may result in excessive loss of detailed information, the voxels of different scales are introduced to extract relevant features of objects of different scales in the point clouds and integrate them into the second-stage detection. Lastly, a multi-scale feature fusion module is proposed, which simultaneously enhances and integrates features extracted from voxels of different scales. This module fully utilizes the valuable information present in the point cloud across various scales, ultimately leading to more precise 3D object detection. The experiment is conducted on the KITTI dataset and the nuScenes dataset. Compared with our baseline, “Pedestrian” detection improved by 3.37–2.72% and “Cyclist” detection by 3.79–1.32% across difficulty levels on KITTI, and was boosted by 2.4% in NDS and 3.6% in mAP on nuScenes.

With the increasing demand from unmanned driving and robotics, more attention has been paid to point-cloud-based 3D object accurate detection technology. However, due to the sparseness and irregularity of the point cloud, the most critical problem is how to utilize the relevant features more efficiently. In this paper, we proposed a point-based object detection enhancement network to improve the detection accuracy in the 3D scenes understanding based on the distance features. Firstly, the distance features are extracted from the raw point sets and fused with the raw features regarding reflectivity of the point cloud to maximize the use of information in the point cloud. Secondly, we enhanced the distance features and raw features, which we collectively refer to as self-features of the key points, in set abstraction (SA) layers with the self-attention mechanism, so that the foreground points can be better distinguished from the background points. Finally, we revised the group aggregation module in SA layers to enhance the feature aggregation effect of key points. We conducted experiments on the KITTI dataset and nuScenes dataset and the results show that the enhancement method proposed in this paper has excellent performance.

With increasing demand from unmanned driving and robotics, more attention has been paid to point cloud-based 3D object accurate detection technology. However, due to the sparseness and irregularity of the point cloud, the most critical problem is how to utilize the relevant features more efficiently. In this paper, we proposed a point-based object detection enhancement network to improve the detection accuracy in the 3D scenes understanding based on the distance features. Firstly, the distance features are extracted from the raw point sets and fused with the raw features about reflectivity of the point cloud to maximizing the use of information in point cloud. Secondly, we enhanced the distance features and raw features that we collectively refer to them as self-features of the key points in Set Abstraction (SA) layers with the self-attention mechanism, so that the foreground points can be better distinguished from the background points. Finally, we revised the group aggregation module in SA layers to enhance the feature aggregation effect of key points. We conducted experiments on the KITTI dataset and nuScenes dataset and the results show the enhancement method proposed in this paper has excellent performance.

In driverless systems (scenarios such as subways, buses, trucks, etc.), multi-modal data fusion, such as light detection and ranging (LiDAR) points and camera images, is essential for accurate 3D object detection. In the fusion process, the information interaction between the modes is challenging due to the different coordinate systems of various sensors and the significant difference in the density of the collected data. It is necessary to fully consider the consistency and complementarity of multi-modal information, make up for the gap between multi-source data density, and achieve the joint interactive processing of multi-source information. Therefore, this paper is based on Transformer to improve a new multi-modal fusion model called PIDFusion for 3D object detection. Firstly, the method uses the results of 2D instance segmentation to generate dense 3D virtual points to enhance the original sparse 3D point clouds. This optimizes the issue that the nearest Euclidean distance in the 2D image space cannot ensure the nearest in the 3D space. Secondly, a new cross-modal fusion architecture is designed to maintain individual per-modality features to take advantage of their unique characteristics during 3D object detection. Finally, an instance-level fusion module is proposed to enhance semantic consistency through cross-modal feature interaction. Experiments show that PIDFusion is far ahead of existing 3D object detection methods, especially for small and long-range objects, with 70.8 mAP and 73.5 NDS on the nuScenes test set.

In recent years, semantic segmentation of high-resolution remote sensing images has been gradually applied to many important scenes. However, with the rapid development of remote sensing data acquisition technology, the existing image data processing methods are facing major challenges. Especially in the accuracy of extraction and the integrity of the edges of objects, there are often problems such as small objects being assimilated by large objects. In order to solve the above problems, based on the excellent performance of Transformer, convolution and its variants, and feature pyramids in the field of deep learning image segmentation, we designed two encoders with excellent performance to extract global high-order interactive features and low-order local feature information. These encoders are then used as the backbone to construct a global and local feature fusion network with a dual encoder (GLFFNet) to effectively complete the segmentation of remote sensing images. Furthermore, a new auxiliary training module is proposed that uses the semantic attention layer to process the extracted feature maps separately, adjust the losses, and more specifically optimize each encoder of the backbone, thus optimizing the training process of the entire network. A large number of experiments show that our model achieves 87.96% mIoU on the Potsdam dataset and 80.42% mIoU on the GID dataset, and it has superior performance compared with some state-of-the-art methods on semantic segmentation tasks in the field of remote sensing.

Automotive radar pursues low cost and high performance, and especially hopes to improve the angular resolution under the condition of a limited number of multiple-input–multiple-output (MIMO) radar channels. Conventional time division multiplexing (TDM) MIMO technology has a limited ability to improve the angular resolution without increasing the number of channels. In this paper, a random time division multiplexing MIMO radar is proposed. First, the non-uniform linear array (NULA) and random time division transmission mechanism are combined in the MIMO system, and then a three-order sparse receiving tensor of a range-virtual aperture-pulse sequence is obtained during echo receiving. Next, this sparse three-order receiving tensor is recovered by using tensor completion technology. Finally, the range, velocity and angle measurements are completed for the recovered three-order receiving tensor signals. The effectiveness of this method is verified via simulations.

In recent years, the application of semantic segmentation methods based on the remote sensing of images has become increasingly prevalent across a diverse range of domains, including but not limited to forest detection, water body detection, urban rail transportation planning, and building extraction. With the incorporation of the Transformer model into computer vision, the efficacy and accuracy of these algorithms have been significantly enhanced. Nevertheless, the Transformer model’s high computational complexity and dependence on a pre-training weight of large datasets leads to a slow convergence during the training for remote sensing segmentation tasks. Motivated by the success of the adapter module in the field of natural language processing, this paper presents a novel adapter module (ResAttn) for improving the model training speed for remote sensing segmentation. The ResAttn adopts a dual-attention structure in order to capture the interdependencies between sets of features, thereby improving its global modeling capabilities, and introduces a Swin Transformer-like down-sampling method to reduce information loss and retain the original architecture while reducing the resolution. In addition, the existing Transformer model is limited in its ability to capture local high-frequency information, which can lead to an inadequate extraction of edge and texture features. To address these issues, this paper proposes a Local Feature Extractor (LFE) module, which is based on a convolutional neural network (CNN), and incorporates multi-scale feature extraction and residual structure to effectively overcome this limitation. Further, a mask-based segmentation method is employed and a residual-enhanced deformable attention block (Deformer Block) is incorporated to improve the small target segmentation accuracy. Finally, a sufficient number of experiments were performed on the ISPRS Potsdam datasets. The experimental results demonstrate the superior performance of the model described in this paper.