BackgroundHomegardens are ecologically and culturally important systems for cultivating medicinal plants for wellbeing by healers and farmers in Naxi communities of the Sino Himalayan region. The cultivation of medicinal plants in Naxi communities and associated ethnomedical knowledge base for maintaining and utilizing these resources is at risk with expanded commercialization of natural resources, development policies and rapid socio-economic change in China. Research is needed to understand the medicinal plant species maintained in Naxi homegardens, their use and contribution to community wellbeing, and how these practices and knowledge base varies between Naxi healers and farmers in order to develop plans for biodiversity conservation and preservation of ethnomedical practices. The main objective of this study is to document and compare medicinal plant species in Naxi homegardens and associated ethnomedical knowledge between Naxi healers and farmers.MethodsEthnobotanical homegarden surveys were conducted with three Naxi healers and 28 farmer households in two Naxi communities in Lijiang Prefecture in Northwest Yunnan Province of China. Surveys included inventories of medicinal plants in homegardens and semi-structured interviews with homegarden managers to document traditional medicinal uses of inventoried plants. Inventoried plants were classified into 13 ‘usage categories’ of medical condition groupings that impact a system of the body. Finally, plant species richness was calculated for each homegarden and species richness was compared between healers and farmers as well as between study sites using a Least Square Means Tukey HSD function.ResultsEthnobotanical surveys at the study sites found that 13% of households rely exclusively on traditional Naxi medicine, 26% exclusively use Western medicine and 61% use a combination of traditional Naxi and Western medicine. A total of 106 medicinal plants were inventoried in Naxi homegardens representing 50 botanical families. Over 85% of inventoried medicinal plants were herbaceous. The most represented families were Asteraceae (12.8%), Ranunculaceae (8.3%), Apiaceae (8.3%), and Polygonaceae (7.3%). The primary medical functions of inventoried plants were to treat inflammation (73 species), circulatory system disorders (62), nervous system disorders (41), detoxification (39), digestive system disorders (33), muscular-skeletal system disorders (26), genitourinary system disorders (26), skin conditions (23), respiratory systems disorders (22), and cold and flu (20). Local herbal experts maintained greater medicinal plant species richness in their homegardens compared to local farmers as well as had greater knowledge of medicinal functions of plants. Healers maintained medicinal plants primarily for healing while farmer households maintained approximately 90% of the medicinal plants in their homegardens for commercialization and the remaining for household healthcare.ConclusionsThis study highlights the importance of biodiversity and traditional ecological and medical k...
Stereo matching is one of the most important and challenging subjects in the field of planetary rover with a stereo vision system. The generated disparity map can make rover to avoid the obstacle and explore the planetary surface automatically. In this paper, we propose an efficient dense stereo matching method to generate disparity maps for a planetary rover, which relies on 3-D plane fitting, adaptive penalties, and coarse-to-fine disparity constraint. In order to achieve efficient stereo matching at the coarsest level of the pyramid, we present a 3-D plane fitting to reduce the disparity search range and propose adaptive penalties in the more-global matching method for obtaining an accurate disparity map. At the finer level, our method then estimates the disparity search range based on coarse-to-fine disparity constraint and utilizes adaptive penalties to obtain an accurate disparity map. The extensive experiments with stereo images of Chang'e-3 rover demonstrate that our approach can generate disparity maps efficiently and accurately compared with the most state-of-the-art semi-global matching methods, especially at low texture regions, depth discontinuities, and occlusion regions. INDEX TERMS Stereo matching, disparity map, coarse-to-fine architecture, 3-D plane, planetary rover.
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