A feature-constrained stereo matching algorithm for lunar rover navigation is presented based on the analysis of the stereo vision system and working environments of lunar rover. In feature-matching phase, edge points...A feature-constrained stereo matching algorithm for lunar rover navigation is presented based on the analysis of the stereo vision system and working environments of lunar rover. In feature-matching phase, edge points are extracted with wavelet transform and are used as the primitives for matching. Then three criterions are utilized in turn to select the correct matching points with the pyramidal searching strategy. As a result,the algorithm finds corresponding points successfully for large numbers of edge points. Area-matching is accomplished under the constraint of edge-matching results,and the correlation is selected as the criterion.Experimental results with real images of natural terrain indicate that the algorithm provides dense disparity maps with fairly high accuracy.展开更多
Mutation (substitution, deletion, insertion, etc.) in nucleotide acid causes the maximal sequence lengths of exact match (MALE) between paralogous members from a duplicate event to become shorter during evolution. In ...Mutation (substitution, deletion, insertion, etc.) in nucleotide acid causes the maximal sequence lengths of exact match (MALE) between paralogous members from a duplicate event to become shorter during evolution. In this work, MALE changes between members of 26 gene families from four representative species (Arabidopsis thaliana, Oryza sativa, Mus mus- culus and Homo sapiens) were investigated. Comparative study of paralogous’ MALE and amino acid substitution rate (dA<0.5) indicated that a close relationship existed between them. The results suggested that MALE could be a sound evolutionary scale for the divergent time for paralogous genes during their early evolution. A reference table between MALE and divergent time for the four species was set up, which would be useful widely, for large-scale genome alignment and comparison. As an example, de- tection of large-scale duplication events of rice genome based on the table was illustrated.展开更多
文摘A feature-constrained stereo matching algorithm for lunar rover navigation is presented based on the analysis of the stereo vision system and working environments of lunar rover. In feature-matching phase, edge points are extracted with wavelet transform and are used as the primitives for matching. Then three criterions are utilized in turn to select the correct matching points with the pyramidal searching strategy. As a result,the algorithm finds corresponding points successfully for large numbers of edge points. Area-matching is accomplished under the constraint of edge-matching results,and the correlation is selected as the criterion.Experimental results with real images of natural terrain indicate that the algorithm provides dense disparity maps with fairly high accuracy.
基金Project supported by the National Natural Science Foundation of China (Grant Nos. 30270810, 90208022 and 30471067) and IBM Shared University Research (Life Science), China
文摘Mutation (substitution, deletion, insertion, etc.) in nucleotide acid causes the maximal sequence lengths of exact match (MALE) between paralogous members from a duplicate event to become shorter during evolution. In this work, MALE changes between members of 26 gene families from four representative species (Arabidopsis thaliana, Oryza sativa, Mus mus- culus and Homo sapiens) were investigated. Comparative study of paralogous’ MALE and amino acid substitution rate (dA<0.5) indicated that a close relationship existed between them. The results suggested that MALE could be a sound evolutionary scale for the divergent time for paralogous genes during their early evolution. A reference table between MALE and divergent time for the four species was set up, which would be useful widely, for large-scale genome alignment and comparison. As an example, de- tection of large-scale duplication events of rice genome based on the table was illustrated.
