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融合点、面特征的RGB-D视觉里程计
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作者 范都耀 宋勇磊 《计算机与数字工程》 2023年第8期1766-1770,共5页
基于ICP的视觉里程计算法存在计算量大、收敛缓慢的问题,并且室内环境存在大量结构化平面。为此,提出了一种融合点特征和面特征的RGB-D视觉里程计算法。首先利用改进后的ORB算法提取环境中的角点信息,然后利用层次聚类和主成分分析进行... 基于ICP的视觉里程计算法存在计算量大、收敛缓慢的问题,并且室内环境存在大量结构化平面。为此,提出了一种融合点特征和面特征的RGB-D视觉里程计算法。首先利用改进后的ORB算法提取环境中的角点信息,然后利用层次聚类和主成分分析进行平面拟合,提取出环境中的平面特征,接下来根据特征匹配对,使用融合了点面特征的特征匹配算法解算出相机的位姿估计,最后再利用ICP算法精确计算相机的位姿变化。方法再TUM数据集中表现出了良好的性能,效果显著优于传统的ElastcFusion算法,重建结果的表面信息更为丰富准确,累积误差的精度提升,满足实时重建的要求,具有一定的实用价值。 展开更多
关键词 视觉里程计 同时定位与地图构建 特征融合 平面几何约束 RGB-D
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Size and Shape of Polymer Chain near a Flat Surface
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作者 黄建花 胡慧俊 +1 位作者 蒋文华 韩世钧 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2002年第5期587-591,共5页
The size and the shape of non-reversal random-walking polymerchains near an impenetrable, non- interacting flat surface areinvestigated by means of Monte Carlo simulation on the simple cubiclattice. It was found that ... The size and the shape of non-reversal random-walking polymerchains near an impenetrable, non- interacting flat surface areinvestigated by means of Monte Carlo simulation on the simple cubiclattice. It was found that both size and shape are dependent on thenormal-to-surface distance z_0 of the first segment of chain. We findthat the size and shape of chains, characterized by mean squareradius of gyration and mean asphericity parameter respectively, show similar dependence on distance z_0. 展开更多
关键词 POLYMER geometric constraint size and shape CORRELATION
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Springback equation of small curvature plane bending 被引量:27
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作者 ZHAO Jun YIN Jing +1 位作者 MA Rui MA LiXia 《Science China(Technological Sciences)》 SCIE EI CAS 2011年第9期2386-2396,共11页
A new analytical method for springback of small curvature plane bending is addressed with unloading rule of classical elastic-plastic theory and principle of strain superposition.We start from strain analysis of plane... A new analytical method for springback of small curvature plane bending is addressed with unloading rule of classical elastic-plastic theory and principle of strain superposition.We start from strain analysis of plane bending which has initial curvature,and the theoretic derivation is on the widely applicable basic hypotheses.The results are unified to geometry constraint equations and springback equation of plane bending,which can be evolved to straight beam plane bending and pure bending.The expanding and setting round process is one of the situations of plane bending,which is a bend-stretching process of plane curved beam.In the present study,springback equation of plane bending is used to analyze the expanding and setting round process,and the results agree with the experimental data.With a reasonable prediction accuracy,this new analytical method for springback of plane bending can meet the needs of applications in engineering. 展开更多
关键词 plane bending SPRINGBACK geometry constraint equations springback equation the expanding and setting roundprocess
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