Two deficiencies in traditional iterative closest pointsimultaneous localization and mapping( ICP-SLAM) usually result in poor real-time performance. On one hand, relative position between current scan frame and globa...Two deficiencies in traditional iterative closest pointsimultaneous localization and mapping( ICP-SLAM) usually result in poor real-time performance. On one hand, relative position between current scan frame and global map cannot be previously known. As a result, ICP algorithm will take much amount of iterations to reach convergence. On the other hand,establishment of correspondence is done by global searching, which requires enormous computational time. To overcome the two problems,a fast ICP-SLAM with rough alignment and narrowing-scale nearby searching is proposed. As for the decrease of iterative times,rough alignment based on initial pose matrix is proposed. In detail,initial pose matrix is obtained by micro-electro-mechanical system( MEMS) magnetometer and global landmarks. Then rough alignment will be applied between current scan frame and global map at the beginning of ICP algorithm with initial pose matrix. As for accelerating the establishment of correspondence, narrowingscale nearby searching with dynamic threshold is proposed,where match-points are found within a progressively constrictive range.Compared to traditional ICP-SLAM,the experimental results show that the amount of iteration for ICP algorithm to reach convergence reduces to 92. 34% and ICP algorithm runtime reduces to 98. 86% on average. In addition,computational cost is kept in a stable level due to the eliminating of the accumulation of computational consumption. Moreover,great improvement can also been achieved in SLAM quality and robustness.展开更多
An analysis was performed of the turbulent data obtained from Yucheng experimental station in the Shandong Province in 1984. [t is shown that at variant wind speed, the spectra of streamwise velocity remain similar an...An analysis was performed of the turbulent data obtained from Yucheng experimental station in the Shandong Province in 1984. [t is shown that at variant wind speed, the spectra of streamwise velocity remain similar and the intensity of wind fluctuations is proportional to wind speed in the downwind area of shelter belt. Therefore, we may decide the similarity of wind fluctuations by a speed scale and a length scale which is not correlated with stability, σu /V0 = F(X / H). The -5/3 power range of temperature spectra extends to lower frequency. The variation of ratio σ0 /T. with stability becomes σ0 / T . = C(X / H)( - Z / L)-1/3 . There is not such an extension of -5 / 3 power range in the humidity spectra.展开更多
We observed the nearby galaxy M31 in the 〔C II〕158 μm emission line. An extended component was detected over the central 1 5 kpc region with a line-to-continuum ratio of 〔C II〕/〔40-120μm〕6×10 -3 . This ...We observed the nearby galaxy M31 in the 〔C II〕158 μm emission line. An extended component was detected over the central 1 5 kpc region with a line-to-continuum ratio of 〔C II〕/〔40-120μm〕6×10 -3 . This ratio is 3 times larger than that of the Galactic counterpart and is comparable to that in the general Galactic Plane. We expect that the difference between the two central regions are due to different gas densities; the self-shielding of CO molecules decreases the C + abundance at the higher density in the Galactic case.展开更多
Abundance of total bacteria, heterotrophic bacteria, coliform and oil degradable bacteria and their relations with salinity and suspended matter in the frontal waters in the Hangzhou Bay are described. The results obt...Abundance of total bacteria, heterotrophic bacteria, coliform and oil degradable bacteria and their relations with salinity and suspended matter in the frontal waters in the Hangzhou Bay are described. The results obtained show that the highest abundances of total bacteria , heterotrophic bacteria are encountered around the front and near the northern shore of the Hangzhou Bay, where a positive correlation ( r =0. 70) between the total bacteria abundance and the total suspended matter (TSM) is persent. Moreover,the abundance of oil degradable bacteria being an indicator of oil pollution, is also high in that region.展开更多
文摘Two deficiencies in traditional iterative closest pointsimultaneous localization and mapping( ICP-SLAM) usually result in poor real-time performance. On one hand, relative position between current scan frame and global map cannot be previously known. As a result, ICP algorithm will take much amount of iterations to reach convergence. On the other hand,establishment of correspondence is done by global searching, which requires enormous computational time. To overcome the two problems,a fast ICP-SLAM with rough alignment and narrowing-scale nearby searching is proposed. As for the decrease of iterative times,rough alignment based on initial pose matrix is proposed. In detail,initial pose matrix is obtained by micro-electro-mechanical system( MEMS) magnetometer and global landmarks. Then rough alignment will be applied between current scan frame and global map at the beginning of ICP algorithm with initial pose matrix. As for accelerating the establishment of correspondence, narrowingscale nearby searching with dynamic threshold is proposed,where match-points are found within a progressively constrictive range.Compared to traditional ICP-SLAM,the experimental results show that the amount of iteration for ICP algorithm to reach convergence reduces to 92. 34% and ICP algorithm runtime reduces to 98. 86% on average. In addition,computational cost is kept in a stable level due to the eliminating of the accumulation of computational consumption. Moreover,great improvement can also been achieved in SLAM quality and robustness.
文摘An analysis was performed of the turbulent data obtained from Yucheng experimental station in the Shandong Province in 1984. [t is shown that at variant wind speed, the spectra of streamwise velocity remain similar and the intensity of wind fluctuations is proportional to wind speed in the downwind area of shelter belt. Therefore, we may decide the similarity of wind fluctuations by a speed scale and a length scale which is not correlated with stability, σu /V0 = F(X / H). The -5/3 power range of temperature spectra extends to lower frequency. The variation of ratio σ0 /T. with stability becomes σ0 / T . = C(X / H)( - Z / L)-1/3 . There is not such an extension of -5 / 3 power range in the humidity spectra.
文摘We observed the nearby galaxy M31 in the 〔C II〕158 μm emission line. An extended component was detected over the central 1 5 kpc region with a line-to-continuum ratio of 〔C II〕/〔40-120μm〕6×10 -3 . This ratio is 3 times larger than that of the Galactic counterpart and is comparable to that in the general Galactic Plane. We expect that the difference between the two central regions are due to different gas densities; the self-shielding of CO molecules decreases the C + abundance at the higher density in the Galactic case.
文摘Abundance of total bacteria, heterotrophic bacteria, coliform and oil degradable bacteria and their relations with salinity and suspended matter in the frontal waters in the Hangzhou Bay are described. The results obtained show that the highest abundances of total bacteria , heterotrophic bacteria are encountered around the front and near the northern shore of the Hangzhou Bay, where a positive correlation ( r =0. 70) between the total bacteria abundance and the total suspended matter (TSM) is persent. Moreover,the abundance of oil degradable bacteria being an indicator of oil pollution, is also high in that region.
