16 research outputs found
A Cooperative Perception System Robust to Localization Errors
Cooperative perception is challenging for safety-critical autonomous driving
applications.The errors in the shared position and pose cause an inaccurate
relative transform estimation and disrupt the robust mapping of the Ego
vehicle. We propose a distributed object-level cooperative perception system
called OptiMatch, in which the detected 3D bounding boxes and local state
information are shared between the connected vehicles. To correct the noisy
relative transform, the local measurements of both connected vehicles (bounding
boxes) are utilized, and an optimal transport theory-based algorithm is
developed to filter out those objects jointly detected by the vehicles along
with their correspondence, constructing an associated co-visible set. A
correction transform is estimated from the matched object pairs and further
applied to the noisy relative transform, followed by global fusion and dynamic
mapping. Experiment results show that robust performance is achieved for
different levels of location and heading errors, and the proposed framework
outperforms the state-of-the-art benchmark fusion schemes, including early,
late, and intermediate fusion, on average precision by a large margin when
location and/or heading errors occur.Comment: Accepted by IEEE IV 202
RETRACTED ARTICLE: Effect of perioperative infusion of Dexmedetomidine combined with Sufentanil on quality of postoperative analgesia in patients undergoing laparoscopic nephrectomy: a CONSORT-prospective, randomized, controlled trial
Abstract Background Postoperative pain is one of the most common symptoms after surgery, which brings physical discomfort to patients. In addition, it may cause a series of complications, and even affect the long-term quality of life. The purpose of this prospective, randomized, double-blinded, controlled trial is to investigate the efficacy and safety of dexmedetomidine combined with sufentanil to attenuate postoperative pain in patients after laparoscopic nephrectomy. Methods Ninety patients undergoing laparoscopic nephrectomy were randomized into three groups: the control (sufentanil 0.02 μg/kg/h, Group C), sufentanil plus low dose of dexmedetomidine (0.02 μg/kg/h each, Group D1), and sufentanil plus high dose of dexmedetomidine (0.04 μg/kg/h, Group D2). The patient-controlled analgesia was programmed to deliver a bolus dose of 0.5 ml, followed by an infusion of 2 ml/h and a lockout time of 10 min. The primary goal was to calculate the cumulative amount of self-administered sufentanil; the secondary goals were to estimate pain intensity using the numerical rating scale (NRS), level of sedation, the first bowel movement, concerning adverse effects as well as duration of postoperative hospital stay. Results The total consumption of sufentanil in group D1 and D2 were significantly lower than in group C during the first 8 h after surgery (P  0.05) between group D1 and D2. Compared with group C, the NRS scores at rest during first 8 h after surgery were significantly lower in group D1 (P  0.05). The time to first flatus was shorter in group D1 compared with the control group (P < 0.05). In addition, compared with group C, group D1 and D2 had a shorter time for first defecation (P < 0.05). Conclusions Dexmedetomidine combined with sufentanil showed better postoperative analgesia without adverse effects, as well as facilitated bowel movements for patients undergoing laparoscopic nephrectomy. Trial registration We registered this study in a Chinese Clinical Trial Registry (ChiCTR) centre on Dec 23 2015 and received the registration number: ChiCTR-IPR-15007628
Retraction Note: Effect of perioperative infusion of Dexmedetomidine combined with Sufentanil on quality of postoperative analgesia in patients undergoing laparoscopic nephrectomy: a CONSORT-prospective, randomized, controlled trial
The authors have retracted this articl