The key technology of the measuring method of pose shaking of unstable platform based on CCD lies in the camera pose estimation. A new method for camera pose estimation based on line correspondence is put forward in t...The key technology of the measuring method of pose shaking of unstable platform based on CCD lies in the camera pose estimation. A new method for camera pose estimation based on line correspondence is put forward in this paper. First, two appro- priate lines are selected in the space to establish a local coordinate system, the remaining lines form three-line sets with these two lines respectively and then the angle depth of the lines of the local coordinate system can be obtained by using the linearity of interpretation plane; then the invariance of included angle between spatial coordinate system and camera coordinate system during rigid transformation is used to establish a constraint equation set of angle depth of three lines similar to traditional P3P, and the corresponding angle depth of the third line in the set can be obtained linearly by variable substitution; finally, the rota- tion matrix can be expressed with quaternion and the pose parameters of camera in the space can be calculated by singular value decomposition （SVD）. The static experiment and dynamic experiment verify the accuracy and stability of the algorithm and that the camera pose shocking is within 1~ and the 3a error is superior to 0.3＇. The method in this paper can be directly used in the micro-vibration measurement of experimental platform and robot navigation and other fields and is of important theoretical significance and engineering application prospect.展开更多
Motivated by the recently updated experimental measurement on Bd→μ^＋μ^- and B^-→π^-μ＋μ^- decays by CDF and Belle collaborations, we revisit these decays, as well as B^-→ρ^-μ^＋μ^- decay, within the Standa...Motivated by the recently updated experimental measurement on Bd→μ^＋μ^- and B^-→π^-μ＋μ^- decays by CDF and Belle collaborations, we revisit these decays, as well as B^-→ρ^-μ^＋μ^- decay, within the Standard Model, and evaluate the effects of a family non-universal Z＇ boson. Under the constraint from β（B- → π^-μ＋μ^-）, we find the ranges of the Z＇ couplings SLRμμ 〈 -5.2 × 10^-2 or Dμμ^LR 〈 -8.1 × 10^-2 are excluded. Within the allowed Z＇ parameters spaces, comparing with the SM predictions, we find that B（Bd→μ^＋μ^-）, B（B^-→π^-μ＋μ^-）, and B（B^-→ρ^-μ＋μ^-） could be enhanced by a factor about 226%, 245%, and 254%, respectively, by Z＇ contributions. However, they are hardly to be reduced. Furthermore, the zero crossing in the normalized forward-backward asymmetry spectrum of B^-→ρ^-μ＋μ^- decay at low dimuon mass always exists.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.11072263,11272347)the Program for New Century Excellent Talents in University
文摘The key technology of the measuring method of pose shaking of unstable platform based on CCD lies in the camera pose estimation. A new method for camera pose estimation based on line correspondence is put forward in this paper. First, two appro- priate lines are selected in the space to establish a local coordinate system, the remaining lines form three-line sets with these two lines respectively and then the angle depth of the lines of the local coordinate system can be obtained by using the linearity of interpretation plane; then the invariance of included angle between spatial coordinate system and camera coordinate system during rigid transformation is used to establish a constraint equation set of angle depth of three lines similar to traditional P3P, and the corresponding angle depth of the third line in the set can be obtained linearly by variable substitution; finally, the rota- tion matrix can be expressed with quaternion and the pose parameters of camera in the space can be calculated by singular value decomposition （SVD）. The static experiment and dynamic experiment verify the accuracy and stability of the algorithm and that the camera pose shocking is within 1~ and the 3a error is superior to 0.3＇. The method in this paper can be directly used in the micro-vibration measurement of experimental platform and robot navigation and other fields and is of important theoretical significance and engineering application prospect.
基金Supported by the National Natural Science Foundation under Grant Nos. 11105043 and 11075059Research Fund for the Doctoral Program of Higher Education of China under Grant No. 20114104120002Startup Foundation for Doctor of Henan Normal University under Grant No. 1006
文摘Motivated by the recently updated experimental measurement on Bd→μ^＋μ^- and B^-→π^-μ＋μ^- decays by CDF and Belle collaborations, we revisit these decays, as well as B^-→ρ^-μ^＋μ^- decay, within the Standard Model, and evaluate the effects of a family non-universal Z＇ boson. Under the constraint from β（B- → π^-μ＋μ^-）, we find the ranges of the Z＇ couplings SLRμμ 〈 -5.2 × 10^-2 or Dμμ^LR 〈 -8.1 × 10^-2 are excluded. Within the allowed Z＇ parameters spaces, comparing with the SM predictions, we find that B（Bd→μ^＋μ^-）, B（B^-→π^-μ＋μ^-）, and B（B^-→ρ^-μ＋μ^-） could be enhanced by a factor about 226%, 245%, and 254%, respectively, by Z＇ contributions. However, they are hardly to be reduced. Furthermore, the zero crossing in the normalized forward-backward asymmetry spectrum of B^-→ρ^-μ＋μ^- decay at low dimuon mass always exists.
