目前,视觉机器人的同时定位与地图构建(Simultaneous Localization and Mapping,SLAM)算法的建图部分主要采用了三维八叉树地图,虽然其地图存储容量较大,但是地图范围却无法实时扩大,且室内场景中常见的动态事物也因为忽略了大噪声点而...目前,视觉机器人的同时定位与地图构建(Simultaneous Localization and Mapping,SLAM)算法的建图部分主要采用了三维八叉树地图,虽然其地图存储容量较大,但是地图范围却无法实时扩大,且室内场景中常见的动态事物也因为忽略了大噪声点而难以进行处理.为此提出一种新的基于生长型四叉树结构的实时网格二维地图构建方法,将三维体素地图降维为二维网格地图,增加了对动态特征点轨迹的预测,在无损三维空间信息的情况下丰富了导航地图携带的环境信息.真实室内场景的实验表明:该算法能够在地图中较为精确地显示障碍物的位置信息,显著地降低了地图存储空间,提高了建图速度.展开更多
Takayasu arteritis （TA） is a chronic inflammatory disease of the large elastic arteries that primarily affects the aorta and its major branches, resulting in luminal stenosis and aneurysmal changes in the large vess...Takayasu arteritis （TA） is a chronic inflammatory disease of the large elastic arteries that primarily affects the aorta and its major branches, resulting in luminal stenosis and aneurysmal changes in the large vessels.1 Cerebral aneurysms and accompanying subarachnoid hemorrhage （SAH） are rare; no case from China has been reported. We herein report two cases of TA with cerebral aneurysms that were successfully treated with coil embolization.展开更多
Spontaneous rupture and bleeding from the carotid artery in acute promyelocytic leukemia （APL）patients leading to pseudoaneurysm （PSA） formation has not been reported. We first successfully treated an APL patient ...Spontaneous rupture and bleeding from the carotid artery in acute promyelocytic leukemia （APL）patients leading to pseudoaneurysm （PSA） formation has not been reported. We first successfully treated an APL patient with leli internal carotid artery rupture during chemotherapy leading to PSA using ultrasound-guided thrombin iniection （UGTI）.展开更多
文摘目前,视觉机器人的同时定位与地图构建(Simultaneous Localization and Mapping,SLAM)算法的建图部分主要采用了三维八叉树地图,虽然其地图存储容量较大,但是地图范围却无法实时扩大,且室内场景中常见的动态事物也因为忽略了大噪声点而难以进行处理.为此提出一种新的基于生长型四叉树结构的实时网格二维地图构建方法,将三维体素地图降维为二维网格地图,增加了对动态特征点轨迹的预测,在无损三维空间信息的情况下丰富了导航地图携带的环境信息.真实室内场景的实验表明:该算法能够在地图中较为精确地显示障碍物的位置信息,显著地降低了地图存储空间,提高了建图速度.
文摘Takayasu arteritis （TA） is a chronic inflammatory disease of the large elastic arteries that primarily affects the aorta and its major branches, resulting in luminal stenosis and aneurysmal changes in the large vessels.1 Cerebral aneurysms and accompanying subarachnoid hemorrhage （SAH） are rare; no case from China has been reported. We herein report two cases of TA with cerebral aneurysms that were successfully treated with coil embolization.
文摘Spontaneous rupture and bleeding from the carotid artery in acute promyelocytic leukemia （APL）patients leading to pseudoaneurysm （PSA） formation has not been reported. We first successfully treated an APL patient with leli internal carotid artery rupture during chemotherapy leading to PSA using ultrasound-guided thrombin iniection （UGTI）.
