In the real-world situation,the lunar missions’scale and terrain are different according to various operational regions or worksheets,which requests a more flexible and efficient algorithm to generate task paths.A mu...In the real-world situation,the lunar missions’scale and terrain are different according to various operational regions or worksheets,which requests a more flexible and efficient algorithm to generate task paths.A multi-scale ant colony planning method for the lunar robot is designed to meet the requirements of large scale and complex terrain in lunar space.In the algorithm,the actual lunar surface image is meshed into a gird map,the path planning algorithm is modeled on it,and then the actual path is projected to the original lunar surface and mission.The classical ant colony planning algorithm is rewritten utilizing a multi-scale method to address the diverse task problem.Moreover,the path smoothness is also considered to reduce the magnitude of the steering angle.Finally,several typical conditions to verify the efficiency and feasibility of the proposed algorithm are presented.展开更多
This paper proposes an image segmentation method based on the combination of the wavelet multi-scale edge detection and the entropy iterative threshold selection.Image for segmentation is divided into two parts by hig...This paper proposes an image segmentation method based on the combination of the wavelet multi-scale edge detection and the entropy iterative threshold selection.Image for segmentation is divided into two parts by high- and low-frequency.In the high-frequency part the wavelet multiscale was used for the edge detection,and the low-frequency part conducted on segmentation using the entropy iterative threshold selection method.Through the consideration of the image edge and region,a CT image of the thorax was chosen to test the proposed method for the segmentation of the lungs.Experimental results show that the method is efficient to segment the interesting region of an image compared with conventional methods.展开更多
In order to realize the online measurement of lamp dimension,the bulb image dimension measurement based on vision(BIDMV)is proposed.The image of lamp is obtained by camera.After image processing,such as Otsu algorithm...In order to realize the online measurement of lamp dimension,the bulb image dimension measurement based on vision(BIDMV)is proposed.The image of lamp is obtained by camera.After image processing,such as Otsu algorithm,median filter,ellipse fitting and envelope rectangle fitting,the dimension of lamp can be calculated.Based on this method,a non-contact real-time measurement system of the lamp’s dimension is developed.The precision of the proposed method is 0.07 mm,and it can satisfy the tolerance of the National Standard GB15766.1-2008.The experiment results show that the proposed method has a faster measuring speed and a higher precision compared with other measurement methods.展开更多
基金supported by the National Natural Science Foundations of China(No.11772185)Fundamental Research Funds for the Central Universities(No.3072022JC0202)。
文摘In the real-world situation,the lunar missions’scale and terrain are different according to various operational regions or worksheets,which requests a more flexible and efficient algorithm to generate task paths.A multi-scale ant colony planning method for the lunar robot is designed to meet the requirements of large scale and complex terrain in lunar space.In the algorithm,the actual lunar surface image is meshed into a gird map,the path planning algorithm is modeled on it,and then the actual path is projected to the original lunar surface and mission.The classical ant colony planning algorithm is rewritten utilizing a multi-scale method to address the diverse task problem.Moreover,the path smoothness is also considered to reduce the magnitude of the steering angle.Finally,several typical conditions to verify the efficiency and feasibility of the proposed algorithm are presented.
基金Science Research Foundation of Yunnan Fundamental Research Foundation of Applicationgrant number:2009ZC049M+1 种基金Science Research Foundation for the Overseas Chinese Scholars,State Education Ministrygrant number:2010-1561
文摘This paper proposes an image segmentation method based on the combination of the wavelet multi-scale edge detection and the entropy iterative threshold selection.Image for segmentation is divided into two parts by high- and low-frequency.In the high-frequency part the wavelet multiscale was used for the edge detection,and the low-frequency part conducted on segmentation using the entropy iterative threshold selection method.Through the consideration of the image edge and region,a CT image of the thorax was chosen to test the proposed method for the segmentation of the lungs.Experimental results show that the method is efficient to segment the interesting region of an image compared with conventional methods.
基金supported by the National Natural Science Foundation of China(Nos.60808020 and 61078041)the National Science and Technology Support(No.2014BAH03F01)+1 种基金the Tianjin Research Program of Application Foundation and Advanced Technology(No.10JCYBJC07200)the Technology Program of Tianjin Municipal Education Commission(No.20130324)
文摘In order to realize the online measurement of lamp dimension,the bulb image dimension measurement based on vision(BIDMV)is proposed.The image of lamp is obtained by camera.After image processing,such as Otsu algorithm,median filter,ellipse fitting and envelope rectangle fitting,the dimension of lamp can be calculated.Based on this method,a non-contact real-time measurement system of the lamp’s dimension is developed.The precision of the proposed method is 0.07 mm,and it can satisfy the tolerance of the National Standard GB15766.1-2008.The experiment results show that the proposed method has a faster measuring speed and a higher precision compared with other measurement methods.
