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基于体素格尺度不变特征变换的快速点云配准方法 被引量:5
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作者 郭杭 漆钰晖 +2 位作者 裴凌 陈春旭 朱一帆 《中国惯性技术学报》 EI CSCD 北大核心 2019年第1期77-82,共6页
以三维激光雷达为主的多源融合同步定位与建图技术是无人系统室内外无缝定位的研究热点,点云配准是其中重要环节。为了提高点云配准效率,提出一种基于体素格尺度不变特征变换的快速点云配准方法。首先,基于点云体素格提取尺度不变特征... 以三维激光雷达为主的多源融合同步定位与建图技术是无人系统室内外无缝定位的研究热点,点云配准是其中重要环节。为了提高点云配准效率,提出一种基于体素格尺度不变特征变换的快速点云配准方法。首先,基于点云体素格提取尺度不变特征变换的特征点,完成初始配准;然后利用随机抽样一致算法剔除边缘匹配点并优化初始变换参数;最后基于优化初始变换参数,采用K维树近邻搜索法,结合最近邻点迭代配准算法完成原始点云数据的快速精确配准。对开源数据集以及实际采集的6个典型场景数据的测试表明,该方法的平均配准时间较传统最近邻点迭代配准算法缩短了78%。实验结果表明了该方法的有效性。 展开更多
关键词 三维激光点云 体素格 尺度不变特征变换 点云配准 最近邻点迭代
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基于激光点云实现杆塔提取的轻量级网络 被引量:6
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作者 柳长安 孙书明 赵丽娟 《激光技术》 CAS CSCD 北大核心 2021年第3期367-372,共6页
为了解决传统的杆塔点云提取算法对地面起伏较为敏感,以及提取出的杆塔点云难以剔除地面点的问题,提出了一种直接以原始点云数据为输入来实现杆塔提取的轻量级网络。将原始点云数据划分为若干大小相等的体素格,利用特征学习网络及卷积... 为了解决传统的杆塔点云提取算法对地面起伏较为敏感,以及提取出的杆塔点云难以剔除地面点的问题,提出了一种直接以原始点云数据为输入来实现杆塔提取的轻量级网络。将原始点云数据划分为若干大小相等的体素格,利用特征学习网络及卷积网络提取体素格内的空间、结构特征;并结合传统方法中的相对高度差以及点密度的特征,从而判别该体素格为杆塔点云或非杆塔点云;最后采用聚类算法剔除孤立的体素格以提高杆塔点云提取的准确率,得到杆塔的激光点云数据。结果表明,所提出的方法对于不同地形以及不同干扰因素情况下的杆塔,提取精度能达到95%左右。该算法能有效地提取杆塔点云,相对于格网法,其稳定性及精确度有一定提升,且对于高大树木、垂直遮挡等其它因素也有较好的抗干扰效果。 展开更多
关键词 激光技术 杆塔自动提取 卷积神经网络 体素格划分 特征提取
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HARDWARE-BASED VOXELIZATION FOR TRUE 3-D DISPLAY 被引量:5
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作者 谭皓 杨忠 +1 位作者 李玉峰 沈春林 《Transactions of Nanjing University of Aeronautics and Astronautics》 EI 2006年第1期59-64,共6页
An efficient voxelization algorithm is presented for polygonal models by using the hardware support for the 2 D rasterization algorithm and the GPU programmable function to satisfy the volumetric display system. The v... An efficient voxelization algorithm is presented for polygonal models by using the hardware support for the 2 D rasterization algorithm and the GPU programmable function to satisfy the volumetric display system. The volume is sampled into slices by the rendering hardware and then slices are rasterated into a series of voxels. A composed buffer is used to record encoded voxels of the target volume to reduce the graphic memory requirement. In the algorithm, dynamic vertexes and index buffers are used to improve the voxelization efficiency. Experimental results show that the algorithm is efficient for a true 3-D display system. 展开更多
关键词 computer graphics VOXELIZATION volumetric display mesh model
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Hsp90 regulates processing of NF-κB2 p100 involving protection of NF-κB-inducing kinase (NIK) from autophagy-mediated degradation 被引量:1
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作者 Guoliang QingPengrong YanZhaoxia Qu Hudan LiuGutian Xiao, Department of Cell Biology and Neuroscience, Rutgers, The State University of New Jersey, Piscataway, NJ 08854, USA 《Cell Research》 SCIE CAS CSCD 2007年第6期520-530,共11页
NF-κB-inducing kinase (NIK) is required for NF-κB activation based on the processing of NF-κB p100. Here we report a novel mechanism of NIK regulation involving the chaperone 90 kDa heat shock protein (Hsp90) a... NF-κB-inducing kinase (NIK) is required for NF-κB activation based on the processing of NF-κB p100. Here we report a novel mechanism of NIK regulation involving the chaperone 90 kDa heat shock protein (Hsp90) and autophagy. Functional inhibition of lisp90 by the anti-tumor agent geldanamycin (GA) efficiently disrupts its interaction with NIK, resulting in NIK degradation and subsequent blockage of p100 processing. Surprisingly, GA-induced NIK degradation is mediated by autophagy, but largely independent of the ubiquitin-proteasome system. Hsp90 seems to be specifically involved in the folding/stabilization of NIK protein, because GA inhibition does not affect NIK mRNA transcription and translation. Furthermore, Hsp90 is not required for NIK-mediated recruitment of the α subunit of IκB3 kinase to p 100, a key step in induction of p100 processing. These findings define an alternative mechanism for Hsp90 client degradation and identify a novel function ofautophagy in NF-κB regulation. These findings also suggest a new therapeutic strategy for diseases associated with p 100 processing. 展开更多
关键词 autophagy geldanamycin Hsp90 NF-κB NIK proteasome-independent degradation
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Endocytosis of adiponectin receptor I through a clathrin- and Rab5-dependent pathway 被引量:4
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作者 Qiurong Ding Zhenzhen Wang Yan Chen 《Cell Research》 SCIE CAS CSCD 2009年第3期317-327,共11页
In eukaryotic cells, receptor endocytosis is a key event regulating signaling transduction. Adiponectin receptors belong to a new receptor family that is distinct from G-protein-coupled receptors and has critical role... In eukaryotic cells, receptor endocytosis is a key event regulating signaling transduction. Adiponectin receptors belong to a new receptor family that is distinct from G-protein-coupled receptors and has critical roles in the pathogenesis of diabetes and metabolic syndrome. Here, we analyzed the endocytosis of adiponectin and adiponectin receptor 1 (AdipoR1) and found that they are both internalized into transferrin-positive compartments that follow similar traffic routes. Blocking clathrin-mediated endocytosis by expressing Eps15 mutants or depleting K^+ trapped AdipoR1 at the plasma membrane, and K^+ depletion abolished adiponectin internalization, indicating that the endocytosis of AdipoR1 and adiponectin is clathrin-dependent. Depletion of K^+ and overexpression of Eps15 mutants enhance adiponectin- stimulated AMP-activated protein kinase phosphorylation, suggesting that the endocytosis of AdipoR1 might down-regulate adiponectin signaling. In addition, AdipoR1 colocalizes with the small GTPase Rab5, and a dominant negative Rab5 abrogates AdipoR1 endocytosis. These data indicate that AdipoR1 is internalized through a clathrin- and Rab5- dependent pathway and that endocytosis may play a role in the regulation of adiponectin signaling. 展开更多
关键词 ADIPONECTIN adiponectin receptors CLATHRIN ENDOCYTOSIS Rab5
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