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基于slam算法地形扫描建图车的设计
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作者 冀泽琛 马吉林 《数码设计》 2021年第7期45-45,共1页
本设计运用SLAM技术,在车体搭载激光雷达,以实现观测、绘制并上传建图信息。通过地图信息搜集,令车体进行自我环境感知,通过车体前端搭载CSI摄像头进行视觉处理,以解决智能车避障等问题,尝试实现无人驾驶。
关键词 地形扫描建图 SLAM技术 树莓派
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可识别跟踪快递分拣员的机器人运输系统
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作者 杨联伟 马驰昊 +2 位作者 朱志东 章旭 玄玉波 《电子技术与软件工程》 2020年第4期91-92,共2页
本文设计了能够识别并跟随分拣员进行快递运输的机器人。本系统基于Haar特征[1]和SVM[2]进行分拣员人脸识别,运用KCF进行目标跟踪,借助雷达扫描建图和导航定位,A*算法[3]和TEB算法分别提供全局和局部的路径规划。经实验证明,本系统能够... 本文设计了能够识别并跟随分拣员进行快递运输的机器人。本系统基于Haar特征[1]和SVM[2]进行分拣员人脸识别,运用KCF进行目标跟踪,借助雷达扫描建图和导航定位,A*算法[3]和TEB算法分别提供全局和局部的路径规划。经实验证明,本系统能够在识别到分拣员脸部后进行跟踪,用于快递运输,提高生产力。系统操作简易,性能稳定。 展开更多
关键词 人脸识别 目标跟踪 扫描建图 导航定位 路径规划 运输系统
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The optimal slice thickness of CT in revealing lobulation of malignant solitary pulmonary nodules 被引量:2
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作者 Shenjiang Li Changcheng Li Xin Wang Debin Liu Wenjie Liang Feng Zhu Yan Zhu Xuefeng Cui Wenjie Bi 《The Chinese-German Journal of Clinical Oncology》 CAS 2011年第10期559-562,共4页
Objective: The aim of this study was to determine an optimal slice thickness that was efficient in revealing Iobulation of malignant solitary pulmonary nodules (SPNs) on multi-slice spiral computed tomography (MSC... Objective: The aim of this study was to determine an optimal slice thickness that was efficient in revealing Iobulation of malignant solitary pulmonary nodules (SPNs) on multi-slice spiral computed tomography (MSCT) images preliminarily. Methods: Fifty patients with malignant SPNs (diameter -〈 3 cm) underwent multidetector-row computed tomography of the chest in a single-breath-hold technique. The raw data were acquired with a collimation of 0.625 mm. Three sets of contiguous images were reconstructed with 1-, 2-, and 5-ram slice thickness, respectively. The Iobulation sign of SPNs on the computed tomography (CT) images presented in 1-, 2-, and 5-ram slice thickness was compared. Using the 1-mm sections as the gold standard, an optimal slice thickness in revealing Iobulation sign of SPNs was determined. Results: The 1-mm-thick images CT revealed 98 Iobulations (25 with chord distance 〈 1 ram; 30 with chord distance 1-2 ram; 43 with chord distance 〉 2 mm) of 45 malignant SPNs. 18 Iobulations with chord distance 〈 1 mm presented in 2-mm-thick sections were as same as those in I-ram-thick sections. Statistically significant difference in Iobulations number was found between that revealed in 2-ram-thick images and that in I-ram-thick images (P = 0.023 〈 0.05). 16 Iobulations with chord distance 〈 1 mm presented in 5-mm-thick sections were as same as that in I-ram-thick sections. There was statistically significant difference in Iobulations number between that revealed in 5-mm-thick images and that in I-ram-thick images (P = 0.004 〈 0.05). The 24 Iobulations with chord distance 1-2 mm presented in 2-ram-thick sections were as same as that in 1-mm-thick sections. No statistically significant difference in Iobulations number were found between that revealed in 2-mm-thick images and that in 1-mm-thick images (P = 0.261 〉 0.05). 13 Iobulations with chord distance 1-2 mm presented in 5-ram-thick sections were as same as that in 1- mm-thick sections. There was statistically significant difference in Iobulations number between that revealed in 5-ram-thick images and that in I-ram-thick images (P = 0.003 〈 0.05). 40 Iobulations with chord distance 〉 2 mm presented in 2-ram-thick sections were as same as that in I-ram-thick sections. No statistically significant difference in Iobulations number was found between that revealed in 2-ram-thick images and that in I-ram-thick images (P = 0.631 〉 0.05). 36 Iobulations with chord distance 〉 2 mm presented in 5-mm-thick sections were as same as that in I-ram-thick sections. There was no statistically significant difference in Iobulations number between that revealed in 5-ram-thick images and that in I-ram-thick images (P = 0.264 〉 0.05). Conclusion: It is suggested that the use of 1-mm slice thickness is suitable in revealing Iobulations with chord distance 〈 1 ram. A 2-mm slice thickness is suggested to be used in revealing Iobulafions with chord distance 1-2 mm and 5-mm slice thickness to be used in revealing Iobulations with chord distance 〉 2 mm. 展开更多
关键词 TOMOGRAPHY X-ray computed coin lesion PULMONARY Iobulation
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Reconstruction of 3-D digital cores using a hybrid method 被引量:28
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作者 Liu Xuefeng Sun Jianmeng Wang Haitao 《Applied Geophysics》 SCIE CSCD 2009年第2期105-112,共8页
A 3-D digital core describes the pore space microstructure of rocks. An X-ray micro CT scan is the most accurate and direct but costly method to obtain a 3-D digital core. In this study, we propose a hybrid method whi... A 3-D digital core describes the pore space microstructure of rocks. An X-ray micro CT scan is the most accurate and direct but costly method to obtain a 3-D digital core. In this study, we propose a hybrid method which combines sedimentation simulation and simulated annealing (SA) method to generate 3-D digital cores based on 2-D images of rocks. The method starts with the sedimentation simulation to build a 3-D digital core, which is the initial configuration for the SA method. We update the initial digital core using the SA method to match the auto-correlation function of the 2-D rock image and eventually build the final 3-D digital core. Compared with the typical SA method, the hybrid method has significantly reduced the computation time. Local porosity theory is applied to quantitatively compare the reconstructed 3-D digital cores with the X-ray micro CT 3-D images. The results indicate that the 3-D digital cores reconstructed by the hybrid method have homogeneity and geometric connectivity similar to those of the X-ray micro CT image. The formation factors and permeabilities of the reconstructed 3-D digital cores are estimated using the finite element method (FEM) and lattice Boltzmann method (LBM), respectively. The simulated results are in good agreement with the experimental measurements. Comparison of the simulation results suggests that the digital cores reconstructed by the hybrid method more closely reflect the true transport properties than the typical SA method alone. 展开更多
关键词 3-D digital core simulated annealing method sedimentation simulation
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