To improve spectral X-ray CT reconstructed image quality, the energy-weighted reconstructed image xbins^W and the separable paraboloidal surrogates（SPS） algorithm are proposed for the prior image constrained compres...To improve spectral X-ray CT reconstructed image quality, the energy-weighted reconstructed image xbins^W and the separable paraboloidal surrogates（SPS） algorithm are proposed for the prior image constrained compressed sensing（PICCS）-based spectral X-ray CT image reconstruction. The PICCS-based image reconstruction takes advantage of the compressed sensing theory, a prior image and an optimization algorithm to improve the image quality of CT reconstructions.To evaluate the performance of the proposed method, three optimization algorithms and three prior images are employed and compared in terms of reconstruction accuracy and noise characteristics of the reconstructed images in each energy bin.The experimental simulation results show that the image xbins^W is the best as the prior image in general with respect to the three optimization algorithms; and the SPS algorithm offers the best performance for the simulated phantom with respect to the three prior images. Compared with filtered back-projection（FBP）, the PICCS via the SPS algorithm and xbins^W as the prior image can offer the noise reduction in the reconstructed images up to 80. 46%, 82. 51%, 88. 08% in each energy bin,respectively. M eanwhile, the root-mean-squared error in each energy bin is decreased by 15. 02%, 18. 15%, 34. 11% and the correlation coefficient is increased by 9. 98%, 11. 38%,15. 94%, respectively.展开更多
In order to effectively reduce the uncertainty error of mobile robot localization with a single sensor and improve the accuracy and robustness of robot localization and mapping,a mobile robot localization algorithm ba...In order to effectively reduce the uncertainty error of mobile robot localization with a single sensor and improve the accuracy and robustness of robot localization and mapping,a mobile robot localization algorithm based on multi-sensor information fusion(MSIF)was proposed.In this paper,simultaneous localization and mapping(SLAM)was realized on the basis of laser Rao-Blackwellized particle filter(RBPF)-SLAM algorithm and graph-based optimization theory was used to constrain and optimize the pose estimation results of Monte Carlo localization.The feature point extraction and quadrilateral closed loop matching algorithm based on oriented FAST and rotated BRIEF(ORB)were improved aiming at the problems of generous calculation and low tracking accuracy in visual information processing by means of the three-dimensional(3D)point feature in binocular visual reconstruction environment.Factor graph model was used for the information fusion under the maximum posterior probability criterion for laser RBPF-SLAM localization and binocular visual localization.The results of simulation and experiment indicate that localization accuracy of the above-mentioned method is higher than that of traditional RBPF-SLAM algorithm and general improved algorithms,and the effectiveness and usefulness of the proposed method are verified.展开更多
In order to realize an optimal balance between the efficiency and reliability requirements ofroad models,a road modeling method for digital maps based on cardinal spline is studied.First,the cardinal spline is chosen ...In order to realize an optimal balance between the efficiency and reliability requirements ofroad models,a road modeling method for digital maps based on cardinal spline is studied.First,the cardinal spline is chosen to establish an initial road model,which is specified by a series of control points and tension parameters.Then,in view of the initial road model,a gradual optimization algorithm,which can determine the reasonable control points and optimal tension parameters according to the degree of the change of road curvature,is proposed to determine the final road model.Finally,the proposed road modeling method is verified a d evaluated through experiments,and it is compared with the conventional method for digital maps based on the B-spline.The results show that the proposed method can resize a neaoptimal balance between the efficiency and reliability requirements.Compared with the conventional method based on the B-spline,this method occupies less data storage and achieves higher accuracy.展开更多
基金The National Natural Science Foundation of China(No.51575256)the Fundamental Research Funds for the Central Universities(No.NP2015101,XZA16003)the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD)
文摘To improve spectral X-ray CT reconstructed image quality, the energy-weighted reconstructed image xbins^W and the separable paraboloidal surrogates（SPS） algorithm are proposed for the prior image constrained compressed sensing（PICCS）-based spectral X-ray CT image reconstruction. The PICCS-based image reconstruction takes advantage of the compressed sensing theory, a prior image and an optimization algorithm to improve the image quality of CT reconstructions.To evaluate the performance of the proposed method, three optimization algorithms and three prior images are employed and compared in terms of reconstruction accuracy and noise characteristics of the reconstructed images in each energy bin.The experimental simulation results show that the image xbins^W is the best as the prior image in general with respect to the three optimization algorithms; and the SPS algorithm offers the best performance for the simulated phantom with respect to the three prior images. Compared with filtered back-projection（FBP）, the PICCS via the SPS algorithm and xbins^W as the prior image can offer the noise reduction in the reconstructed images up to 80. 46%, 82. 51%, 88. 08% in each energy bin,respectively. M eanwhile, the root-mean-squared error in each energy bin is decreased by 15. 02%, 18. 15%, 34. 11% and the correlation coefficient is increased by 9. 98%, 11. 38%,15. 94%, respectively.
基金Natural Science Foundation of Shaanxi Province(No.2019JQ-004)Scientific Research Plan Projects of Shaanxi Education Department(No.18JK0438)Youth Talent Promotion Project of Shaanxi Province(No.20180112)。
文摘In order to effectively reduce the uncertainty error of mobile robot localization with a single sensor and improve the accuracy and robustness of robot localization and mapping,a mobile robot localization algorithm based on multi-sensor information fusion(MSIF)was proposed.In this paper,simultaneous localization and mapping(SLAM)was realized on the basis of laser Rao-Blackwellized particle filter(RBPF)-SLAM algorithm and graph-based optimization theory was used to constrain and optimize the pose estimation results of Monte Carlo localization.The feature point extraction and quadrilateral closed loop matching algorithm based on oriented FAST and rotated BRIEF(ORB)were improved aiming at the problems of generous calculation and low tracking accuracy in visual information processing by means of the three-dimensional(3D)point feature in binocular visual reconstruction environment.Factor graph model was used for the information fusion under the maximum posterior probability criterion for laser RBPF-SLAM localization and binocular visual localization.The results of simulation and experiment indicate that localization accuracy of the above-mentioned method is higher than that of traditional RBPF-SLAM algorithm and general improved algorithms,and the effectiveness and usefulness of the proposed method are verified.
基金The National Natural Science Foundation of China(No.61273236)the National Key Research and Development Plan of China(No.2016YFC0802706,2017YFC0804804)+1 种基金the Program for Special Talents in Six Major Fields of Jiangsu Province(No.2017JXQC-003)the Project of Beijing Municipal Science and Technology Commission(No.Z161100001416001)
文摘In order to realize an optimal balance between the efficiency and reliability requirements ofroad models,a road modeling method for digital maps based on cardinal spline is studied.First,the cardinal spline is chosen to establish an initial road model,which is specified by a series of control points and tension parameters.Then,in view of the initial road model,a gradual optimization algorithm,which can determine the reasonable control points and optimal tension parameters according to the degree of the change of road curvature,is proposed to determine the final road model.Finally,the proposed road modeling method is verified a d evaluated through experiments,and it is compared with the conventional method for digital maps based on the B-spline.The results show that the proposed method can resize a neaoptimal balance between the efficiency and reliability requirements.Compared with the conventional method based on the B-spline,this method occupies less data storage and achieves higher accuracy.
