A new scan matching method for mobile robot localization is presented, which takes line segment as the feature and matches the real scans in the given reference map by relationships of the directional-defined line seg...A new scan matching method for mobile robot localization is presented, which takes line segment as the feature and matches the real scans in the given reference map by relationships of the directional-defined line segments. The alignment was done by hierarchically identifying the multiple relationships and the result was recorded in a correspondence matrix, where the best match is defined and selected for localization. It is indicated that the searching algorithm of the best match can find the ambiguities and get rid of them. This method with less computational cost works well in occluded environment, and can correct the error in pose estimation without the need for the estimation itself. The efficiency, accuracy and robustness of this method were verified by experiments of localization in an occluded environment and a long-distance indoor navigation.展开更多
We theoretically investigate the evolvement of dark spatial soliton withcascading quadratic nonlinearity in quasi-phase-matched second harmonic generation. It is shown thatthe dark solitary wave can propagate stably w...We theoretically investigate the evolvement of dark spatial soliton withcascading quadratic nonlinearity in quasi-phase-matched second harmonic generation. It is shown thatthe dark solitary wave can propagate stably when background intensity is large enough, in whichdiffraction of beam can be balanced by the cascading quadratic nonlinearity. We also analyze theinfluence of phase-mismatch on the stabihty of dark soliton propagation.展开更多
Shaping either the spatial or the spectral output of a nonlinear interaction is accomplished by introducing basic concepts of computer-generated holography into the nonlinear optics regime. The possibilities of arbitr...Shaping either the spatial or the spectral output of a nonlinear interaction is accomplished by introducing basic concepts of computer-generated holography into the nonlinear optics regime. The possibilities of arbitrarily spatially shaping the result of a nonlinear interaction are presented for different phase-matching schemes allowing for both one- and two-dimensional shaping. Shaping the spectrum of a beam in nonlinear interaction is also possible by utilizing similar holographic techniques. The novel and complete control of the output of a nonlinear interaction opens exciting options in the fields of particle manipulation, optical communications, spectroscopy and quantum information.展开更多
基金Sponsored by the National High Technology Research and Development Program of China(Grant No.2006AA040203)The National Natural Science Foundation of China(Grant No.60475032 and 60775062)the Program for New Century Excellent Talents in University(Grant No.NCET-07-0538)
文摘A new scan matching method for mobile robot localization is presented, which takes line segment as the feature and matches the real scans in the given reference map by relationships of the directional-defined line segments. The alignment was done by hierarchically identifying the multiple relationships and the result was recorded in a correspondence matrix, where the best match is defined and selected for localization. It is indicated that the searching algorithm of the best match can find the ambiguities and get rid of them. This method with less computational cost works well in occluded environment, and can correct the error in pose estimation without the need for the estimation itself. The efficiency, accuracy and robustness of this method were verified by experiments of localization in an occluded environment and a long-distance indoor navigation.
文摘We theoretically investigate the evolvement of dark spatial soliton withcascading quadratic nonlinearity in quasi-phase-matched second harmonic generation. It is shown thatthe dark solitary wave can propagate stably when background intensity is large enough, in whichdiffraction of beam can be balanced by the cascading quadratic nonlinearity. We also analyze theinfluence of phase-mismatch on the stabihty of dark soliton propagation.
基金supported by the Israel Science Foundation(1310/13)the Israeli Ministry of Science,Technology and Space in the framework of the Israel–Italy bi-national collaboration program
文摘Shaping either the spatial or the spectral output of a nonlinear interaction is accomplished by introducing basic concepts of computer-generated holography into the nonlinear optics regime. The possibilities of arbitrarily spatially shaping the result of a nonlinear interaction are presented for different phase-matching schemes allowing for both one- and two-dimensional shaping. Shaping the spectrum of a beam in nonlinear interaction is also possible by utilizing similar holographic techniques. The novel and complete control of the output of a nonlinear interaction opens exciting options in the fields of particle manipulation, optical communications, spectroscopy and quantum information.
