Adaptive Covariance and Quaternion-Focused Hybrid Error-State EKF/UKF for Visual-Inertial Odometry

This study presents an innovative hybrid Visual-Inertial Odometry (VIO) method for Unmanned Aerial Vehicles (UAVs) that is resilient to environmental challenges and capable of dynamically assessing sensor reliability. Built upon a loosely coupled sensor fusion architecture, the system utilizes a novel hybrid Quaternion-focused Error-State EKF/UKF (Qf-ES-EKF/UKF) architecture to process inertial measurement unit (IMU) data. This architecture first propagates the entire state using an Error-State Extended Kalman Filter (ESKF) and then applies a targeted Scaled Unscented Kalman Filter (SUKF) step to refine only the orientation. This sequential process blends the accuracy of SUKF in quaternion estimation with the overall computational efficiency of ESKF. The reliability of visual measurements is assessed via a dynamic sensor confidence score based on metrics, such as image entropy, intensity variation, motion blur, and inference quality, adapting the measurement noise covariance to ensure stable pose estimation even under challenging conditions. Comprehensive experimental analyses on the EuRoC MAV dataset demonstrate key advantages: an average improvement of 49% in position accuracy in challenging scenarios, an average of 57% in rotation accuracy over ESKF-based methods, and SUKF-comparable accuracy achieved with approximately 48% lower computational cost than a full SUKF implementation. These findings demonstrate that the presented approach strikes an effective balance between computational efficiency and estimation accuracy, and significantly enhances UAV pose estimation performance in complex environments with varying sensor reliability.

Sex Detection in the Early Stage of Fertilized Chicken Eggs via Image Recognition

Culling newly hatched male chicks in industrial hatcheries poses a serious ethical problem. Both laying and broiler breeders need males, but it is a problem because they are produced more than needed. Being able to determine the sex of chicks in the egg at the beginning or early stage of incubation can eliminate ethical problems as well as many additional costs. When we look at the literature, the methods used are very costly, low in applicability, invasive, inadequate in accuracy, or too late to eliminate ethical problems. Considering the embryo's development, the earliest observed candidate feature for sex determination is blood vessels. Detection from blood vessels can eliminate ethical issues, and these vessels can be seen when light is shined into the egg until the first seven days. In this study, sex determination was made by morphological analysis from embryonic vascular images obtained in the first week when the light was shined into the egg using a standard camera without any invasive procedure to the egg.