FeatureMatching Combining Variable Velocity Model with Reverse Optical Flow

The ORB-SLAM2 based on the constant velocity model is difficult to determine the search window of the reprojection of map points when the objects are in variable velocity motion,which leads to a false matching,with an inaccurate pose estimation or failed tracking.To address the challenge above,a new method of feature point matching is proposed in this paper,which combines the variable velocity model with the reverse optical flow method.First,the constant velocity model is extended to a new variable velocity model,and the expanded variable velocity model is used to provide the initial pixel shifting for the reverse optical flow method.Then the search range of feature points is accurately determined according to the results of the reverse optical flow method,thereby improving the accuracy and reliability of feature matching,with strengthened interframe tracking effects.Finally,we tested on TUM data set based on the RGB-D camera.Experimental results show that this method can reduce the probability of tracking failure and improve localization accuracy on SLAM(Simultaneous Localization and Mapping)systems.Compared with the traditional ORB-SLAM2,the test error of this method on each sequence in the TUM data set is significantly reduced,and the root mean square error is only 63.8%of the original system under the optimal condition.

Variation in concentration of dissolved silicate in the Eastern Philippine deep sea

Upper Circumpolar Deep Water(UCDW)and North Pacifi c Deep Water(NPDW)coexist in the upper deep layer(i.e.,with a 1.2-2.0-℃potential temperature range and a 2000-4100-dbar pressure range)of the Eastern Philippine Sea.They have similar properties in potential temperature and salinity,while have a signifi cant diff erence in dissolved silicate.Based on the repeated observations along a 137°E transect from the World Ocean Database(WOD18),this study revealed the interannual variability of dissolved silicate in the upper deep layer of the Eastern Philippine Sea.Dissolved silicate increased in 1995,1996,2005,2006,and 2007,and decreased in 1997,2000,2001,2002,and 2004.Composition analysis showed that the large diff erence between positive and negative dissolved silicate anomalies occurred mainly at~15°N and north of 25°N,with the concentration reaching 4.25μmol/g.Further analysis indicated that the interannual dissolved silicate variability was related to the zonal current variation in the upper deep layer.The relatively strong(weak)westward current transport increased(decreased)NPDW to the Eastern Philippine Sea,thereby resulting in increased(decreased)dissolved silicate.