针对在动态环境下,传统的同步定位与地图构建(simultaneous localization and mapping,SLAM)框架在动态物体上产生误匹配,导致计算结果不稳定的问题,提出了一种结合深度学习和平移约束的算法。首先,采用无监督的深度估计网络输出运动场...针对在动态环境下,传统的同步定位与地图构建(simultaneous localization and mapping,SLAM)框架在动态物体上产生误匹配,导致计算结果不稳定的问题,提出了一种结合深度学习和平移约束的算法。首先,采用无监督的深度估计网络输出运动场信息,使用目标检测对训练数据进行预处理,以屏蔽场景静止部分对训练的干扰,同时,通过目标检测获得潜在运动对象,并与运动场信息联合判断该目标是否为运动对象。为了进一步剔除异常的匹配点,本文充分利用了直线行驶情况下的先验信息,通过灭点和匹配点对的约束关系,达到剔除异常匹配点的效果。结果表明:该方法较ORB-SLAM2在KITTI、TUM数据集上均方根误差分别降低了约16.38%、84.26%,与DynaSLAM相比降低了约6.65%、8.32%,同时较DynaSLAM效率也有所提升。展开更多
Theγ-rays are widely and abundantly present in strong nuclear radiation environments,and when they act on the camera equipment used to obtain environmental visual information on nuclear robots,radiation effects will ...Theγ-rays are widely and abundantly present in strong nuclear radiation environments,and when they act on the camera equipment used to obtain environmental visual information on nuclear robots,radiation effects will occur,which will degrade the performance of the camera system,reduce the imaging quality,and even cause catastrophic consequences.Color reducibility is an important index for evaluating the imaging quality of color camera,but its degradation mechanism in a nuclear radiation environment is still unclear.In this paper,theγ-ray irradiation experiments of CMOS cameras were carried out to analyse the degradation law of the camera’s color reducibility with cumulative irradiation and reveal the degradation mechanism of the color information of the CMOS camera underγ-ray irradiation.The results show that the spectral response of CMOS image sensor(CIS)and the spectral transmittance of lens after irradiation affect the values of a^(*)and b^(*)in the LAB color model.While the full well capacity(FWC)of CIS and transmittance of lens affect the value of L^(*)in the LAB color model,thus increase color difference and reduce brightness,the combined effect of color difference and brightness degradation will reduce the color reducibility of CMOS cameras.Therefore,the degradation of the color information of the CMOS camera afterγ-ray irradiation mainly comes from the changes in the FWC and spectral response of CIS,and the spectral transmittance of lens.展开更多
文摘针对在动态环境下,传统的同步定位与地图构建(simultaneous localization and mapping,SLAM)框架在动态物体上产生误匹配,导致计算结果不稳定的问题,提出了一种结合深度学习和平移约束的算法。首先,采用无监督的深度估计网络输出运动场信息,使用目标检测对训练数据进行预处理,以屏蔽场景静止部分对训练的干扰,同时,通过目标检测获得潜在运动对象,并与运动场信息联合判断该目标是否为运动对象。为了进一步剔除异常的匹配点,本文充分利用了直线行驶情况下的先验信息,通过灭点和匹配点对的约束关系,达到剔除异常匹配点的效果。结果表明:该方法较ORB-SLAM2在KITTI、TUM数据集上均方根误差分别降低了约16.38%、84.26%,与DynaSLAM相比降低了约6.65%、8.32%,同时较DynaSLAM效率也有所提升。
基金National Natural Science Foundation of China(11805269)West Light Talent Training Plan of the Chinese Academy of Sciences(2022-XBQNXZ-010)Science and Technology Innovation Leading Talent Project of Xinjiang Uygur Autonomous Region(2022TSYCLJ0042)。
文摘Theγ-rays are widely and abundantly present in strong nuclear radiation environments,and when they act on the camera equipment used to obtain environmental visual information on nuclear robots,radiation effects will occur,which will degrade the performance of the camera system,reduce the imaging quality,and even cause catastrophic consequences.Color reducibility is an important index for evaluating the imaging quality of color camera,but its degradation mechanism in a nuclear radiation environment is still unclear.In this paper,theγ-ray irradiation experiments of CMOS cameras were carried out to analyse the degradation law of the camera’s color reducibility with cumulative irradiation and reveal the degradation mechanism of the color information of the CMOS camera underγ-ray irradiation.The results show that the spectral response of CMOS image sensor(CIS)and the spectral transmittance of lens after irradiation affect the values of a^(*)and b^(*)in the LAB color model.While the full well capacity(FWC)of CIS and transmittance of lens affect the value of L^(*)in the LAB color model,thus increase color difference and reduce brightness,the combined effect of color difference and brightness degradation will reduce the color reducibility of CMOS cameras.Therefore,the degradation of the color information of the CMOS camera afterγ-ray irradiation mainly comes from the changes in the FWC and spectral response of CIS,and the spectral transmittance of lens.
