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The use of mobile robots in substations improves maintenance efficiency and ensures the personal safety of staff working at substations, which is a trend in the development of technologies. Strong electric and solid magnetic fields around high-voltage equipment in substations may lead to the breakdown and failure of inspection devices. Therefore, safe operation range measurement and coordinated planning are key factors in ensuring the safe operation of substations. This paper first summarizes the current developments that are occurring in the field of fixed and mobile safe operating range sensing methods for substations, such as ultra-wideband technology, the two-way time flight method, and deep learning image processing algorithms. Secondly, this paper introduces path-planning algorithms based on safety range sensing and analyzes the adaptability of global search methods based on a priori information, local planning algorithms, and sensor information in substation scenarios. Finally, in view of the limitations of the existing range awareness and path-planning methods, we investigate the problems that occur in the dynamic changes in equipment safety zones and the frequent switching of operation scenarios in substations. Furthermore, we explore a new type of barrier and its automatic arrangement system to improve the performance of distance control and path planning in substation scenarios. [ABSTRACT FROM AUTHOR]

Artificial Intelligence (AI) combined with image processing has shown significant improvements through new techniques such as Machine Learning (ML) models. This paper introduces the key methods and algorithms used for Drone image processing. We discuss the benefits and limitations of using ML models instead of classical techniques. Our goal is to classify, categorize and describe the methods that are used in realistic settings of diverse domains of applications. We conducted a systematic literature review where systems presented in the papers were analysed based on their domain, task, technology, and efficiency. By extensively reviewing the existing literature, we successfully identified key themes and trends that emerged across the various research questions. The overall findings of the research emphasise the potential of AI and drone imagery in numerous fields. However, the review also uncovered several challenges that necessitate attention, such as issues related to data quality and the requirement for more advanced AI algorithms. The paper outlines significant innovations in the field and offers recommendations for future research directions. By highlighting cross-disciplinary insights, it delves into methodological approaches, exploring commonalities in AI algorithms and UAVs technologies. [ABSTRACT FROM AUTHOR]

The advancement of new energy vehicles has led to more demanding standards for detecting defects in cylindrical coated lithium batteries. The current research lacks robustness and has low performance. This paper seeks to provide real-time defect identification in cylindrical coated lithium batteries and improve the object detection method of the YOLOv5s model. This paper presents an MGSEC3 module with multi-scale feature extraction and integration of the SENet network in the YOLOv5 Backbone network. This module aims to reduce computational burden and enhance feature extraction efficiency as much as possible. At the same time, the CARAFE operator is utilized to enhance the up-sampling operator in order to reduce the loss of feature information. In addition, enhancements to the loss function enhance both the detection performance and convergence speed. The enhanced YOLOv5s model achieved an average detection rate of 82.4% on the custom cylindrical coated lithium battery dataset, 2.3% higher than the original YOLOv5s. This paper significantly enhances the precision and efficiency of flaw identification in cylindrical coated lithium batteries. [ABSTRACT FROM AUTHOR]

Advances in computer image recognition have significantly impacted many industries, including healthcare, security and autonomous systems. This paper aims to explore the potential of improving image algorithms to enhance computer image recognition. Specifically, we will focus on regression methods as a means to improve the accuracy and efficiency of identifying images. In this study, we will analyze various regression techniques and their applications in computer image recognition, as well as the resulting performance improvements through detailed examples and data analysis. This paper deals with the problems related to visual image processing in outdoor unstructured environment. Finally, the heterogeneous patterns are converted into the same pattern, and the heterogeneous patterns are extracted from the fusion features of data modes. The simulation results show that the perception ability and recognition ability of outdoor image recognition in complex environment are improved. [ABSTRACT FROM AUTHOR]

With the continuous deepening of the urbanization process and the progress of science and technology, people transform nature and develop nature on a larger and larger scale, among which the most iconic transformation is a variety of building structures built by people. And with the passage of time, the building structure in the perennial wind and sun, there will be signs of "illness", if not timely treatment, it will have a huge impact on the stability and safety of the building structure. Based on this, in this paper, according to the characteristics of crack identification on the surface of concrete structure, background subtraction algorithm is selected for image noise reduction processing. Through three steps of digital image noise reduction, crack extraction and crack parameter identification, the quantitative recognition of cracks is completed and a complete system of crack parameter identification is formed. The experimental results show that the machine learning model of building structure health monitoring and damage recognition algorithm proposed in this paper has excellent statistical performance, and the relative error accuracy of recognition can be controlled within 10%. [ABSTRACT FROM AUTHOR]

The usage of digital devices has increased across the world due to global digitalization. The global digitalization concept arises due to the easy accessibility of the internet around the world. One of the important data that contributes a large amount to the internet is the image data. Images are used in various fields for advertising the products, expressing the individual's point of view, describing the diseases in the medical field, etc. Hence a large number of images need to be transformed into digital images to exchange them in the digital images. The process of converting a normal image into a digital image and then extracting information from it is known as image processing. The existing techniques for image processing exhibit issues like high error rates and poor image processing performance. To overcome these issues, this paper proposes an Attention Long Short-term Domain Adversarial Crossover Orchard (ALSDA-CO) algorithm. The proposed method is highly effective in image processing approach and extracted varied class labels clearly that are not visible effectively. The weight functions of each image are trained effectively and optimize the hyperparameters with best solution. To evaluate the performance of this algorithm, the Fruits 100 dataset is used. The proposed algorithm showed better performance than the existing methods such as pre-trained CNN, LS-SVM, MobileNetV2-LSTM, and DCNN in terms of all the performance measures used. The proposed algorithm attained 98.5% accuracy, 98.9% recall, 98.7% precision, and 98.5% F1 score in image processing. Compared to existing approaches the attained range of accuracy outperformed 1.1% of proposed method than existing approaches. The proposed algorithm also exhibited a reduced error rate and enhanced image processing. [ABSTRACT FROM AUTHOR]

Apple-picking robot can promote the development of smart agriculture, and accurate object recognition in complex natural environments using deep learning algorithms is critical. However, research has shown that changes in illumination and object occlusion remain significant challenges for recognition. In order to improve the accuracy of apple apple-picking robot's identification and positioning of apples in natural environment, a method using YOLOv5 (You Only Look Once, YOLO) combined with fast-guided filter is proposed. By introducing a fast-guided filtering module, the ability to extract image features is improved, and the problem of inaccurate occlusion targets and edge detection is solved; K -means clustering algorithm is introduced in improving YOLOv5, which can realize automatic adjustment of image size and step size; BiFPN structure is introduced in Neck network to add weighted feature fusion to highlight the detailed features. The results show that the algorithm proposed in this paper can well remove noise information such as occlusion edge blurring in apple images in a natural light environment. In the real orchard environment, the apple recognition accuracy rate reached 97.8%, the recall rate was 97.3% and the recognition rate was about 26.84 fps. The results show that this research based on YOLOv5 and fast-guided filtering can realize fast and accurate identification of apple fruits in natural environment, and meet the practical application requirements of real-time target detection. [ABSTRACT FROM AUTHOR]

Superpixel segmentation is a popular preprocessing tool in the field of image processing. Nevertheless, conventional planar superpixel generation algorithms are inadequately suited for segmenting symmetrical spherical images due to the distinctive geometric differences. In this paper, we present a novel superpixel algorithm termed context identity and contour intensity (CICI) that is specifically tailored for spherical scene segmentation. By defining a neighborhood range and regional context identity, we propose a symmetrical spherical seed-sampling method to optimize both the quantity and distribution of seeds, achieving evenly distributed seeds across the panoramic surface. Additionally, we integrate the contour prior to superpixel correlation measurements, which could significantly enhance boundary adherence across different scales. By implementing the two-fold optimizations on the non-iterative clustering framework, we achieve synergistic CICI to generate higher-quality superpixels. Extensive experiments on the public dataset confirm that our work outperforms the baselines and achieves comparable results with state-of-the-art superpixel algorithms in terms of several quantitative metrics. [ABSTRACT FROM AUTHOR]

Simple Summary: Breast cancer is a significant cause of female cancer-related deaths in the US. Checking how severe the cancer is helps in planning treatment. Modern AI methods are good at grading cancer, but they are not used much in hospitals yet. We developed and utilized ensemble deep learning algorithms for addressing the tasks of classifying (1) breast cancer subtype and (2) breast cancer invasiveness from whole slide image (WSI) histopathology slides. The ensemble models used were based on convolutional neural networks (CNNs) known for extracting distinctive features crucial for accurate classification. In this paper, we provide a comprehensive analysis of these models and the used methodology for breast cancer diagnosis tasks. Cancer diagnosis and classification are pivotal for effective patient management and treatment planning. In this study, a comprehensive approach is presented utilizing ensemble deep learning techniques to analyze breast cancer histopathology images. Our datasets were based on two widely employed datasets from different centers for two different tasks: BACH and BreakHis. Within the BACH dataset, a proposed ensemble strategy was employed, incorporating VGG16 and ResNet50 architectures to achieve precise classification of breast cancer histopathology images. Introducing a novel image patching technique to preprocess a high-resolution image facilitated a focused analysis of localized regions of interest. The annotated BACH dataset encompassed 400 WSIs across four distinct classes: Normal, Benign, In Situ Carcinoma, and Invasive Carcinoma. In addition, the proposed ensemble was used on the BreakHis dataset, utilizing VGG16, ResNet34, and ResNet50 models to classify microscopic images into eight distinct categories (four benign and four malignant). For both datasets, a five-fold cross-validation approach was employed for rigorous training and testing. Preliminary experimental results indicated a patch classification accuracy of 95.31% (for the BACH dataset) and WSI image classification accuracy of 98.43% (BreakHis). This research significantly contributes to ongoing endeavors in harnessing artificial intelligence to advance breast cancer diagnosis, potentially fostering improved patient outcomes and alleviating healthcare burdens. [ABSTRACT FROM AUTHOR]

Pixel‐level labeling of regions of interest in an image is a key step in building a labeled training dataset for supervised deep learning networks of images. However, traditional manual labeling of cancerous regions in digital pathological images by doctors is time‐consuming and inefficient. To address this issue, this paper proposes an automatic labeling method for whole slide images, which combines clustering and edge detection techniques. The proposed method utilizes the multi‐level feature fusion model and the Long‐Short Term Memory network to discriminate the cancerous nature of the whole slide images, thereby improving the classification accuracy of the whole slide images. Subsequently, the automatic labeling of cancerous regions is achieved by integrating a density‐based clustering algorithm and an edge point extraction algorithm, both based on the discriminated results of the cancerous properties of whole slide images. The experimental results demonstrate the effectiveness of the proposed method, which offers an efficient and accurate solution to the challenging task of cancerous region labeling in digital pathological images. [ABSTRACT FROM AUTHOR]

In response to the low efficiency and poor quality of current seed optimization algorithms for multi-threshold image segmentation, this paper proposes the utilization of the normal distribution in the cluster distribution mathematical model, the Levy flight mechanism, and the differential evolution algorithm to address the deficiencies of the seed optimization algorithm. The main innovation lies in applying the BBO algorithm to image multi threshold segmentation, providing a new perspective and method for image segmentation tasks. The second significant progress is the combination of Levy flight dynamics and differential evolution algorithm (DEA) to improve the BBO algorithm, thereby enhancing its performance and image segmentation quality. Therefore, a multi-threshold image segmentation model based on the optimized seed optimization algorithm is developed. The experimental results showed that on the function f1, the iteration of the improved seed optimization algorithm was 53, the Generational Distance value was 0.0020, the Inverted Generational Distance value was 0.098, and the Spacing value was 0.051. Compared with the other two algorithms, the improved seed optimization algorithm has better image segmentation performance and clearer image segmentation details. In summary, compared with existing multi-threshold image segmentation methods, the proposed multi-threshold image segmentation model based on the improved seed optimization algorithm has a better image segmentation effect and higher efficiency, can significantly improve the quality of image segmentation, has positive significance for the development of image processing technology, and also provides references for the improvement and application of optimization algorithms. [ABSTRACT FROM AUTHOR]

This paper presents a new methodology to assist geophysicists in determining the first-break event in a 3-D seismic data set using the well-known technique called dynamic time warping algorithm (DTW), which is usually used to find the optimal alignment between two time-series. We used the optimal path from the cost matrix to identify the first break in the seismogram using a few picks (seeds) made by an interpreter as a reference to perform this task. Furthermore, the data were pre-conditioned by the topographic and linear moveout to improve the method's accuracy. To demonstrate the technique's robustness, first, we applied the methodology in a synthetic seismic data. After demonstrating the efficiency of the algorithm, we applied the aforementioned methodology in the Polo-Miranga 3-D seismic cube located in the Recôncavo sedimentary basin, Bahia-Brazil, and in the seismic data acquired from the Blackfoot field in Alberta, Canada. The high-quality results showed consistency in determining the first break in all ranges of offsets, demonstrating an alternative way to accelerate this seismic processing step. Furthermore, we compared the results obtained by the proposed methodology with an algorithm based on comparing the short-time averages with long-time averages. Finally, we performed the static correction calculation to ensure that the time distortion resulting from the terrain and the low-velocity layer was mitigated in shoot gathers and in the stacked section. [ABSTRACT FROM AUTHOR]

Oncology has emerged as a crucial field of study in the domain of medicine. Computed tomography has gained widespread adoption as a radiological modality for the identification and characterisation of pathologies, particularly in oncology, enabling precise identification of affected organs and tissues. However, achieving accurate liver segmentation in computed tomography scans remains a challenge due to the presence of artefacts and the varying densities of soft tissues and adjacent organs. This paper compares artificial intelligence algorithms and traditional medical image processing techniques to assist radiologists in liver segmentation in computed tomography scans and evaluates their accuracy and efficiency. Despite notable progress in the field, the limited availability of public datasets remains a significant barrier to broad participation in research studies and replication of methodologies. Future directions should focus on increasing the accessibility of public datasets, establishing standardised evaluation metrics, and advancing the development of three-dimensional segmentation techniques. In addition, maintaining a collaborative relationship between technological advances and medical expertise is essential to ensure that these innovations not only achieve technical accuracy, but also remain aligned with clinical needs and realities. This synergy ensures their applicability and effectiveness in real-world healthcare environments. [ABSTRACT FROM AUTHOR]

In the realm of digital image applications, image processing technology occupies a pivotal position, with image segmentation serving as a foundational component. As the digital image application domain expands across industries, the conventional segmentation techniques increasingly challenge to cater to modern demands. To address this gap, this paper introduces an MCMC-based image segmentation algorithm based on the Markov Random Field (MRF) model, marking a significant stride in the field. The novelty of this research lies in its method that capitalizes on domain information in pixel space, amplifying the local segmentation precision of image segmentation algorithms. Further innovation is manifested in the development of an adaptive segmentation image denoising algorithm based on MCMC sampling. This algorithm not only elevates image segmentation outcomes, but also proficiently denoises the image. In the experimental results, MRF-MCMC achieves better segmentation performance, with an average segmentation accuracy of 94.26% in Lena images, significantly superior to other common image segmentation algorithms. In addition, the study proposes that the denoising model outperforms other algorithms in peak signal-to-noise ratio and structural similarity in environments with noise standard deviations of 15, 25, and 50. In essence, these experimental findings affirm the efficacy of this study, opening avenues for refining digital image segmentation methodologies. [ABSTRACT FROM AUTHOR]

The overlap between edge computing and unmanned aerial systems enables Unmanned Aerial Vehicles (UAV) to quickly offload image processing tasks onto edge devices, avoiding the transmission of images over long distances. To improve the speed and efficiency of UAV image stitching in an edge computing environment, this paper proposes an adaptive UAV image parallel stitching algorithm in an edge computing environment. The algorithm incorporates both route-based parallel processing and inverted binary tree-based parallel processing, dividing the image stitching task into multiple processes and allocating them to different cores based on the CPU core count, number of flight routes, and number of images, thereby enhancing computational efficiency in edge scenarios. The experimental results indicate that, when the number of flight routes is greater than or equal to the number of CPUs, the adaptive algorithm will employ the more efficient route parallelism. Conversely, when the number of flight routes is less than the number of CPUs, the efficiency of inverted binary tree parallelism is higher. In the same experimental environment and dataset, the adaptive image stitching algorithm demonstrates an efficiency improvement of approximately 2–10 times compared to other algorithms, with no significant degradation in image quality. This demonstrates that in edge environments, the utilization of multi-threaded adaptive route and inverted binary tree-based parallel approaches can effectively harness the computing resources of edge devices, significantly improving the stitching speed of UAV images and providing technical support for rapid real-time monitoring by UAV. [ABSTRACT FROM AUTHOR]

License plate detection is an important task in Intelligent Transportation Systems (ITS) and has a wide range of applications in vehicle management, traffic control, and public safety. In order to improve the accuracy and speed of mobile recognition, an improved lightweight YOLOv5s model is proposed for license plate detection. First, an improved Stemblock network is used to replace the original Focus layer in the network, which ensures strong feature expression capability and reduces a large number of parameters to lower the computational complexity; then, an improved lightweight network, ShuffleNetv2, is used to replace the backbone network of the YOLOv5s, which makes the model lighter and ensures the detection accuracy at the same time. Then, a feature enhancement module is designed to reduce the information loss caused by the rearrangement of the backbone network channels, which facilitates the information interaction in the feature fusion process; finally, the low‐, medium‐ and high‐level features in the Shufflenetv2 network structure are fused to form the final high‐level output features. Experimental results on the CCPD dataset show that compared to other methods this paper obtains better performance and faster speed in the license plate detection task, in which the average precision mean value reaches 96.6%, and can achieve a detection speed of 43.86 frame/s, and the parameter volume is reduced to 5.07 M. [ABSTRACT FROM AUTHOR]

Clustering is an important technique for data mining and machine learning. In this paper, a novel clustering algorithm, scale division and region growing (SRG), is proposed, which is based on scale division and region growing. This method uses the division-and-merge strategy, which consists of two primary phases, namely the division phase and the merging phase. In the division phases, the data is mapped to a two-dimensional space, and the clustering problem is transformed to an image processing problem. Then the image is divided into different scales to adaptively find the appropriate scale. After finding the appropriate scale, the region growing is carried out under this scale and the multiple sub-clusters are created. In the merging phases, the sub-clusters are evaluated and merged to form the final clusters in the dataset. The proposed algorithm is tested on 15 benchmark datasets including both the synthetic datasets and the real datasets, and it is found that SRG can obtain better clustering results and has higher accuracy than other typical clustering algorithms. Moreover, the experimental results on noisy datasets show that the proposed algorithm has good robustness. [ABSTRACT FROM AUTHOR]

The Euler elastica (EE) model with surface curvature can generate artifact-free results compared with the traditional total variation regularization model in image processing. However, strong nonlinearity and singularity due to the curvature term in the EE model pose a great challenge for one to design fast and stable algorithms for the EE model. In this paper, we propose a new, fast, hybrid alternating minimization (HALM) algorithm for the EE model based on a bilinear decomposition of the gradient of the underlying image and prove the global convergence of the minimizing sequence generated by the algorithm under mild conditions. The HALM algorithm comprises three subminimization problems and each is either solved in the closed form or approximated by fast solvers, making the new algorithm highly accurate and efficient. We also discuss the extension of the HALM strategy to deal with general curvature-based variational models, especially with a Lipschitz smooth functional of the curvature. A host of numerical experiments are conducted to show that the new algorithm produces good results with much-improved efficiency compared to other state-of-the-art algorithms for the EE model. As one of the benchmarks, we show that the average running time of the HALM algorithm is at most one-quarter of that of the fast operator-splitting-based Deng--Glowinski--Tai algorithm. [ABSTRACT FROM AUTHOR]

• A novel water transparency calculation algorithm is introduced, employing deep neural network and image processing technology. This algorithm obviates the need for a water gauge, allowing the calculation of water transparency solely through the analysisof Secchi disk videos. Notably, it demonstrates heightened detection efficiency and success rates. • An enhanced Siamese tracker, termed SiamDCFF (Siamese tracker based on dual correlation feature fusion), is proposed for Secchi disk recognition. Distinguishing features of SiamDCFF include a dual correlation module and a feature fusion module. On the Secchi disk dataset, SiamDCFF achieves the highest success rate, outperforming other methods detailed in this paper. • The simplified 3D-ResNet [41] is leveraged to assess the state of the Secchi disk, transforming the critical position determination problem into an optimization challenge. The objective function involves maximizing the number of visible and invisible Secchi disk images on both sides of the critical position. This method facilitates adaptive critical position determination. • A novel Gated Recurrent Unit based on auto-regression (ARGRU) is proposed, taking into account the motion characteristics of the Secchi disk. ARGRU achieves a higher success detection rate for water transparency compared to the water gauge recognition method. Notably, ARGRU outperforms RNN [42], GRU, and LSTM [43] on the dataset presented in this paper. Water transparency is traditionally assessed through visual inspection using a lowered Secchi disk (SD) into the water, with the disappearance depth of the SD recorded as the measure of transparency. However, manual and visually-dependent frequency measurements of the SD render this process labor-intensive and time-consuming. This paper presents a comprehensive machine-vision-based algorithm designed for the automatic computation of water transparency using Secchi disk videos. The algorithm leverages multiple deep neural networks, including an enhanced Siamese tracking model, a 3D-ResNet, and an improved GRU network. Trained models directly identify the SD in the video, calculating water transparency by processing pixel information. Experimental results demonstrate the algorithm's efficacy in estimating water transparency across diverse natural environments, achieving commendable accuracy (MAE = 3.6 cm MSE = 21.5 cm RMSE = 4.6 cm), rapid processing speed (average 6.87 s), and robust stability. In comparison with the former water-gauge-based algorithm, our proposed algorithm exhibits heightened efficiency and a superior detection success rate. [ABSTRACT FROM AUTHOR]

The analysis of two-dimensional images enables the detection of structures, objects and their further classification. In the Internet of Things, images are data obtained from cameras or projections of signals. In this paper, we propose a hybridization of the classic RANSAC approach with a selected heuristic algorithm like Grey Wolf Optimizer. This solution allows for increasing the ability to adjust images by analyzing the detected key points of the image. Such hybridization is interesting in terms of the possibility of obtaining stitching accuracy. Moreover, we have introduced the automation of parameter selection to increase the accuracy and speed of the real-time algorithm. For this purpose, an analysis of the results of the algorithm for combining video frames into one large image allowed for a significant reduction in the amount of data processing time. The proposed algorithm was tested on various heuristic algorithms, where their differences and impact on the operation of the method were indicated and discussed. Moreover, the proposition was tested in practical application by automatically creating an image based on video frames recorded by the drone. • Hybridization of RANSAC with a heuristic solution for image stitching purposes. • A method of automating the selection of parameters in the algorithm. • Framework for minimizing the number of calculations in smart devices. • Practical application of the proposed method in IoT solution using a drone. [ABSTRACT FROM AUTHOR]

Domain Generalization (DG) model is an important tool to improve the robustness of person re-identification algorithm, but the domain gap makes it difficult to transfer knowledge cross-domain effectively. To solve the above problems, this paper proposes a generalization model based on a Meta-Bond Domain Alignment (M−BDA) model. To learn a generalizable model, a meta -learning strategy is introduced to simulate the training–testing process of the domain generalization. Then a bond-domain module is constructed in the training to align the source domain, which can reduce the domain gap between the source domain and the target domain, and facilitate the knowledge transfer. Finally, the bond-domain loss is counted on the feature space of the bond-domain to prevent the generated bond-domain from overfitting to the source domain. The experimental results show that the proposed algorithm achieves better performance in DukeMTMC-ReID, Market1501 and MSMT17 alternating as the source and the target domain tasks. In the generalization experiments of Market-1501 → DukeMTMC-ReID, mAP and Rank-1 increased by 7.7 % and 3.6 %, respectively, and in the generalization experiments of DukeMTMC-ReID → Market-1501, mAP and Rank-1 are increased by 9.3 % and 3.5 %, respectively, which are significantly better than the newer representative algorithms. [ABSTRACT FROM AUTHOR]

• A small target detection algorithm based on feature interaction and guided learning. • A feature guided alignment module is designed to obtain more effective features. • Gaussian distribution sample allocation strategy is introduced to obtain better samples. • Feature interaction and decoupling detection enhance the detection task capability. • A new regression loss function is used to optimize the localization ability to a certain extent. At present, for the diverse target sizes, different angles, and complex environment in aerial images, how to detect small objects effectively in aerial images is still a challenge task. In order to further improve the detection accuracy and reduce the missing rate, in this paper, we proposes a small target detection algorithm based on feature interaction and guided learning. Firstly, the feature guided alignment module is designed to deal with the problem of information loss and overlap. Secondly, the misallocation of small object samples is optimized by introducing gaussian sample allocation strategy. Then the interactive parallel detection header is designed to solve the detection task conflict problem. Finally, the new regression loss function is designed to enhance the localization ability of the target. The experimental results on the Tinyperson dataset and Visdrone dataset show that this model can improve the detection accuracy and reduce the missing rate of small targets effectively. [ABSTRACT FROM AUTHOR]