An obstacle detection method based on VM (VIDAR and machine learning joint detection model) is proposed to improve the monocular vision system's identification accuracy. When VIDAR (Vision-IMU-based detection and range method) detects unknown obstacles in a reflective environment, the reflections of the obstacles are identified as obstacles, reducing the accuracy of obstacle identification. We proposed an obstacle detection method called improved VM to avoid this situation. The experimental results demonstrated that the improved VM could identify and eliminate unknown obstacles. Compared with more advanced detection methods, the improved VM obstacle detection method is more accurate. It can detect unknown obstacles in reflection, reflective road environments.
Environmental perception systems can provide information on the environment around a vehicle, which is key to active vehicle safety systems. However, these systems underperform in cases of sloped roads. Real-time obstacle detection using monocular vision is a challenging problem in this situation. In this study, an obstacle detection and distance measurement method for sloped roads based on Vision-IMU based detection and range method (VIDAR) is proposed. First, the road images are collected and processed. Then, the road distance and slope information provided by a digital map is input into the VIDAR to detect and eliminate false obstacles (i.e., those for which no height can be calculated). The movement state of the obstacle is determined by tracking its lowest point. Finally, experimental analysis is carried out through simulation and real-vehicle experiments. The results show that the proposed method has higher detection accuracy than YOLO v5s in a sloped road environment and is not susceptible to interference from false obstacles. The most prominent contribution of this research work is to describe a sloped road obstacle detection method, which is capable of detecting all types of obstacles without prior knowledge to meet the needs of real-time and accurate detection of slope road obstacles.
The existing automatic parking algorithms often neglect the unknown obstacles in the parking environment, which causes a hidden danger to the safety of the automatic parking system. Therefore, this paper proposes parking space detection and path planning based on the VIDAR method (vision-IMU-based detection and range method) to solve the problem. In the parking space detection stage, the generalized obstacles are detected based on VIDAR to determine the obstacle areas, and then parking lines are detected by the Hough transform to determine the empty parking space. Compared with the parking detection method based on YOLO v5, the experimental results demonstrate that the proposed method has higher accuracy in complex parking environments with unknown obstacles. In the path planning stage, the path optimization algorithm of the
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algorithm combined with the Bezier curve is used to generate smooth curves, and the environmental information is updated in real time based on VIDAR. The simulation results show that the method can make the vehicle efficiently avoid the obstacles and generate a smooth path in a dynamic parking environment, which can well meet the safety and stationarity of the parking requirements.
To observe the effects of pressing acupuncture at four points of the umbilical point and Bushen Huoxue Tiaozhou prescription combined with western medicine. A total of 80 patients with hypoovarian function who were admitted to our hospital from December 2018 to December 2020 were selected and divided into groups according to their treatment plan. The control group was given four-point naval acupuncture combined with western medicine treatment and the observation group was based on the control group and was treated with Bushen Huoxue Tiaozhou recipe. The number of clinically cured cases in the observation group reached 15 cases and 18 cases and 5 cases were markedly effective and effective. The total effective rate was 95.00 %, which was higher than that of the control group and was statistically significant (p<0.05). After treatment, estradiol, anti-Mullerian hormone and antral follicle count of the observation group were higher than those of the control group (p<0.05) and follicle stimulating hormone was lower than the control group (p<0.05). After treatment, peak systolic velocity and end-diastolic velocity of the ovarian artery in the observation group were higher than those in the control group (p<0.05) and resistance index and pulsatility index were low in the control group (p<0.05). Pressing acupuncture at the four points of the umbilical cord and Bushen Huoxue Tiaozhou decoction combined with western medicine can promote the blood supply of the ovaries, improve the ovarian function and improve the curative effect.
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