We present an omnidirectional vision system we have implemented to provide our mobile robot with a fast tracking and robust localization capability. An algorithm is proposed to do reconstruction of the environment fro...We present an omnidirectional vision system we have implemented to provide our mobile robot with a fast tracking and robust localization capability. An algorithm is proposed to do reconstruction of the environment from the omnidirectional image and global localization of the robot in the context of the Middle Size League RoboCup field. This is accomplished by learning a set of visual landmarks such as the goals and the corner posts. Due to the dynamic changing environment and the partially observable landmarks, four localization cases are discussed in order to get robust localization performance. Localization is performed using a method that matches the observed landmarks, i.e. color blobs, which are extracted from the environment. The advantages of the cylindrical projection are discussed giving special consideration to the characteristics of the visual landmark and the meaning of the blob extraction. The analysis is established based on real time experiments with our omnidirectional vision system and the actual mobile robot. The comparative studies are presented and the feasibility of the method is shown.展开更多
One of the most important tasks of security is the quality of the project substation substation construction project management, construction project management, including project bidding and engineering, electrical e...One of the most important tasks of security is the quality of the project substation substation construction project management, construction project management, including project bidding and engineering, electrical engineering and civil construction, engineering, quality control, safety management and supervision costs control, on-site supervision over the links, these links chain, indivisible, so long as a part of the management problems, will lead the entire construction project management effectiveness be affected, so it must be every link control and management work done, in order to guarantee the quality of the entire substation, in order to make security of supply substations, electrical safety and vital interests of users are protected. In this paper, the author details the three aspects substation construction management of the project, namely the concept of substation engineering, project management and construction safety, through these three aspects, the author analyzes the construction project management substation existing problems, To solve these problems and issues proposed some measures and construction process that need attention. It launched separately from the design, schedule, quality and other aspects of security and research, and in the course of the study stressed the importance of coordination between elements of construction and construction sectors as well as cooperation between the construction, explains the importance of the project cost control.展开更多
文摘We present an omnidirectional vision system we have implemented to provide our mobile robot with a fast tracking and robust localization capability. An algorithm is proposed to do reconstruction of the environment from the omnidirectional image and global localization of the robot in the context of the Middle Size League RoboCup field. This is accomplished by learning a set of visual landmarks such as the goals and the corner posts. Due to the dynamic changing environment and the partially observable landmarks, four localization cases are discussed in order to get robust localization performance. Localization is performed using a method that matches the observed landmarks, i.e. color blobs, which are extracted from the environment. The advantages of the cylindrical projection are discussed giving special consideration to the characteristics of the visual landmark and the meaning of the blob extraction. The analysis is established based on real time experiments with our omnidirectional vision system and the actual mobile robot. The comparative studies are presented and the feasibility of the method is shown.
文摘One of the most important tasks of security is the quality of the project substation substation construction project management, construction project management, including project bidding and engineering, electrical engineering and civil construction, engineering, quality control, safety management and supervision costs control, on-site supervision over the links, these links chain, indivisible, so long as a part of the management problems, will lead the entire construction project management effectiveness be affected, so it must be every link control and management work done, in order to guarantee the quality of the entire substation, in order to make security of supply substations, electrical safety and vital interests of users are protected. In this paper, the author details the three aspects substation construction management of the project, namely the concept of substation engineering, project management and construction safety, through these three aspects, the author analyzes the construction project management substation existing problems, To solve these problems and issues proposed some measures and construction process that need attention. It launched separately from the design, schedule, quality and other aspects of security and research, and in the course of the study stressed the importance of coordination between elements of construction and construction sectors as well as cooperation between the construction, explains the importance of the project cost control.
