目的移动智能体在执行同步定位与地图构建(Simultaneous Localization and Mapping,SLAM)的复杂任务时,动态物体的干扰会导致特征点间的关联减弱,系统定位精度下降,为此提出一种面向室内动态场景下基于YOLOv5和几何约束的视觉SLAM算法...目的移动智能体在执行同步定位与地图构建(Simultaneous Localization and Mapping,SLAM)的复杂任务时,动态物体的干扰会导致特征点间的关联减弱,系统定位精度下降,为此提出一种面向室内动态场景下基于YOLOv5和几何约束的视觉SLAM算法。方法首先,以YOLOv5s为基础,将原有的CSPDarknet主干网络替换成轻量级的MobileNetV3网络,可以减少参数、加快运行速度,同时与ORB-SLAM2系统相结合,在提取ORB特征点的同时获取语义信息,并剔除先验的动态特征点。然后,结合光流法和对极几何约束对可能残存的动态特征点进一步剔除。最后,仅用静态特征点对相机位姿进行估计。结果在TUM数据集上的实验结果表明,与ORB-SLAM2相比,在高动态序列下的ATE和RPE都减少了90%以上,与DS-SLAM、Dyna-SLAM同类型系统相比,在保证定位精度和鲁棒性的同时,跟踪线程中处理一帧图像平均只需28.26 ms。结论该算法能够有效降低动态物体对实时SLAM过程造成的干扰,为实现更加智能化、自动化的包装流程提供了可能。展开更多
A typical electronic communication system, such as GPS receiver, unmanned aerial vehicle＇s （UAV＇s） data link, and radar, faces multi-dimensional and complicated electromagnetic interference in operating environmen...A typical electronic communication system, such as GPS receiver, unmanned aerial vehicle＇s （UAV＇s） data link, and radar, faces multi-dimensional and complicated electromagnetic interference in operating environment. To measure the anti- interference performance of the electronic communication system in the complicated electromagnetic interference environment, a method of multi-dimensional and complicated electromagnetic interference hardware-in-the-loop simulation in an anechoic room is proposed. It takes into account the characteristics of interference signals and the positional relationship among interference, the receiver and the transmitter of the electronic communication system. It uses the grey relational method and the angular domain mapping error correction method to control the relevant parameters, the microwave switch and so on, thus achieving the approximately actual mapping of the outdoor multi-dimensional and complicated electromagnetic interference in the anechoic room. To verify the effectiveness of this method, the multi-dimensional and complicated electromagnetic interference of the UAV＇s data link is simulated as an example. The results show that the degree of correlation between the calculated signal to interference ratio of the data link receiver in the actual scene and the measured signal to interference ratio of the data link receiver simulated with this method in the anechoic room is 0.968 1, proving that the method is effective for simulating the complicated electromagnetic interference.展开更多
Encryption and decryption method of three-dimensional objects uses holograms computer-generated and suggests encoding stage. Information obtained amplitude and phase of a three-dimensional object using mathematically ...Encryption and decryption method of three-dimensional objects uses holograms computer-generated and suggests encoding stage. Information obtained amplitude and phase of a three-dimensional object using mathematically stage transforms overlap stored on a digital computer. Different three-dimensional images restore and develop the system for the expansion of the three-dimensional scenes and camera movement parameters. This article talks about these kinds of digital image processing algorithms as the reconstruction of three-dimensional model of the scene. In the present state, many such algorithms need to be improved in this paper proposing one of the options to improve the accuracy of such reconstruction.展开更多
文摘目的移动智能体在执行同步定位与地图构建(Simultaneous Localization and Mapping,SLAM)的复杂任务时,动态物体的干扰会导致特征点间的关联减弱,系统定位精度下降,为此提出一种面向室内动态场景下基于YOLOv5和几何约束的视觉SLAM算法。方法首先,以YOLOv5s为基础,将原有的CSPDarknet主干网络替换成轻量级的MobileNetV3网络,可以减少参数、加快运行速度,同时与ORB-SLAM2系统相结合,在提取ORB特征点的同时获取语义信息,并剔除先验的动态特征点。然后,结合光流法和对极几何约束对可能残存的动态特征点进一步剔除。最后,仅用静态特征点对相机位姿进行估计。结果在TUM数据集上的实验结果表明,与ORB-SLAM2相比,在高动态序列下的ATE和RPE都减少了90%以上,与DS-SLAM、Dyna-SLAM同类型系统相比,在保证定位精度和鲁棒性的同时,跟踪线程中处理一帧图像平均只需28.26 ms。结论该算法能够有效降低动态物体对实时SLAM过程造成的干扰,为实现更加智能化、自动化的包装流程提供了可能。
基金supported by the National Natural Science Foundation of China(61571368)the certain Ministry Foundation(2014607B006)
文摘A typical electronic communication system, such as GPS receiver, unmanned aerial vehicle＇s （UAV＇s） data link, and radar, faces multi-dimensional and complicated electromagnetic interference in operating environment. To measure the anti- interference performance of the electronic communication system in the complicated electromagnetic interference environment, a method of multi-dimensional and complicated electromagnetic interference hardware-in-the-loop simulation in an anechoic room is proposed. It takes into account the characteristics of interference signals and the positional relationship among interference, the receiver and the transmitter of the electronic communication system. It uses the grey relational method and the angular domain mapping error correction method to control the relevant parameters, the microwave switch and so on, thus achieving the approximately actual mapping of the outdoor multi-dimensional and complicated electromagnetic interference in the anechoic room. To verify the effectiveness of this method, the multi-dimensional and complicated electromagnetic interference of the UAV＇s data link is simulated as an example. The results show that the degree of correlation between the calculated signal to interference ratio of the data link receiver in the actual scene and the measured signal to interference ratio of the data link receiver simulated with this method in the anechoic room is 0.968 1, proving that the method is effective for simulating the complicated electromagnetic interference.
文摘Encryption and decryption method of three-dimensional objects uses holograms computer-generated and suggests encoding stage. Information obtained amplitude and phase of a three-dimensional object using mathematically stage transforms overlap stored on a digital computer. Different three-dimensional images restore and develop the system for the expansion of the three-dimensional scenes and camera movement parameters. This article talks about these kinds of digital image processing algorithms as the reconstruction of three-dimensional model of the scene. In the present state, many such algorithms need to be improved in this paper proposing one of the options to improve the accuracy of such reconstruction.
