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AUV的图优化海底地形同步定位与建图方法 被引量:5
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作者 马腾 李晔 +2 位作者 赵玉新 沈鹏 凌宇 《导航定位与授时》 2020年第2期42-49,共8页
海底地形辅助导航技术可为智能水下机器人(AUV)的长时间水下作业提供有界精确导航结果,且无需声学基阵辅助。然而,地形辅助导航需要已知高精度先验海图,这大大限制了其应用范围。为解决海底地形未知条件下的海底地形辅助导航问题,提出... 海底地形辅助导航技术可为智能水下机器人(AUV)的长时间水下作业提供有界精确导航结果,且无需声学基阵辅助。然而,地形辅助导航需要已知高精度先验海图,这大大限制了其应用范围。为解决海底地形未知条件下的海底地形辅助导航问题,提出了海底地形同步定位与建图技术。利用水深预测手段和地形匹配方法进行帧间数据关联构建和闭环检测,并通过图优化技术进行海底地形同步定位与建图问题求解。仿真试验结果显示,在航行1h后,海底地形同步定位与建图系统的建图结果中所有测深点定位误差均值约为13m。 展开更多
关键词 智能水下机器人 海底地形同步定位与建 帧间数据关联 闭环检测 图优化方法
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Optimal multilevel thresholding based on molecular kinetic theory optimization algorithm and line intercept histogram 被引量:3
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作者 范朝冬 任柯 +1 位作者 张英杰 易灵芝 《Journal of Central South University》 SCIE EI CAS CSCD 2016年第4期880-890,共11页
Among all segmentation techniques, Otsu thresholding method is widely used. Line intercept histogram based Otsu thresholding method(LIH Otsu method) can be more resistant to Gaussian noise, highly efficient in computi... Among all segmentation techniques, Otsu thresholding method is widely used. Line intercept histogram based Otsu thresholding method(LIH Otsu method) can be more resistant to Gaussian noise, highly efficient in computing time, and can be easily extended to multilevel thresholding. But when images contain salt-and-pepper noise, LIH Otsu method performs poorly. An improved LIH Otsu method(ILIH Otsu method) is presented, which can be more resistant to Gaussian noise and salt-and-pepper noise. Moreover, it can be easily extended to multilevel thresholding. In order to improve the efficiency, the optimization algorithm based on the kinetic-molecular theory(KMTOA) is used to determine the optimal thresholds. The experimental results show that ILIH Otsu method has stronger anti-noise ability than two-dimensional Otsu thresholding method(2-D Otsu method), LIH Otsu method, K-means clustering algorithm and fuzzy clustering algorithm. 展开更多
关键词 image segmentation multilevel thresholding Otsu thresholding method kinetic-molecular theory (KMTOA) line intercept histogram
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Research on the Algorithm of Image Matching based on Improved SIFT 被引量:3
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作者 Xiangchen Qiao 《International Journal of Technology Management》 2014年第8期36-39,共4页
The paper analyze and improve the SIFT optimized algorithm, and proposes an image matching method for SIFT algorithm based on quasi Euclidean distance and KD-tree. Experiments show that this algorithm has matching mor... The paper analyze and improve the SIFT optimized algorithm, and proposes an image matching method for SIFT algorithm based on quasi Euclidean distance and KD-tree. Experiments show that this algorithm has matching more points, high matching accuracy, no repealed points and higher advantage of matching efficiency based on keeping the basic characteristics of SIFT algorithm unchanged, and provides precise matching point to generate precise image stitching and other related fields of the follow-up product. At the same time, this method was applied to the layout optimization and achieved good results. 展开更多
关键词 Matching pretreatment SIFT algorithm quasi Euclidean distance image matching
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