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Weak repeatability is observed in handcrafted keypoints, leading to tracking failures in visual simultaneous localization and mapping (SLAM) systems under challenging scenarios such as illumination change, rapid rotation and large angle of view variation. In contrast, learning-based keypoints exhibit higher repetition but entail considerable computational costs. This paper proposes an innovative algorithm for keypoint extraction, aiming to strike an equilibrium between precision and efficiency. This paper aims to attain accurate, robust and versatile visual localization in scenes of formidable complexity.

SiLK-SLAM initially refines the cutting-edge learning-based extractor, SiLK, and introduces an innovative postprocessing algorithm for keypoint homogenization and operational efficiency. Furthermore, SiLK-SLAM devises a reliable relocalization strategy called PCPnP, leveraging progressive and consistent sampling, thereby bolstering its robustness.

Empirical evaluations conducted on TUM, KITTI and EuRoC data sets substantiate SiLK-SLAM’s superior localization accuracy compared to ORB-SLAM3 and other methods. Compared to ORB-SLAM3, SiLK-SLAM demonstrates an enhancement in localization accuracy even by 70.99%, 87.20% and 85.27% across the three data sets. The relocalization experiments demonstrate SiLK-SLAM’s capability in producing precise and repeatable keypoints, showcasing its robustness in challenging environments.

The SiLK-SLAM achieves exceedingly elevated localization accuracy and resilience in formidable scenarios, holding paramount importance in enhancing the autonomy of robots navigating intricate environments. Code is available at https://github.com/Pepper-FlavoredChewingGum/SiLK-SLAM.

This study aims to achieve superior localization and mapping performance in point cloud degradation scenarios through the effective removal of dynamic obstacles. With the continuous development of various technologies for autonomous vehicles, the LIDAR-based Simultaneous localization and mapping (SLAM) system is becoming increasingly important. However, in SLAM systems, effectively addressing the challenges of point cloud degradation scenarios is essential for accurate localization and mapping, with dynamic obstacle removal being a key component.

This paper proposes a method that combines adaptive feature extraction and loop closure detection algorithms to address this challenge. In the SLAM system, the ground point cloud and non-ground point cloud are separated to reduce the impact of noise. And based on the cylindrical projection image of the point cloud, the intensity features are adaptively extracted, the degradation direction is determined by the degradation factor and the intensity features are matched with the map to correct the degraded pose. Moreover, through the difference in raster distribution of the point clouds before and after two frames in the loop process, the dynamic point clouds are identified and removed, and the map is updated.

Experimental results show that the method has good performance. The absolute displacement accuracy of the laser odometer is improved by 27.1%, the relative displacement accuracy is improved by 33.5% and the relative angle accuracy is improved by 23.8% after using the adaptive intensity feature extraction method. The position error is reduced by 30% after removing the dynamic target.

Compared with LiDAR odometry and mapping algorithm, the method has greater robustness and accuracy in mapping and localization.

Vision, audition, olfactory, tactile and taste are five important senses that human uses to interact with the real world. As facing more and more complex environments, a sensing system is essential for intelligent robots with various types of sensors. To mimic human-like abilities, sensors similar to human perception capabilities are indispensable. However, most research only concentrated on analyzing literature on single-modal sensors and their robotics application.

This study presents a systematic review of five bioinspired senses, especially considering a brief introduction of multimodal sensing applications and predicting current trends and future directions of this field, which may have continuous enlightenments.

This review shows that bioinspired sensors can enable robots to better understand the environment, and multiple sensor combinations can support the robot’s ability to behave intelligently.

The review starts with a brief survey of the biological sensing mechanisms of the five senses, which are followed by their bioinspired electronic counterparts. Their applications in the robots are then reviewed as another emphasis, covering the main application scopes of localization and navigation, objection identification, dexterous manipulation, compliant interaction and so on. Finally, the trends, difficulties and challenges of this research were discussed to help guide future research on intelligent robot sensors.

The purpose of this study is to establish a method for accurately extracting torch and seam features. This will improve the quality of narrow gap welding. An adaptive deflection correction system based on passive light vision sensors was designed using the Halcon software from MVtec Germany as a platform.

This paper proposes an adaptive correction system for welding guns and seams divided into image calibration and feature extraction. In the image calibration method, the field of view distortion because of the position of the camera is resolved using image calibration techniques. In the feature extraction method, clear features of the weld gun and weld seam are accurately extracted after processing using algorithms such as impact filtering, subpixel (XLD), Gaussian Laplacian and sense region for the weld gun and weld seam. The gun and weld seam centers are accurately fitted using least squares. After calculating the deviation values, the error values are monitored, and error correction is achieved by programmable logic controller (PLC) control. Finally, experimental verification and analysis of the tracking errors are carried out.

The results show that the system achieves great results in dealing with camera aberrations. Weld gun features can be effectively and accurately identified. The difference between a scratch and a weld is effectively distinguished. The system accurately detects the center features of the torch and weld and controls the correction error to within 0.3mm.

An adaptive correction system based on a passive light vision sensor is designed which corrects the field-of-view distortion caused by the camera’s position deviation. Differences in features between scratches and welds are distinguished, and image features are effectively extracted. The final system weld error is controlled to 0.3 mm.

Soft robots are known for their excellent safe interaction ability and promising in surgical applications for their lower risks of damaging the surrounding organs when operating than their rigid counterparts. To explore the potential of soft robots in cardiac surgery, this paper aims to propose an adaptive iterative learning controller for tracking the irregular motion of the beating heart.

In continuous beating heart surgery, providing a relatively stable operating environment for the operator is crucial. It is highly necessary to use position-tracking technology to keep the target and the surgical manipulator as static as possible. To address the position tracking and control challenges associated with dynamic targets, with a focus on tracking the motion of the heart, control design work has been carried out. Considering the lag error introduced by the material properties of the soft surgical robotic arm and system delays, a controller design incorporating iterative learning control with parameter estimation was used for position control. The stability of the controller was analyzed and proven through the construction of a Lyapunov function, taking into account the unique characteristics of the soft robotic system.

The tracking performance of both the proportional-derivative (PD) position controller and the adaptive iterative learning controller are conducted on the simulated heart platform. The results of these two methods are compared and analyzed. The designed adaptive iterative learning control algorithm for position control at the end effector of the soft robotic system has demonstrated improved control precision and stability compared with traditional PD controllers. It exhibits effective compensation for periodic lag caused by system delays and material characteristics.

Tracking the beating heart, which undergoes quasi-periodic and complex motion with varying accelerations, poses a significant challenge even for rigid mechanical arms that can be precisely controlled and makes tracking targets located at the surface of the heart with the soft robot fraught with considerable difficulties. This paper originally proposes an adaptive interactive learning control algorithm to cope with the dynamic object tracking problem. The algorithm has theoretically proved its convergence and experimentally validated its performance at the cable-driven soft robot test bed.

Clinical staff working in mental health services experience high levels of work-related stress, burnout and poor well-being. Increased levels of stress, burnout, depression and anxiety and poorer mental well-being among health-care workers are associated with more sick days, absenteeism, lower work satisfaction, increased staff turnover and reduced quality of patient care. Virtual reality (VR) relaxation is a technique whereby experiences of pleasant and calming environments are accessed through a head-mounted display to promote relaxation. The purpose of this paper is to describe the design of a study that assesses the feasibility and acceptability of implementing a multi-session VR relaxation intervention amongst mental health professionals, to improve their relaxation levels and mental well-being.

The study follows a pre–post-test design. Mental health staff will be recruited for five weeks of VR relaxation. The authors will measure the feasibility and acceptability of the VR relaxation intervention as primary outcomes, alongside secondary outcomes evaluating the benefits of VR relaxation for mental well-being.

The study aims to recruit 20–25 health-care professionals working in both inpatient and specialist community mental health settings.

Research indicates the potential of VR relaxation as a low-intensity intervention to promote relaxation and reduce stress in the workplace. If VR relaxation is shown to be feasible and acceptable, when delivered across multiple sessions, there would be scope for large-scale work to investigate its effectiveness as an approach to enable health-care professionals to de-stress, relax and optimise their mental well-being. In turn, this may consequently reduce turnover and improve stress-related sick leave across health-care services.

This study explores the value of sports films for engaging youth in issues related to patriotism, justice, equity and liberty. The authors analyze how two sports films, 42 and Battle of the Sexes, have pedagogical potential and value in secondary social studies methods classes, as well as what criteria educators might use when selecting films (and television series) for classroom use.

Using content analysis, the authors respond to the following questions: (1) What critical themes related to civic education surface in the sports films 42 and Battle of the Sexes? and (2) What framework might guide the use of selecting sports films and sports film clips for educators' civic educational use?

Five themes surfaced in the films 42 and Battle of the Sexes: economics as a force for social change; racism and anti-Blackness, athletes as more than athletes, resisting oppression, and sexism and homophobia. Instruction related to these themes has the potential to engage students in critical, awareness-based approaches to civic education.

Sports films show promise for engaging youth due to their interests in the medium of film and in sports, both as participants and spectators. Across the world, athletes face questions and issues related to patriotism, justice, equity and liberty on courts, fields, tracks and rinks, These questions and issues are deeply embedded in civic education. This study is among the first of its kind to explore the pedagogical potential of sports films.

The impact of various factors on how TV sports audiences perceive sport event sponsors’ billboards around sports facilities has been the subject of extensive research. Despite numerous factors that impact the effectiveness of sponsor signage at sporting events, there has been a lack of research regarding the language used for such signage around sports facilities’ billboards. Therefore, this study aims to investigate the effects of billboard advertisement language on TV sports audiences’ recognition, recall and search intention to sponsor signage.

This study employed an online experimental design. Participants (n = 925) were recruited from two linguistically different regions: Chinese and English. Participants were randomly assigned to one of two conditions: watching tennis video matches with billboard advertisements presented in either the Roman alphabet exclusively or in a combination of the Roman alphabet and Chinese characters.

This study revealed that although language cannot significantly impact audiences’ unaided recall of a brand, it does have a discernible effect on brand recognition and search intention among audiences. Additionally, people are more likely to search for brands in their native language. Participants from various regions tend to have different recognition rates and search intentions for sport sponsors.

This is the first manuscript examining the use of different languages in relation to audiences’ recognition and recall of sports sponsorship. It provides empirical evidence of the importance of carefully considering the language used in sponsor signage around stadium billboards to optimize the efficacy of sponsorships at sports events.

Recently, autonomous vehicles (AV) acceptance has been studied intensively. This paper aims to map and analyze the bibliometric characteristics of AV acceptance literature. Furthermore, this research aims to identify research gaps and propose future research opportunities.

The bibliometric analysis was performed. Scopus database was used as the source of the literature. This study selected and analyzed 297 AV acceptance papers. The performance and science mapping analysis were performed.

The developed countries tended to dominate the topic. The publication outlet tended to be in transportation or technology journals. There were four research themes in existing literature. Technology acceptance model (TAM) and UTAUT2 tended to be used for explaining AV acceptance. AV acceptance studies tended to use two types of psychological concepts for understanding AV acceptance, namely risk related concepts and functional utilitarian benefit related concepts. In the context of research design, quantitative approach tended to be used. Self-driving feature was the most exploited feature of AV in the existing literature. Three research gaps were mapped and future research opportunities were proposed.

This paper provided a comprehensive information that allowed scientists to develop future research on AV acceptance.

There is lack of paper that discussed the bibliometric characteristics of AV acceptance literature. This paper fulfilled the gap.

This paper aims to propose a robust method for non-rigid point set registration, using the Gaussian mixture model and accommodating non-rigid transformations. The posterior probabilities of the mixture model are determined through the proposed integrated feature divergence.

The method involves an alternating two-step framework, comprising correspondence estimation and subsequent transformation updating. For correspondence estimation, integrated feature divergences including both global and local features, are coupled with deterministic annealing to address the non-convexity problem of registration. For transformation updating, the expectation-maximization iteration scheme is introduced to iteratively refine correspondence and transformation estimation until convergence.

The experiments confirm that the proposed registration approach exhibits remarkable robustness on deformation, noise, outliers and occlusion for both 2D and 3D point clouds. Furthermore, the proposed method outperforms existing analogous algorithms in terms of time complexity. Application of stabilizing and securing intermodal containers loaded on ships is performed. The results demonstrate that the proposed registration framework exhibits excellent adaptability for real-scan point clouds, and achieves comparatively superior alignments in a shorter time.

The integrated feature divergence, involving both global and local information of points, is proven to be an effective indicator for measuring the reliability of point correspondences. This inclusion prevents premature convergence, resulting in more robust registration results for our proposed method. Simultaneously, the total operating time is reduced due to a lower number of iterations.