The construction of modern cities emphasizes the nature and harmony among the“people”,“things”and“environment”,reflecting the harmony and unity of the formal beauty,functional beauty and surrounding environment ...The construction of modern cities emphasizes the nature and harmony among the“people”,“things”and“environment”,reflecting the harmony and unity of the formal beauty,functional beauty and surrounding environment of architecture.Based on the introduction of the design concept of the assembled pedestrian overbridge,through the Jianhua Building Materials Group’s first“pre-fabricated low-rise tower-stayed pedestrian landscape overbridge”project in China,this paper proposes a solution that can improve the landscape design of the overbridge and reduce the construction complexity of the overbridge,the assembly product supply and the construction process“integration”under the premise of ensuring the safety and stability of the pedestrian overbridge,whose prefabricated production and assembly construction,shortening the construction period,reducing energy consumption,reducing pollution,and obtaining good social comprehensive benefits.展开更多
With the deployment of Connected and Automated Vehicles in the coming decades,road transportation will experience a significant upheaval.CAVs(Connected and Autonomous Vehicles)have been a main emphasis of Transportati...With the deployment of Connected and Automated Vehicles in the coming decades,road transportation will experience a significant upheaval.CAVs(Connected and Autonomous Vehicles)have been a main emphasis of Transportation and the automotive sector,and the future of transportation system analysis is widely anticipated.The examination and future development of CAVs technology has been the subject of numerous researches.However,as three essential kinds of road users,pedestrians,bicyclists,and motorcyclists have experienced little to no handling.We explored the influence of CAVs on non-motorized mobility in this article and seven various issues that CAVs face in the environment.展开更多
为提高移动机器人的跟随精度,对深度相机(RGB-D相机)测距进行研究,提出一种基于MRSD(Mask R-CNN and S2R-DepthNet)的移动机器人跟随系统。引入实例分割算法(Mask R-CNN)获取行人的前景掩膜;以掩膜为指导从深度图像中获取准确的行人区...为提高移动机器人的跟随精度,对深度相机(RGB-D相机)测距进行研究,提出一种基于MRSD(Mask R-CNN and S2R-DepthNet)的移动机器人跟随系统。引入实例分割算法(Mask R-CNN)获取行人的前景掩膜;以掩膜为指导从深度图像中获取准确的行人区域深度像素,引入深度估计算法(S2R-DepthNet)从彩色图像中推理深度图像以替换深度传感器引起的无效深度像素,提高测距的精度;建立基于Sage-Husa自适应滤波(SHAKF)的测距模型,提高量测信息异常情况下的测距鲁棒性,实现稳定跟随。实验结果表明,该方法能以设定距离准确跟随前方行人。展开更多
In outdoor environments, GPS is often used for pedestrian navigation by utilizing its signals for position computation, but in indoor or semi-obstructed environments, GPS signals are often unavailable. Therefore, pede...In outdoor environments, GPS is often used for pedestrian navigation by utilizing its signals for position computation, but in indoor or semi-obstructed environments, GPS signals are often unavailable. Therefore, pedestrian navigation for these environments should be realized by the integration of GPS and inertial navigation system （INS）. However, the lowcost INS could induce errors that may result in a large position drift. The problem can be minimized by mounting the sensors on the pedestrian＇s foot, using zero velocity update （ZUPT） method with the standard navigation algorithm to restrict the error growth. However, heading drift still remains despite using ZUPT measurements since the heading error is unobservable. Also, tbot mounted INS suffers from the initialization ambiguity of position and heading from GPS. In this paper, a novel algorithm is developed to mitigate the heading drift problem when using ZUPT. The method uses building lay- out to aid the heading measurement in Kalman filter, and it could also be combined for the initial- ization. The algorithm has been investigated with real field trials using the low cost Microstrain 3DM-GX3-25 inertial sensor, a Leica GS10 GPS receiver and a uBlox EVK-6T GPS receiver. It could be concluded that the proposed method offers a significant improvement in position accuracy for the long period, allowing pedestrian navigation for nearly40 min with mean position error less than 2.8 m. This method also has a considerable effect on the accuracy of the initialization.展开更多
文摘The construction of modern cities emphasizes the nature and harmony among the“people”,“things”and“environment”,reflecting the harmony and unity of the formal beauty,functional beauty and surrounding environment of architecture.Based on the introduction of the design concept of the assembled pedestrian overbridge,through the Jianhua Building Materials Group’s first“pre-fabricated low-rise tower-stayed pedestrian landscape overbridge”project in China,this paper proposes a solution that can improve the landscape design of the overbridge and reduce the construction complexity of the overbridge,the assembly product supply and the construction process“integration”under the premise of ensuring the safety and stability of the pedestrian overbridge,whose prefabricated production and assembly construction,shortening the construction period,reducing energy consumption,reducing pollution,and obtaining good social comprehensive benefits.
文摘With the deployment of Connected and Automated Vehicles in the coming decades,road transportation will experience a significant upheaval.CAVs(Connected and Autonomous Vehicles)have been a main emphasis of Transportation and the automotive sector,and the future of transportation system analysis is widely anticipated.The examination and future development of CAVs technology has been the subject of numerous researches.However,as three essential kinds of road users,pedestrians,bicyclists,and motorcyclists have experienced little to no handling.We explored the influence of CAVs on non-motorized mobility in this article and seven various issues that CAVs face in the environment.
文摘为提高移动机器人的跟随精度,对深度相机(RGB-D相机)测距进行研究,提出一种基于MRSD(Mask R-CNN and S2R-DepthNet)的移动机器人跟随系统。引入实例分割算法(Mask R-CNN)获取行人的前景掩膜;以掩膜为指导从深度图像中获取准确的行人区域深度像素,引入深度估计算法(S2R-DepthNet)从彩色图像中推理深度图像以替换深度传感器引起的无效深度像素,提高测距的精度;建立基于Sage-Husa自适应滤波(SHAKF)的测距模型,提高量测信息异常情况下的测距鲁棒性,实现稳定跟随。实验结果表明,该方法能以设定距离准确跟随前方行人。
文摘In outdoor environments, GPS is often used for pedestrian navigation by utilizing its signals for position computation, but in indoor or semi-obstructed environments, GPS signals are often unavailable. Therefore, pedestrian navigation for these environments should be realized by the integration of GPS and inertial navigation system （INS）. However, the lowcost INS could induce errors that may result in a large position drift. The problem can be minimized by mounting the sensors on the pedestrian＇s foot, using zero velocity update （ZUPT） method with the standard navigation algorithm to restrict the error growth. However, heading drift still remains despite using ZUPT measurements since the heading error is unobservable. Also, tbot mounted INS suffers from the initialization ambiguity of position and heading from GPS. In this paper, a novel algorithm is developed to mitigate the heading drift problem when using ZUPT. The method uses building lay- out to aid the heading measurement in Kalman filter, and it could also be combined for the initial- ization. The algorithm has been investigated with real field trials using the low cost Microstrain 3DM-GX3-25 inertial sensor, a Leica GS10 GPS receiver and a uBlox EVK-6T GPS receiver. It could be concluded that the proposed method offers a significant improvement in position accuracy for the long period, allowing pedestrian navigation for nearly40 min with mean position error less than 2.8 m. This method also has a considerable effect on the accuracy of the initialization.
