When a vehicle travels in urban areas, onboard global positioning system （GPS） signals may be obstructed by high-rise buildings and thereby cannot provide accurate positions. It is proposed to perform localization b...When a vehicle travels in urban areas, onboard global positioning system （GPS） signals may be obstructed by high-rise buildings and thereby cannot provide accurate positions. It is proposed to perform localization by registering ground images to a 2D building boundary map which is generated from aerial images. Multilayer feature graphs （MFG） is employed to model building facades from the ground images. MFG was reported in the previous work to facilitate the robot scene understand- ing in urhan areas. By constructing MFG, the 2D/3D positions of features can be obtained, inclu- cling line segments, ideal lines, and all primary vertical planes. Finally, a voting-based feature weighted localization method is developed based on MFGs and the 2D building boundary map. The proposed method has been implemented and validated in physical experiments. In the proposed ex- periments, the algorithm has achieved an overall localization accuracy of 2.2m, which is better than commercial GPS working in open environments.展开更多
A large sample size is required for Monte Carlo localization （MCL） in multi-robot dynamic environ- ment, because of the ＂kidnapped robot＂ phenomenon, which will locate most of the samples in the regions with small...A large sample size is required for Monte Carlo localization （MCL） in multi-robot dynamic environ- ment, because of the ＂kidnapped robot＂ phenomenon, which will locate most of the samples in the regions with small value of desired posterior density. For this problem the crossover and mutation operators in evolutionary computation are introduced into MCL to make samples move towards the regions where the desired posterior density is large, so that the sample set can represent the density better. The proposed method is termed genetic Monte Carlo localization （GMCL）. Application in robot soccer system shows that GMCL can considerably reduce the required number of samples, and is more precise and robust in dynamic environment.展开更多
The height changes of tide gauges directly influence sea level observation. For research of sea level variation in large region or globe, the land vertical displacement must be considered. Two sessions of GPS and abso...The height changes of tide gauges directly influence sea level observation. For research of sea level variation in large region or globe, the land vertical displacement must be considered. Two sessions of GPS and absolute gravity observations in 2001 and 2003 are used to determine the horizontal and vertical motion of China coast in ITRF2000 and Eurasia frame. The difference between results of continuous observation and periodic observation is discussed.展开更多
Measurements of non-tidal variations of gravity （Ag）, which were obtained from 1992 to 2012 at the Talaya seismic station （located in the south-western part of the Baikal region）, are interpreted together with GPS...Measurements of non-tidal variations of gravity （Ag）, which were obtained from 1992 to 2012 at the Talaya seismic station （located in the south-western part of the Baikal region）, are interpreted together with GPS （Global Position System） observation data, which were obtained from 2000 to 2013 at the same station. An absolute gravimeter was used for gravity observation. The strongest precision requirements concern tidal gravity prediction. It is the reason why we investigated tidal effect by LCR （LaCoste ＆ Romberg） gravimeter from 1996 to 1997 at the same station. We use tested tidal model for correction of gravity change. The linear component of gravity variations corresponds to changes in the elevation of the site. The correlation coefficient is close to the normal value of the vertical gradient of gravity. At this site, coseismic gravity variations at the time of the Kultuk earthquake （August 27, 2008, Mw = 6.5） were caused by a combined effect of the change of the site＇s elevation and deformation of the crust. Our estimations of the coseismic effects are consistent with results obtained by modeling based on the available seismic data.展开更多
基金Supported by the National High Technology Research and Development Program of China(No.2012AA041403)National Natural Science Foundation of China(No.60905061,61305107)+1 种基金the Fundamental Research Funds for the Central Universities(No.ZXH2012N003)the Scientific Research Funds for Civil Aviation University of China(No.2012QD23x)
文摘When a vehicle travels in urban areas, onboard global positioning system （GPS） signals may be obstructed by high-rise buildings and thereby cannot provide accurate positions. It is proposed to perform localization by registering ground images to a 2D building boundary map which is generated from aerial images. Multilayer feature graphs （MFG） is employed to model building facades from the ground images. MFG was reported in the previous work to facilitate the robot scene understand- ing in urhan areas. By constructing MFG, the 2D/3D positions of features can be obtained, inclu- cling line segments, ideal lines, and all primary vertical planes. Finally, a voting-based feature weighted localization method is developed based on MFGs and the 2D building boundary map. The proposed method has been implemented and validated in physical experiments. In the proposed ex- periments, the algorithm has achieved an overall localization accuracy of 2.2m, which is better than commercial GPS working in open environments.
文摘A large sample size is required for Monte Carlo localization （MCL） in multi-robot dynamic environ- ment, because of the ＂kidnapped robot＂ phenomenon, which will locate most of the samples in the regions with small value of desired posterior density. For this problem the crossover and mutation operators in evolutionary computation are introduced into MCL to make samples move towards the regions where the desired posterior density is large, so that the sample set can represent the density better. The proposed method is termed genetic Monte Carlo localization （GMCL）. Application in robot soccer system shows that GMCL can considerably reduce the required number of samples, and is more precise and robust in dynamic environment.
文摘The height changes of tide gauges directly influence sea level observation. For research of sea level variation in large region or globe, the land vertical displacement must be considered. Two sessions of GPS and absolute gravity observations in 2001 and 2003 are used to determine the horizontal and vertical motion of China coast in ITRF2000 and Eurasia frame. The difference between results of continuous observation and periodic observation is discussed.
文摘Measurements of non-tidal variations of gravity （Ag）, which were obtained from 1992 to 2012 at the Talaya seismic station （located in the south-western part of the Baikal region）, are interpreted together with GPS （Global Position System） observation data, which were obtained from 2000 to 2013 at the same station. An absolute gravimeter was used for gravity observation. The strongest precision requirements concern tidal gravity prediction. It is the reason why we investigated tidal effect by LCR （LaCoste ＆ Romberg） gravimeter from 1996 to 1997 at the same station. We use tested tidal model for correction of gravity change. The linear component of gravity variations corresponds to changes in the elevation of the site. The correlation coefficient is close to the normal value of the vertical gradient of gravity. At this site, coseismic gravity variations at the time of the Kultuk earthquake （August 27, 2008, Mw = 6.5） were caused by a combined effect of the change of the site＇s elevation and deformation of the crust. Our estimations of the coseismic effects are consistent with results obtained by modeling based on the available seismic data.
