同步定位与建图(Simultaneous Localization and Mapping,SLAM)是移动机器人与智能车辆实现环境感知、实时定位的关键技术。随着科技的不断发展,具有便携、扫描范围广等优势的手持旋轴激光雷达应用愈加广泛。为了解决手持旋轴激光雷达...同步定位与建图(Simultaneous Localization and Mapping,SLAM)是移动机器人与智能车辆实现环境感知、实时定位的关键技术。随着科技的不断发展,具有便携、扫描范围广等优势的手持旋轴激光雷达应用愈加广泛。为了解决手持旋轴激光雷达在运行过程中由于旋转引起的特征点稀疏导致定位建图质量差的问题,提出一种改进的SLAM算法。在LIO-SAM算法的基础上计算了一种表征点云强度信息的特征点,在提取几何特征边缘点与平面点时,将周围强度值变化较大的点作为一种新的特征点引入点云匹配。同时,通过实时判断系统是否存在退化风险,从而动态调整滤波数值设置,保证了系统运行的稳定性。实验结果表明,在手持旋轴激光雷达采集的户外场景数据下,经过改进的SLAM算法相比LIO-SAM算法有更好的定位与建图效果。展开更多
三维高效视频编码(three-dimensional high efficiency video coding,3D-HEVC)是立体视频编码扩展的国际标准化组织(Joint Collaborative Team on 3D Video Coding Extension Development,JCT-3V)推出的目前最新的3D视频编码标准,基于3D...三维高效视频编码(three-dimensional high efficiency video coding,3D-HEVC)是立体视频编码扩展的国际标准化组织(Joint Collaborative Team on 3D Video Coding Extension Development,JCT-3V)推出的目前最新的3D视频编码标准,基于3D-HEVC的三维视频编码技术的研究推动了其应用并成为目前三维视频编码技术的研究热点.在回顾3D视频编码标准发展基础上,描述了基于3D-HEVC的三维视频编码方案,对其中最为关键的三维视频纹理图与深度图编码方法与研究进展进行了重点分析与阐述.首先,对目前借助视频序列中纹理特性的三维视频纹理图编码方法展开了综述并说明其存在的问题.然后,对基于纹理特性和区域的三维视频深度图编码方法展开了分析和论述.最后,结合近年来最新的研究成果,展望了三维视频编码技术的发展并提出了新的研究课题.展开更多
Hausdorff distance measure is one of the widely adopted feature-based image matching algorithms due to its simplicity and accuracy.However,it is considered that its robustness still needs to be improved.In this paper,...Hausdorff distance measure is one of the widely adopted feature-based image matching algorithms due to its simplicity and accuracy.However,it is considered that its robustness still needs to be improved.In this paper,various forms of original and improved Hausdorff distance(HD) and their limitations are studied.Focusing on robust Hausdorff distance(RHD),an improved RHD with an adaptive outlier point threshold selection method is proposed.Furthermore,another new form of the Hausdorff distance which possesses the merits of RHD and M-HD is prsented.Finally,a recursive algorithm is introduced to accelerate the image matching speed of Hausdorff algorithms.Extensive simulation and experiment results are presented to validate the feasibility of the proposed Hausdorff distance algorithm.展开更多
文摘同步定位与建图(Simultaneous Localization and Mapping,SLAM)是移动机器人与智能车辆实现环境感知、实时定位的关键技术。随着科技的不断发展,具有便携、扫描范围广等优势的手持旋轴激光雷达应用愈加广泛。为了解决手持旋轴激光雷达在运行过程中由于旋转引起的特征点稀疏导致定位建图质量差的问题,提出一种改进的SLAM算法。在LIO-SAM算法的基础上计算了一种表征点云强度信息的特征点,在提取几何特征边缘点与平面点时,将周围强度值变化较大的点作为一种新的特征点引入点云匹配。同时,通过实时判断系统是否存在退化风险,从而动态调整滤波数值设置,保证了系统运行的稳定性。实验结果表明,在手持旋轴激光雷达采集的户外场景数据下,经过改进的SLAM算法相比LIO-SAM算法有更好的定位与建图效果。
文摘三维高效视频编码(three-dimensional high efficiency video coding,3D-HEVC)是立体视频编码扩展的国际标准化组织(Joint Collaborative Team on 3D Video Coding Extension Development,JCT-3V)推出的目前最新的3D视频编码标准,基于3D-HEVC的三维视频编码技术的研究推动了其应用并成为目前三维视频编码技术的研究热点.在回顾3D视频编码标准发展基础上,描述了基于3D-HEVC的三维视频编码方案,对其中最为关键的三维视频纹理图与深度图编码方法与研究进展进行了重点分析与阐述.首先,对目前借助视频序列中纹理特性的三维视频纹理图编码方法展开了综述并说明其存在的问题.然后,对基于纹理特性和区域的三维视频深度图编码方法展开了分析和论述.最后,结合近年来最新的研究成果,展望了三维视频编码技术的发展并提出了新的研究课题.
基金Supported by the National Natural Science Foundation of China(No.61072088)
文摘Hausdorff distance measure is one of the widely adopted feature-based image matching algorithms due to its simplicity and accuracy.However,it is considered that its robustness still needs to be improved.In this paper,various forms of original and improved Hausdorff distance(HD) and their limitations are studied.Focusing on robust Hausdorff distance(RHD),an improved RHD with an adaptive outlier point threshold selection method is proposed.Furthermore,another new form of the Hausdorff distance which possesses the merits of RHD and M-HD is prsented.Finally,a recursive algorithm is introduced to accelerate the image matching speed of Hausdorff algorithms.Extensive simulation and experiment results are presented to validate the feasibility of the proposed Hausdorff distance algorithm.