A great number of visual simultaneous localization and mapping(VSLAM)systems need to assume static features in the environment.However,moving objects can vastly impair the performance of a VSLAM system which relies on...A great number of visual simultaneous localization and mapping(VSLAM)systems need to assume static features in the environment.However,moving objects can vastly impair the performance of a VSLAM system which relies on the static-world assumption.To cope with this challenging topic,a real-time and robust VSLAM system based on ORB-SLAM2 for dynamic environments was proposed.To reduce the influence of dynamic content,we incorporate the deep-learning-based object detection method in the visual odometry,then the dynamic object probability model is added to raise the efficiency of object detection deep neural network and enhance the real-time performance of our system.Experiment with both on the TUM and KITTI benchmark dataset,as well as in a real-world environment,the results clarify that our method can significantly reduce the tracking error or drift,enhance the robustness,accuracy and stability of the VSLAM system in dynamic scenes.展开更多
In this paper,we propose a novel approach to visualizing global geographical information:a panoramic sphere in an immersive environment.The whole geographical surface can be observed through the rotating of heads as t...In this paper,we propose a novel approach to visualizing global geographical information:a panoramic sphere in an immersive environment.The whole geographical surface can be observed through the rotating of heads as the viewpoint of the panoramic sphere is inside the sphere.We compared three approaches to visualizing the earth for rendering the geographical information in a virtual reality environment.On the tasks of terrestrial and marine geographical information,we compare the visualization effects on a)a globe,b)a flat map and c)a panoramic sphere.Terrestrial geographical information tasks include the area comparison and direction determination.Marine geographical information tasks contain the visualization of sea surface temperature and sea surface currents.For terrestrial geographical information tasks,the experimental results show that the panoramic sphere outperforms the globe and the flat map,with a higher average accuracy and a shorter time.On marine geographical information task,the panoramic sphere visualization is also superior to the flat map and the globe in an immersive environment for the sea surface temperature data and the sea surface current fields.In all three visualization experiments,the panoramic sphere is most preferred by the participants,particularly for global,transcontinental and transoceanic needs.展开更多
The visual and aesthetic aspects of any object are defined by its color, texture, line, and form as well as compositional reference elements such as scale and spatial location in the three-dimensional context. Differe...The visual and aesthetic aspects of any object are defined by its color, texture, line, and form as well as compositional reference elements such as scale and spatial location in the three-dimensional context. Different methodologies have been developed to conduct visual assessments, based on analyses of the physical, aesthetic, and psychological attributes of the landscape. In this study, relationships between tourism buildings and the environment were analyzed across the perceived landscape and main shopping streets in terms of their color, texture, line and form, scale, and spatial location. Photographic-based questionnaires were administered in Kemer （near Antalya, Turkey） and Knokke （near Brugge, Belgium）. In each location, 30 photographs taken of the coast and principal shopping streets were shown to 100 respondents of different ages, educational backgrounds, and nationalities. Two questions were then asked regarding the visual relationships in the photographs. Six questions regarding socioeconomic characteristics of the respondents were also asked. In both locations, the respondents preferred natural landscapes with few structures, and tourist resorts characterized by small, low-rise, and traditional buildings. The results of this study may provide suggestions for building and landscape architects about how to successfully integrate tourism buildings into the landscape展开更多
When a vehicle travels in urban areas, onboard global positioning system （GPS） signals may be obstructed by high-rise buildings and thereby cannot provide accurate positions. It is proposed to perform localization b...When a vehicle travels in urban areas, onboard global positioning system （GPS） signals may be obstructed by high-rise buildings and thereby cannot provide accurate positions. It is proposed to perform localization by registering ground images to a 2D building boundary map which is generated from aerial images. Multilayer feature graphs （MFG） is employed to model building facades from the ground images. MFG was reported in the previous work to facilitate the robot scene understand- ing in urhan areas. By constructing MFG, the 2D/3D positions of features can be obtained, inclu- cling line segments, ideal lines, and all primary vertical planes. Finally, a voting-based feature weighted localization method is developed based on MFGs and the 2D building boundary map. The proposed method has been implemented and validated in physical experiments. In the proposed ex- periments, the algorithm has achieved an overall localization accuracy of 2.2m, which is better than commercial GPS working in open environments.展开更多
Background A task assigned to space exploration satellites involves detecting the physical environment within a certain space.However,space detection data are complex and abstract.These data are not conducive for rese...Background A task assigned to space exploration satellites involves detecting the physical environment within a certain space.However,space detection data are complex and abstract.These data are not conducive for researchers'visual perceptions of the evolution and interaction of events in the space environment.Methods A time-series dynamic data sampling method for large-scale space was proposed for sample detection data in space and time,and the corresponding relationships between data location features and other attribute features were established.A tone-mapping method based on statistical histogram equalization was proposed and applied to the final attribute feature data.The visualization process is optimized for rendering by merging materials,reducing the number of patches,and performing other operations.Results The results of sampling,feature extraction,and uniform visualization of the detection data of complex types,long duration spans,and uneven spatial distributions were obtained.The real-time visualization of large-scale spatial structures using augmented reality devices,particularly low-performance devices,was also investigated.Conclusions The proposed visualization system can reconstruct the three-dimensional structure of a large-scale space,express the structure and changes in the spatial environment using augmented reality,and assist in intuitively discovering spatial environmental events and evolutionary rules.展开更多
This study aims to explore the application of Bayesian analysis based on neural networks and deep learning in data visualization.The research background is that with the increasing amount and complexity of data,tradit...This study aims to explore the application of Bayesian analysis based on neural networks and deep learning in data visualization.The research background is that with the increasing amount and complexity of data,traditional data analysis methods have been unable to meet the needs.Research methods include building neural networks and deep learning models,optimizing and improving them through Bayesian analysis,and applying them to the visualization of large-scale data sets.The results show that the neural network combined with Bayesian analysis and deep learning method can effectively improve the accuracy and efficiency of data visualization,and enhance the intuitiveness and depth of data interpretation.The significance of the research is that it provides a new solution for data visualization in the big data environment and helps to further promote the development and application of data science.展开更多
基金the National Natural Science Foundation of China(No.61671470).
文摘A great number of visual simultaneous localization and mapping(VSLAM)systems need to assume static features in the environment.However,moving objects can vastly impair the performance of a VSLAM system which relies on the static-world assumption.To cope with this challenging topic,a real-time and robust VSLAM system based on ORB-SLAM2 for dynamic environments was proposed.To reduce the influence of dynamic content,we incorporate the deep-learning-based object detection method in the visual odometry,then the dynamic object probability model is added to raise the efficiency of object detection deep neural network and enhance the real-time performance of our system.Experiment with both on the TUM and KITTI benchmark dataset,as well as in a real-world environment,the results clarify that our method can significantly reduce the tracking error or drift,enhance the robustness,accuracy and stability of the VSLAM system in dynamic scenes.
基金This research was funded by the Science and Technology Innovation Project for Laoshan Laboratory(No.LSKJ202204303)the National Natural Science Foundation of China(No.42030406)+1 种基金the Fundamental Research Funds for the Central Universities(No.202261006)the ESANRSCC Scientific Cooperation Project on Earth Observation Science and Applications:Dragon 5(No.58393).
文摘In this paper,we propose a novel approach to visualizing global geographical information:a panoramic sphere in an immersive environment.The whole geographical surface can be observed through the rotating of heads as the viewpoint of the panoramic sphere is inside the sphere.We compared three approaches to visualizing the earth for rendering the geographical information in a virtual reality environment.On the tasks of terrestrial and marine geographical information,we compare the visualization effects on a)a globe,b)a flat map and c)a panoramic sphere.Terrestrial geographical information tasks include the area comparison and direction determination.Marine geographical information tasks contain the visualization of sea surface temperature and sea surface currents.For terrestrial geographical information tasks,the experimental results show that the panoramic sphere outperforms the globe and the flat map,with a higher average accuracy and a shorter time.On marine geographical information task,the panoramic sphere visualization is also superior to the flat map and the globe in an immersive environment for the sea surface temperature data and the sea surface current fields.In all three visualization experiments,the panoramic sphere is most preferred by the participants,particularly for global,transcontinental and transoceanic needs.
文摘The visual and aesthetic aspects of any object are defined by its color, texture, line, and form as well as compositional reference elements such as scale and spatial location in the three-dimensional context. Different methodologies have been developed to conduct visual assessments, based on analyses of the physical, aesthetic, and psychological attributes of the landscape. In this study, relationships between tourism buildings and the environment were analyzed across the perceived landscape and main shopping streets in terms of their color, texture, line and form, scale, and spatial location. Photographic-based questionnaires were administered in Kemer （near Antalya, Turkey） and Knokke （near Brugge, Belgium）. In each location, 30 photographs taken of the coast and principal shopping streets were shown to 100 respondents of different ages, educational backgrounds, and nationalities. Two questions were then asked regarding the visual relationships in the photographs. Six questions regarding socioeconomic characteristics of the respondents were also asked. In both locations, the respondents preferred natural landscapes with few structures, and tourist resorts characterized by small, low-rise, and traditional buildings. The results of this study may provide suggestions for building and landscape architects about how to successfully integrate tourism buildings into the landscape
基金Supported by the National High Technology Research and Development Program of China(No.2012AA041403)National Natural Science Foundation of China(No.60905061,61305107)+1 种基金the Fundamental Research Funds for the Central Universities(No.ZXH2012N003)the Scientific Research Funds for Civil Aviation University of China(No.2012QD23x)
文摘When a vehicle travels in urban areas, onboard global positioning system （GPS） signals may be obstructed by high-rise buildings and thereby cannot provide accurate positions. It is proposed to perform localization by registering ground images to a 2D building boundary map which is generated from aerial images. Multilayer feature graphs （MFG） is employed to model building facades from the ground images. MFG was reported in the previous work to facilitate the robot scene understand- ing in urhan areas. By constructing MFG, the 2D/3D positions of features can be obtained, inclu- cling line segments, ideal lines, and all primary vertical planes. Finally, a voting-based feature weighted localization method is developed based on MFGs and the 2D building boundary map. The proposed method has been implemented and validated in physical experiments. In the proposed ex- periments, the algorithm has achieved an overall localization accuracy of 2.2m, which is better than commercial GPS working in open environments.
文摘Background A task assigned to space exploration satellites involves detecting the physical environment within a certain space.However,space detection data are complex and abstract.These data are not conducive for researchers'visual perceptions of the evolution and interaction of events in the space environment.Methods A time-series dynamic data sampling method for large-scale space was proposed for sample detection data in space and time,and the corresponding relationships between data location features and other attribute features were established.A tone-mapping method based on statistical histogram equalization was proposed and applied to the final attribute feature data.The visualization process is optimized for rendering by merging materials,reducing the number of patches,and performing other operations.Results The results of sampling,feature extraction,and uniform visualization of the detection data of complex types,long duration spans,and uneven spatial distributions were obtained.The real-time visualization of large-scale spatial structures using augmented reality devices,particularly low-performance devices,was also investigated.Conclusions The proposed visualization system can reconstruct the three-dimensional structure of a large-scale space,express the structure and changes in the spatial environment using augmented reality,and assist in intuitively discovering spatial environmental events and evolutionary rules.
文摘This study aims to explore the application of Bayesian analysis based on neural networks and deep learning in data visualization.The research background is that with the increasing amount and complexity of data,traditional data analysis methods have been unable to meet the needs.Research methods include building neural networks and deep learning models,optimizing and improving them through Bayesian analysis,and applying them to the visualization of large-scale data sets.The results show that the neural network combined with Bayesian analysis and deep learning method can effectively improve the accuracy and efficiency of data visualization,and enhance the intuitiveness and depth of data interpretation.The significance of the research is that it provides a new solution for data visualization in the big data environment and helps to further promote the development and application of data science.
