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基于动态遍历的分层特征网络视觉定位 被引量:2
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作者 蒋雪源 陈青梅 黄初华 《计算机工程》 CAS CSCD 北大核心 2021年第9期197-202,共6页
采用分层特征网络估计查询图像的相机位姿,会出现检索失败和检索速度慢的问题。对分层特征网络进行分析,提出采用动态遍历与预聚类的视觉定位方法。依据场景地图进行图像预聚类,利用图像全局描述符获得候选帧集合并动态遍历查询图像,利... 采用分层特征网络估计查询图像的相机位姿,会出现检索失败和检索速度慢的问题。对分层特征网络进行分析,提出采用动态遍历与预聚类的视觉定位方法。依据场景地图进行图像预聚类,利用图像全局描述符获得候选帧集合并动态遍历查询图像,利用图像局部特征描述符进行特征点匹配,通过PnP算法估计查询图像的相机位姿,由此构建基于MobileNetV3的分层特征网络,以准确提取全局描述符与局部特征点。在典型数据集上与AS、CSL、DenseVLAD、NetVLAD等主流视觉定位方法的对比结果表明,该方法能够改善光照与季节变化场景下对候选帧的检索效率,提升位姿估计精度和候选帧检索速度。 展开更多
关键词 视觉定位 分层特征网络 动态遍历 预聚类 位姿估计
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Recursive and Nonrecursive Traversal Algorithms for Dynamically Created Binary Trees
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作者 Robert Logozar 《Computer Technology and Application》 2012年第5期374-382,共9页
The modeling of dynamical systems from a time series implemented by our DSA program introduces binary trees of height D with all leaves on the same level, and the related subtrees of height L 〈 D. These are called e-... The modeling of dynamical systems from a time series implemented by our DSA program introduces binary trees of height D with all leaves on the same level, and the related subtrees of height L 〈 D. These are called e-trees and e-subtrees. The recursive and nonrecursive versions of the traversal algorithms for the trees with dynamically created nodes are discussed. The original nonrecursive algorithms that return the pointer to the next node in preorder, inorder and postorder traversals are presented. The space-time complexity analysis shows and the execution time measurements confirm that for these O(2D) algorithms, the recursive versions have approximately 10-25% better time constants. Still, the use of nonrecursive algorithms may be more appropriate in several occasions. 展开更多
关键词 Binary e-trees algorithms tree traversal PREORDER inorder postorder RECURSIVE nonrecursive space-time complexity.
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