The question of how to estimate the state of an unmanned aerial vehicle (UAV) in real time in multi-environments remains a challenge. Although the global navigation satellite system (GNSS) has been widely applied, drones cannot perform position estimation when a GNSS signal is not available or the GNSS is disturbed. In this paper, the problem of state estimation in multi-environments is solved by employing an Extended Kalman Filter (EKF) algorithm to fuse the data from multiple heterogeneous sensors (MHS), including an inertial measurement unit (IMU), a magnetometer, a barometer, a GNSS receiver, an optical flow sensor (OFS), Light Detection and Ranging (LiDAR), and an RGB-D camera. Finally, the robustness and effectiveness of the multi-sensor data fusion system based on the EKF algorithm are verified by field flights in unstructured, indoor, outdoor, and indoor and outdoor transition scenarios.

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Purpose: We aimed to develop a novel interpretable artificial intelligence (AI) model algorithm focusing on automatic detection and classification of various patterns of calcification distribution in mammographic images using a unique graph convolution approach. Materials and methods: Images from 292 patients, which showed calcifications according to the mammographic reports and diagnosed breast cancers, were collected. The calcification distributions were classified as diffuse, segmental, regional, grouped, or linear. Excluded were mammograms with (1) breast cancer with multiple lexicons such as mass, asymmetry, or architectural distortion without calcifications; (2) hidden calcifications that were difficult to mark; or (3) incomplete medical records. Results: A graph-convolutional-network-based model was developed. A total of 581 mammographic images from 292 cases of breast cancer were divided based on the calcification distribution pattern: diffuse (n = 67), regional (n = 115), group (n = 337), linear (n = 8), or segmental (n = 54). The classification performances were measured using metrics including precision, recall, F1 score, accuracy, and multi-class area under the receiver operating characteristic curve. The proposed model achieved a precision of 0.522 ± 0.028, sensitivity of 0.643 ± 0.017, specificity of 0.847 ± 0.009, F1 score of 0.559 ± 0.018, accuracy of 64.325 ± 1.694%, and area under the curve of 0.745 ± 0.030; thus, the method was found to be superior compared to all baseline models. The predicted linear and diffuse classifications were highly similar to the ground truth, and the predicted grouped and regional classifications were also superior compared to baseline models. The prediction results are interpretable using visualization methods to highlight the important calcification nodes in graphs. Conclusions: The proposed deep neural network framework is an AI solution that automatically detects and classifies calcification distribution patterns on mammographic images highly suspected of showing breast cancers. Further study of the AI model in an actual clinical setting and additional data collection will improve its performance.