We introduce a model to implement incremental update of views. The principle is that unless a view is accessed, the modification related to the view is not computed. This modification information is used only when vie...We introduce a model to implement incremental update of views. The principle is that unless a view is accessed, the modification related to the view is not computed. This modification information is used only when views are updated. Modification information is embodied in the classes (including inheritance classes and nesting classes) that derive the view. We establish a modify list consisted of tuples (one tuple for each view which is related to the class) to implement view update. A method is used to keep views from re-update. Key words object-oriented database - incremental computation - view-computation - engineering information system CLC number TP 391 Foundation item: Supported by the National Natural Science Foundation of China(60235025)Biography: Guo Hai-ying (1971-), female, Ph. D, research direction: CAD and engineering information system.展开更多
传统的同步定位与制图(Simultaneous localization and mapping,SLAM)系统在复杂环境下工作时,无法分辨环境中的物体是否存在运动状态,图像中运动的物体可能导致特征关联错误,引起定位的不准确和地图构建的偏差。为了提高SLAM系统在动...传统的同步定位与制图(Simultaneous localization and mapping,SLAM)系统在复杂环境下工作时,无法分辨环境中的物体是否存在运动状态,图像中运动的物体可能导致特征关联错误,引起定位的不准确和地图构建的偏差。为了提高SLAM系统在动态环境下的鲁棒性和可靠性,本文提出了一种顾及动态物体感知的增强型视觉SLAM系统。首先,使用深度学习网络对每一帧图像的动态物体进行初始检测,然后使用多视图几何方法更加精细地判断目标检测无法确定的动态物体区域。通过剔除属于动态物体上的特征跟踪点,提高系统的鲁棒性。本文方法在公共数据集TUM和KITTI上进行了测试,结果表明在动态场景中定位结果的准确度有了明显提升,尤其在高动态序列中相对于原始算法的精度提升在92%以上。与其他顾及动态场景的SLAM系统相比,本文方法在保持精度优势的同时,提高了运行结果的稳定性和时间效率。展开更多
文摘We introduce a model to implement incremental update of views. The principle is that unless a view is accessed, the modification related to the view is not computed. This modification information is used only when views are updated. Modification information is embodied in the classes (including inheritance classes and nesting classes) that derive the view. We establish a modify list consisted of tuples (one tuple for each view which is related to the class) to implement view update. A method is used to keep views from re-update. Key words object-oriented database - incremental computation - view-computation - engineering information system CLC number TP 391 Foundation item: Supported by the National Natural Science Foundation of China(60235025)Biography: Guo Hai-ying (1971-), female, Ph. D, research direction: CAD and engineering information system.
文摘传统的同步定位与制图(Simultaneous localization and mapping,SLAM)系统在复杂环境下工作时,无法分辨环境中的物体是否存在运动状态,图像中运动的物体可能导致特征关联错误,引起定位的不准确和地图构建的偏差。为了提高SLAM系统在动态环境下的鲁棒性和可靠性,本文提出了一种顾及动态物体感知的增强型视觉SLAM系统。首先,使用深度学习网络对每一帧图像的动态物体进行初始检测,然后使用多视图几何方法更加精细地判断目标检测无法确定的动态物体区域。通过剔除属于动态物体上的特征跟踪点,提高系统的鲁棒性。本文方法在公共数据集TUM和KITTI上进行了测试,结果表明在动态场景中定位结果的准确度有了明显提升,尤其在高动态序列中相对于原始算法的精度提升在92%以上。与其他顾及动态场景的SLAM系统相比,本文方法在保持精度优势的同时,提高了运行结果的稳定性和时间效率。