Search

Under unknown environment, the problem of simultaneous localization, mapping and object tracking based on monocular vision needs sufficient parallax to accurately estimate the state of the target. Therefore, this paper proposes an object tracking algorithm based on better parallax. In order to meet the parallax requirement, the algorithm utilizes the direction in which the target ellipsoidal projection area changes the most as the direction of better parallax. In addition, considering the energy efficiency, the speed of the robot should be reduced in engineering applications. For the different parallax speeds, some simulation experiments are carried out to testify the proposed algorithm. The results show that compared with the heuristic tracking algorithm, the proposed algorithm has better performance and it can also satisfy the parallax requirement of the object tracking with a slow speed, which demonstrates the high project application value of the proposed algorithm.

Treatment's effect on esophageal squamous cell carcinoma (ESCC) patients' immune functions may influence outcomes. Here, we address the scarcity of information about immune responses of treated and untreated ESCC patients.Levels of IFN-gamma, TNF-alpha, IL-2, IL-4, IL-5 and IL-10 were detected in 36 untreated patients (UPs), and 82 treated patients (TPs) with ESCC, and in 70 healthy controls, using cytometric bead arrays.Levels of IL-2, IL-4 and IL-5 were higher (p0.001), and TNF-alpha was lower (p0.01), in UPs than in controls; IFN-gamma, IL-2, IL-4, IL-5 and IL-10 levels were higher in TPs than in controls (p0.001); IFN-gamma, TNF-alpha and IL-10 levels were higher in TPs than in UPs (p0.05); IFN-gamma/IL-4 ratios of UPs were lower than controls (p0.05). Levels did not significantly differ by age or weight index, but did differ by clinical stages, differentiation degree and tumor location. Patients' survival was affected by clinical stage (p = 0.001), differentiation degree (p = 0.012), tumor location (p = 0.043) and lymph node involvement (p = 0.039); clinical stage was an independent prognostic factor (p = 0.014).We found that Th1/Th2 imbalance and immune function turbulence correlate with differentiation degree, clinical stage and tumor location. Moreover, clinical stage is currently the best predictor of survival.