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基于激光雷达自适应聚类半径的树冠检测研究
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作者 台少瑜 李云伍 +3 位作者 赵颖 林先卬 黎远江 王义成 《中国农机化学报》 北大核心 2024年第2期221-226,266,共7页
为解决丘陵山地果园条件下激光雷达检测过程中面对多尺寸、多距离条件下出现的目标物体漏检、误检等欠分割和过分割问题,提出一种基于激光雷达的自适应目标聚类半径目标物体检测方法。首先,在使用激光雷达感知到周围环境的三维点云后,... 为解决丘陵山地果园条件下激光雷达检测过程中面对多尺寸、多距离条件下出现的目标物体漏检、误检等欠分割和过分割问题,提出一种基于激光雷达的自适应目标聚类半径目标物体检测方法。首先,在使用激光雷达感知到周围环境的三维点云后,去除地面点云并且使用体素滤波进行降采样的预处理,在减少数据量的同时去除点云中的噪声点。其次,建立K-d tree模型进行最近邻搜索,以加速欧式聚类的进程,通过自适应确定每颗树冠的聚类半径,使欧式聚类能够得到更好的聚类效果。最后为验证算法准确性和实用性,基于果园履带车平台,采用32线激光雷达对所提算法进行实车测试。结果表明:在丘陵山地果园中该算法可准确聚类果树树冠点云,且实地目标正检率为94.41%。 展开更多
关键词 激光雷达 树冠检测 k-d tree模型 自适应聚类
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基于点云几何信息改进的自动配准方法 被引量:2
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作者 薛珊 吕旸 +2 位作者 吕琼莹 刘正彬 郭建波 《制造业自动化》 CSCD 2020年第1期83-87,97,共6页
针对工业流水线上激光扫描工件获得的点云数据的配准问题,提出了一种基于点云数据几何特征改进的点云自动配准新算法。新算法首先根据点云数据中法向量的变化规律选取特征点,作为初始的匹配点集;然后运用一种根据点对间距离约束优化的... 针对工业流水线上激光扫描工件获得的点云数据的配准问题,提出了一种基于点云数据几何特征改进的点云自动配准新算法。新算法首先根据点云数据中法向量的变化规律选取特征点,作为初始的匹配点集;然后运用一种根据点对间距离约束优化的随机抽样一致(RANSAC)算法对数据初始匹配;并运用k-d tree加速改进的最近点迭代(ICP)算法进行精确匹配;并运用四元数法求得配准参数。分别对提出的新算法、PCA改进算法和经典ICP算法进行了实验,并对实验结果进行了对比。对比结果表明新算法能够实现配准,并显著提高了配准的速度和精度,表明了新算法的有效性,对实际应用具有一定的现实意义。 展开更多
关键词 点云配准 RANSAC k-d tree ICP
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基于特征点的ICP点云配准算法 被引量:14
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作者 单丽杰 岳建平 钱炜 《甘肃科学学报》 2022年第4期1-4,19,共5页
ICP配准算法对待配准点云初始位置要求较高,且配准过程耗时长,因此提出了一种基于特征点改进的ICP点云配准算法。利用点云的局部法向量提取特征点,根据特征点的特征直方图得到初始配准点云;通过K-D tree搜索点集中的对应点对,运用四元... ICP配准算法对待配准点云初始位置要求较高,且配准过程耗时长,因此提出了一种基于特征点改进的ICP点云配准算法。利用点云的局部法向量提取特征点,根据特征点的特征直方图得到初始配准点云;通过K-D tree搜索点集中的对应点对,运用四元数法得到配准参数,根据刚性距离约束条件精确配准点云。实验表明,该算法避免了ICP配准算法因初始位置姿态而陷入局部最优,同时提高了配准效率和精度。 展开更多
关键词 点云配准 特征点 最近点迭代 k-d tree
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基于点云边界质心的粗配准方法 被引量:1
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作者 陆尚鸿 李文国 《电子科技》 2022年第4期53-59,66,共8页
点云配准的质量直接影响着三维重建的质量。针对传统K-4PCS耗时长且易出现错误匹配等问题,文中提出一种基于边界质心的点云粗配准方法。通过对点云进行边界提取,既保留点云外表特征,又减少了点云数据的大小,提高了粗配准速度。为了加快... 点云配准的质量直接影响着三维重建的质量。针对传统K-4PCS耗时长且易出现错误匹配等问题,文中提出一种基于边界质心的点云粗配准方法。通过对点云进行边界提取,既保留点云外表特征,又减少了点云数据的大小,提高了粗配准速度。为了加快边界点的提取速度,使用K-D tree算法完成对k近邻点的搜索。通过配准边界点的质心,减少点云初始距离并增加重叠度,保证了粗配准的精度。实验结果证明,文中方法在粗配准速度和精度方面都优于传统K-4PCS算法,其速度约为传统K-4PCS算法的2倍,平移和旋转精度也比传统K-4PCS高了40%以上。文中所提方法对提高点云粗配准的速度和精度具有一定的参考价值。 展开更多
关键词 点云配准 粗配准 快速配准 边界提取 k近邻点 边界质心 K-4PCS k-d tree
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3D Property Modeling of Void Ratio by Cokriging 被引量:2
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作者 姚凌青 潘懋 成秋明 《Journal of China University of Geosciences》 SCIE CSCD 2008年第4期410-415,共6页
Void ratio measures compactness of ground soil in geotechnical engineering. When samples are collected in certain area for mapping void ratios, other relevant types of properties such as water content may be also anal... Void ratio measures compactness of ground soil in geotechnical engineering. When samples are collected in certain area for mapping void ratios, other relevant types of properties such as water content may be also analyzed. To map the spatial distribution of void ratio in the area based on these types of point, observation data interpolation is often needed. Owing to the variance of sampling density along the horizontal and vertical directions, special consideration is required to handle anisotropy of estimator. 3D property modeling aims at predicting the overall distribution of property values from limited samples, and geostatistical method can be employed naturally here because they help to minimize the mean square error of estimation. To construct 3D property model of void ratio, cokriging was used considering its mutual correlation with water content, which is another important soil parameter. Moreover, K-D tree was adopted to organize the samples to accelerate neighbor query in 3D space during the above modeling process. At last, spatial configuration of void ratio distribution in an engineering body was modeled through 3D visualization, which provides important information for civil engineering purpose. 展开更多
关键词 property modeling COKRIGING VARIOGRAM ANISOTROPY k-d tree
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Rainfall Algorithms Using Oceanic Satellite Observations from MWHS-2
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作者 Ruiyao CHEN Ralf BENNARTZ 《Advances in Atmospheric Sciences》 SCIE CAS CSCD 2021年第8期1367-1378,共12页
This paper describes three algorithms for retrieving precipitation over oceans from brightness temperatures (TBs) of the Micro-Wave Humidity Sounder-2 (MHWS-2) onboard Fengyun-3C (FY-3C). For algorithm development, sc... This paper describes three algorithms for retrieving precipitation over oceans from brightness temperatures (TBs) of the Micro-Wave Humidity Sounder-2 (MHWS-2) onboard Fengyun-3C (FY-3C). For algorithm development, scattering- induced TB depressions (ΔTBs) of MWHS-2 at channels between 89 and 190 GHz were collocated to rain rates derived from measurements of the Global Precipitation Measurement’s Dual-frequency Precipitation Radar (DPR) for the year 2017. ΔTBs were calculated by subtracting simulated cloud-free TBs from bias-corrected observed TBs for each channel. These ΔTBs were then related to rain rates from DPR using (1) multilinear regression (MLR);the other two algorithms, (2) range searches (RS) and (3) nearest neighbor searches (NNS), are based on k-dimensional trees. While all three algorithms produce instantaneous rain rates, the RS algorithm also provides the probability of precipitation and can be understood in a Bayesian framework. Different combinations of MWHS-2 channels were evaluated using MLR and results suggest that adding 118 GHz improves retrieval performance. The optimal combination of channels excludes high-peaking channels but includes 118 GHz channels peaking in the mid and high troposphere. MWHS-2 observations from another year were used for validation purposes. The annual mean 2.5° × 2.5° gridded rain rates from the three algorithms are consistent with those from the Global Precipitation Climatology Project (GPCP) and DPR. Their correlation coefficients with GPCP are 0.96 and their biases are less than 5%. The correlation coefficients with DPR are slightly lower and the maximum bias is ~8%, partly due to the lower sampling density of DPR compared to that of MWHS-2. 展开更多
关键词 rainfall retrievals 118 GHz FY-3C MWHS-2 multilinear regression k-d tree
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Methods and Means for Small Dynamic Objects Recognition and Tracking
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作者 Dmytro Kushnir 《Computers, Materials & Continua》 SCIE EI 2022年第11期3649-3665,共17页
A literature analysis has shown that object search,recognition,and tracking systems are becoming increasingly popular.However,such systems do not achieve high practical results in analyzing small moving living objects... A literature analysis has shown that object search,recognition,and tracking systems are becoming increasingly popular.However,such systems do not achieve high practical results in analyzing small moving living objects ranging from 8 to 14 mm.This article examines methods and tools for recognizing and tracking the class of small moving objects,such as ants.To fulfill those aims,a customized You Only Look Once Ants Recognition(YOLO_AR)Convolutional Neural Network(CNN)has been trained to recognize Messor Structor ants in the laboratory using the LabelImg object marker tool.The proposed model is an extension of the You Only Look Once v4(Yolov4)512×512 model with an additional Self Regularized Non–Monotonic(Mish)activation function.Additionally,the scalable solution for continuous object recognizing and tracking was implemented.This solution is based on the OpenDatacam system,with extended Object Tracking modules that allow for tracking and counting objects that have crossed the custom boundary line.During the study,the methods of the alignment algorithm for finding the trajectory of moving objects were modified.I discovered that the Hungarian algorithm showed better results in tracking small objects than the K–D dimensional tree(k-d tree)matching algorithm used in OpenDataCam.Remarkably,such an algorithm showed better results with the implemented YOLO_AR model due to the lack of False Positives(FP).Therefore,I provided a new tracker module with a Hungarian matching algorithm verified on the Multiple Object Tracking(MOT)benchmark.Furthermore,additional customization parameters for object recognition and tracking results parsing and filtering were added,like boundary angle threshold(BAT)and past frames trajectory prediction(PFTP).Experimental tests confirmed the results of the study on a mobile device.During the experiment,parameters such as the quality of recognition and tracking of moving objects,the PFTP and BAT,and the configuration parameters of the neural network and boundary line model were analyzed.The results showed an increased tracking accuracy with the proposed methods by 50%.The study results confirmed the relevance of the topic and the effectiveness of the implemented methods and tools. 展开更多
关键词 Object detection artificial intelligence object tracking object counting small movable objects ants tracking ants recognition YOLO_AR Yolov4 Hungarian algorithm k-d tree algorithm MOT benchmark image labeling movement prediction
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Local feature based retrieval approach for iris biometrics 被引量:1
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作者 Hunny MEHROTRA Banshidhar MAJHI 《Frontiers of Computer Science》 SCIE EI CSCD 2013年第5期767-781,共15页
This paper proposes an efficient retrieval ap- proach for iris using local features. The features are extracted from segmented iris image using scale invariant feature trans- form (SIFT). The keypoint descriptors ex... This paper proposes an efficient retrieval ap- proach for iris using local features. The features are extracted from segmented iris image using scale invariant feature trans- form (SIFT). The keypoint descriptors extracted from SIFT are clustered into m groups using k-means. The idea is to perform indexing of keypoints based on descriptor property. During database indexing phase, k-d tree k-dimensional tree is constructed for each cluster center taken from N iris im- ages. Thus for m clusters, rn such k-d trees are generated de- noted as ti, where 1 ~〈 i ~〈 m. During the retrieval phase, the keypoint descriptors from probe iris image are clustered into m groups and ith cluster center is used to traverse correspond- ing ti for searching, k nearest neighbor approach is used, which finds p neighbors from each tree (ti) that falls within certain radius r centered on the probe point in k-dimensional space. Finally, p neighbors from m trees are combined using union operation and top S matches (S c_ (m x p)) correspond- ing to query iris image are retrieved. The proposed approach has been tested on publicly available databases and outper- forms the existing approaches in terms of speed and accuracy. 展开更多
关键词 INDEXING SIFT K-MEANS k-d tree k nearest neighbors IRIS BIOMETRICS
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