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...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.展开更多
The matching relationship between coal cutting and caving in fully mechanized top-coal caving face is analyzed in detail from the angle of reliability. The coupling equation of reliability is established corresponding...The matching relationship between coal cutting and caving in fully mechanized top-coal caving face is analyzed in detail from the angle of reliability. The coupling equation of reliability is established correspondingly, and the mathematical equation of the coefficient of velocity matching of coal cutting and caving is obtained, which meets a certain reliability demand for making the working procedure of coal caving not influence coal cutting of coal-cutter. The results show that the relationship between the coefficient of the velocity matching and the reliability of coal cutting and caving system is linear on the whole when R <0.9. It is pointed out that different numerical value should be selected for different coal face according to different demand for reliability.展开更多
The Ti-doped waveguide-type periodically poled LiNbO3 (PPLN) were fabricated and the dependence of domain wall velocity on an external field applied for domain inversion was investigated. The whole polarization revers...The Ti-doped waveguide-type periodically poled LiNbO3 (PPLN) were fabricated and the dependence of domain wall velocity on an external field applied for domain inversion was investigated. The whole polarization reversal process was computer-controlled to regulate domain wall expansion at a feedback time shorter than 5 μs. The coercive voltage and several values of excess voltage were applied on 500 μm-thick wafers serially connected to a 1-MOhm external resistor which had an effect of the poling current reduction, i.e. the deceleration of domain wall expansion. The domain wall velocity is sensitive to the poling voltage, precisely speaking, to the excess voltage. The domain wall velocities were 28.70, 16.02 and 5.75 μm·s-1 under poling field of 23.5, 22.0 and 21.0 kV·mm-1, respectively. Moreover, average duty cycle of PPLN is about 49.93%.展开更多
近年来,无人机因体积小、灵活性好等优势被广泛应用在车辆跟踪领域。当无人机在高空飞行时,其捕捉的图像中车辆目标存在像素点少、拥挤以及被遮挡的情况。现有的多目标跟踪研究方法在车辆被遮挡过程中发生非线性运动时,使用卡尔曼滤波预...近年来,无人机因体积小、灵活性好等优势被广泛应用在车辆跟踪领域。当无人机在高空飞行时,其捕捉的图像中车辆目标存在像素点少、拥挤以及被遮挡的情况。现有的多目标跟踪研究方法在车辆被遮挡过程中发生非线性运动时,使用卡尔曼滤波预测,会出现车辆位置预测不准确的问题。为了解决这些问题,采用先检测后跟踪(tracking by detection,TBD)范式,对YOLOv8检测算法进行改进,在网络结构中引入了BiFormer稀疏动态注意力模块,用于提取小目标特征信息。同时使用轻量级上采样算子CARAFE替换原最近邻插值上采样,减少上采样过程中小目标特征丢失的问题。提出一种轻量化跟踪模型FA-SORT,针对SORT算法提出三点改进:改进KF、添加速度方向一致性匹配和检测值匹配。在自制地组合了多个车辆数据集上验证改进的YOLOv8算法。实验结果表明,与YOLOv8相比,精确率(precision)提高了0.97%,召回率(recall)提高了0.898%。对所提出的FA-SORT算法使用UAVDT数据集进行验证,结果表明,与现有的多目标跟踪算法相比,HOTA指标首个达到70.05%,IDF1达到87.45%,跟踪速度达到29.93 FPS。验证了FA-SORT跟踪算法在多车辆跟踪任务中的优越性。展开更多
Based on the data recorded by the observation network during the intensive excitation period from November to December 2015 at Binchuan Earthquake Signal Transmitting Seismic Station(BESTSS)in Yunnan Province,the nois...Based on the data recorded by the observation network during the intensive excitation period from November to December 2015 at Binchuan Earthquake Signal Transmitting Seismic Station(BESTSS)in Yunnan Province,the noise in waveform recording is removed by S-transform template filtering method,and the azimuth of airgun signal propagation is calculated and analyzed from the horizontal waveform recordings.The results show that:①the azimuth angle of airgun signal after propagation is sensitive to stress change,and can clearly reflect the diurnal variation of tidal stress,which can be used to monitor the change of stress state in crustal medium;②the azimuth angle of airgun signal in some stations has changed abruptly after propagation on December 4,which may be related to the change of airgun source;③five-shot superposition or fivepoint smoothing of azimuth angle of single shot are carried out for airgun signals in stations far away from epicenter,and results show that azimuth angle from superposition or smoothing is more stable and has clear diurnal variation characteristics after propagation.展开更多
基金This work was supported by The National Natural Science Foundation of China under Grant No.61304205 and NO.61502240The Natural Science Foundation of Jiangsu Province under Grant No.BK20191401 and No.BK20201136Postgraduate Research&Practice Innovation Program of Jiangsu Province under Grant No.SJCX21_0364 and No.SJCX21_0363.
文摘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.
文摘The matching relationship between coal cutting and caving in fully mechanized top-coal caving face is analyzed in detail from the angle of reliability. The coupling equation of reliability is established correspondingly, and the mathematical equation of the coefficient of velocity matching of coal cutting and caving is obtained, which meets a certain reliability demand for making the working procedure of coal caving not influence coal cutting of coal-cutter. The results show that the relationship between the coefficient of the velocity matching and the reliability of coal cutting and caving system is linear on the whole when R <0.9. It is pointed out that different numerical value should be selected for different coal face according to different demand for reliability.
文摘The Ti-doped waveguide-type periodically poled LiNbO3 (PPLN) were fabricated and the dependence of domain wall velocity on an external field applied for domain inversion was investigated. The whole polarization reversal process was computer-controlled to regulate domain wall expansion at a feedback time shorter than 5 μs. The coercive voltage and several values of excess voltage were applied on 500 μm-thick wafers serially connected to a 1-MOhm external resistor which had an effect of the poling current reduction, i.e. the deceleration of domain wall expansion. The domain wall velocity is sensitive to the poling voltage, precisely speaking, to the excess voltage. The domain wall velocities were 28.70, 16.02 and 5.75 μm·s-1 under poling field of 23.5, 22.0 and 21.0 kV·mm-1, respectively. Moreover, average duty cycle of PPLN is about 49.93%.
文摘近年来,无人机因体积小、灵活性好等优势被广泛应用在车辆跟踪领域。当无人机在高空飞行时,其捕捉的图像中车辆目标存在像素点少、拥挤以及被遮挡的情况。现有的多目标跟踪研究方法在车辆被遮挡过程中发生非线性运动时,使用卡尔曼滤波预测,会出现车辆位置预测不准确的问题。为了解决这些问题,采用先检测后跟踪(tracking by detection,TBD)范式,对YOLOv8检测算法进行改进,在网络结构中引入了BiFormer稀疏动态注意力模块,用于提取小目标特征信息。同时使用轻量级上采样算子CARAFE替换原最近邻插值上采样,减少上采样过程中小目标特征丢失的问题。提出一种轻量化跟踪模型FA-SORT,针对SORT算法提出三点改进:改进KF、添加速度方向一致性匹配和检测值匹配。在自制地组合了多个车辆数据集上验证改进的YOLOv8算法。实验结果表明,与YOLOv8相比,精确率(precision)提高了0.97%,召回率(recall)提高了0.898%。对所提出的FA-SORT算法使用UAVDT数据集进行验证,结果表明,与现有的多目标跟踪算法相比,HOTA指标首个达到70.05%,IDF1达到87.45%,跟踪速度达到29.93 FPS。验证了FA-SORT跟踪算法在多车辆跟踪任务中的优越性。
基金the Science for Earthquake Resilience of China Earthquake Administration(XH18042Y)the Science and Technology Special Project of Yunnan Earthquake Agency(2018ZX02)
文摘Based on the data recorded by the observation network during the intensive excitation period from November to December 2015 at Binchuan Earthquake Signal Transmitting Seismic Station(BESTSS)in Yunnan Province,the noise in waveform recording is removed by S-transform template filtering method,and the azimuth of airgun signal propagation is calculated and analyzed from the horizontal waveform recordings.The results show that:①the azimuth angle of airgun signal after propagation is sensitive to stress change,and can clearly reflect the diurnal variation of tidal stress,which can be used to monitor the change of stress state in crustal medium;②the azimuth angle of airgun signal in some stations has changed abruptly after propagation on December 4,which may be related to the change of airgun source;③five-shot superposition or fivepoint smoothing of azimuth angle of single shot are carried out for airgun signals in stations far away from epicenter,and results show that azimuth angle from superposition or smoothing is more stable and has clear diurnal variation characteristics after propagation.
