Feature initialization is an important issue in the monocular simultaneous locahzation ana mapping （SLAM） literature as the feature depth can not be obtained at one observation. In this paper, we present a new featu...Feature initialization is an important issue in the monocular simultaneous locahzation ana mapping （SLAM） literature as the feature depth can not be obtained at one observation. In this paper, we present a new feature initialization method named modified homogeneous parameterization （MHP）, which allows undelayed initialization with scale invariant representation of point features located at various depths. The linearization error of the measurement equation is quantified using a depth estimation model and the feature initialization process is described. In order to verify the performance of the proposed method, the simulation is carried out. Results show that with the proposed method, the SLAM algorithm can achieve better consistency as compared with the existing inverse depth parameterization （IDP） method.展开更多
In this paper, a special three-step difference scheme is applied to the solution of nonlinear time-evolution equations, whose coefficients are determined according to accuracy constraints, necessary conditions of squa...In this paper, a special three-step difference scheme is applied to the solution of nonlinear time-evolution equations, whose coefficients are determined according to accuracy constraints, necessary conditions of square conservation, and historical observation information under the linear supposition. As in the linear case, the schemes also have obvious superiority in overall performance in the nonlinear case compared with traditional finite difference schemes, e.g., the leapfrog(LF) scheme and the complete square conservation difference(CSCD) scheme that do not use historical observations in determining their coefficients, and the retrospective time integration(RTI) scheme that does not consider compatibility and square conservation. Ideal numerical experiments using the one-dimensional nonlinear advection equation with an exact solution show that this three-step scheme minimizes its root mean square error(RMSE) during the first 2500 integration steps when no shock waves occur in the exact solution, while the RTI scheme outperforms the LF scheme and CSCD scheme only in the first 1000 steps and then becomes the worst in terms of RMSE up to the 2500th step. It is concluded that reasonable consideration of accuracy, square conservation, and historical observations is also critical for good performance of a finite difference scheme for solving nonlinear equations.展开更多
Wet oxidation procedure,i.e.,Walkley-Black (WB) method,is a routine,relatively accurate,and popular method for the determination of soil organic matter (SOM) but it is time-consuming,costly and also has a high potenti...Wet oxidation procedure,i.e.,Walkley-Black (WB) method,is a routine,relatively accurate,and popular method for the determination of soil organic matter (SOM) but it is time-consuming,costly and also has a high potential to cause environmental pollution because of disposal of chromium and strong acids used in this analysis.Therefore,loss-on-ignition (LOI) procedure,a simple and cheap method for SOM estimation,which also avoids chromic acid wastes,deserves more attention.The aims of this research were to study the statistical relationships between SOM determined with the LOI (SOMLOI) and WB (SOMWB) methods to compare the spatial variability of SOM in two major plains,Shahrekord and Koohrang plains,of Chaharmahal-va-Bakhtiari Province,Iran.Fifty surface soil samples (0-25 cm) were randomly collected in each plain to determine SOM using the WB method and the LOI procedure at 300,360,400,500 and 550 ℃ for 2 h.The samples covered wide ranges of soil texture and calcium carbonate equivalent (CCE).The general linear form of the regression equation was calculated to estimate SOM LOI from SOM obtained by the WB method for both overall samples and individual plains.Forty soil samples were also randomly selected to compare the SOM and CCE before and after ignition at each temperature.Overall accuracy of the continuous maps generated for the LOI and WB methods was considered to determine the accordance of two procedures.Results showed a significant positive linear relationship between SOM LOI and SOM WB.Coefficients of determination (R2) of the equations for individual plains were higher than that of the overall equation.Coefficients of determination and line slopes decreased and root mean square error (RMSE) increased with increasing ignition temperature,which may be due to the mineral structural water loss and destruction of carbonates at higher temperatures.A temperature around 360 ℃ was identified as optimum as it burnt most organic carbon,destroyed less inorganic carbon,caused less clay structural water loss,and used less electrical energy.Although the trends of SOM in the kriged maps by the two procedures accorded well,low overall accuracy was observed for the maps obtained by the two methods.While not suitable for determination where high accuracy is required,determination of organic carbon through LOI is likely suitable for exploratory soil surveys where rough estimation of organic matter is required.展开更多
An accurate closed form solution is proposed to estimate camera pose by several mirrored reference object images acquired via a planar mirror under different unknown poses. Compared with state-of-the-art methods, our ...An accurate closed form solution is proposed to estimate camera pose by several mirrored reference object images acquired via a planar mirror under different unknown poses. Compared with state-of-the-art methods, our method is more accurate when there are more than three images and has explicit geometric meanings. This method also properly handles cases in which some of the mirror poses are parallel. The central idea is to minimize an error metric based on all reflections of rotation, which enables the camera rotation to be estimated directly by SVD of sum of mirrored camera rotations. After that, the camera translation is computed by solving a large system of linear equations to minimize object space collinearity error. Both synthesized data and real data experiments show the advantages of our approach.展开更多
In this paper, an invariant determined by a function used to guarantee the convergence of all members with l ≤ k in the family of deformed Halley iterative methods for solving nonlinear equation in complex field is g...In this paper, an invariant determined by a function used to guarantee the convergence of all members with l ≤ k in the family of deformed Halley iterative methods for solving nonlinear equation in complex field is given. Results include some known ones as this special cases. We get not only the error estimates of the iterative sequences {zn,l} but also those of f(zn,l) for all l ≤ k.展开更多
This paper investigates the finite element approximation of a class of parameter estimation problems which is the form of performance as the optimal control problems governed by bilinear parabolic equations,where the ...This paper investigates the finite element approximation of a class of parameter estimation problems which is the form of performance as the optimal control problems governed by bilinear parabolic equations,where the state and co-state are discretized by piecewise linear functions and control is approximated by piecewise constant functions.The authors derive some a priori error estimates for both the control and state approximations.Finally,the numerical experiments verify the theoretical results.展开更多
文摘Feature initialization is an important issue in the monocular simultaneous locahzation ana mapping （SLAM） literature as the feature depth can not be obtained at one observation. In this paper, we present a new feature initialization method named modified homogeneous parameterization （MHP）, which allows undelayed initialization with scale invariant representation of point features located at various depths. The linearization error of the measurement equation is quantified using a depth estimation model and the feature initialization process is described. In order to verify the performance of the proposed method, the simulation is carried out. Results show that with the proposed method, the SLAM algorithm can achieve better consistency as compared with the existing inverse depth parameterization （IDP） method.
基金the Ministry of Science and Technology of China for the National Basic Research Program of China(973 Program,Grant No.2011CB309704)
文摘In this paper, a special three-step difference scheme is applied to the solution of nonlinear time-evolution equations, whose coefficients are determined according to accuracy constraints, necessary conditions of square conservation, and historical observation information under the linear supposition. As in the linear case, the schemes also have obvious superiority in overall performance in the nonlinear case compared with traditional finite difference schemes, e.g., the leapfrog(LF) scheme and the complete square conservation difference(CSCD) scheme that do not use historical observations in determining their coefficients, and the retrospective time integration(RTI) scheme that does not consider compatibility and square conservation. Ideal numerical experiments using the one-dimensional nonlinear advection equation with an exact solution show that this three-step scheme minimizes its root mean square error(RMSE) during the first 2500 integration steps when no shock waves occur in the exact solution, while the RTI scheme outperforms the LF scheme and CSCD scheme only in the first 1000 steps and then becomes the worst in terms of RMSE up to the 2500th step. It is concluded that reasonable consideration of accuracy, square conservation, and historical observations is also critical for good performance of a finite difference scheme for solving nonlinear equations.
文摘Wet oxidation procedure,i.e.,Walkley-Black (WB) method,is a routine,relatively accurate,and popular method for the determination of soil organic matter (SOM) but it is time-consuming,costly and also has a high potential to cause environmental pollution because of disposal of chromium and strong acids used in this analysis.Therefore,loss-on-ignition (LOI) procedure,a simple and cheap method for SOM estimation,which also avoids chromic acid wastes,deserves more attention.The aims of this research were to study the statistical relationships between SOM determined with the LOI (SOMLOI) and WB (SOMWB) methods to compare the spatial variability of SOM in two major plains,Shahrekord and Koohrang plains,of Chaharmahal-va-Bakhtiari Province,Iran.Fifty surface soil samples (0-25 cm) were randomly collected in each plain to determine SOM using the WB method and the LOI procedure at 300,360,400,500 and 550 ℃ for 2 h.The samples covered wide ranges of soil texture and calcium carbonate equivalent (CCE).The general linear form of the regression equation was calculated to estimate SOM LOI from SOM obtained by the WB method for both overall samples and individual plains.Forty soil samples were also randomly selected to compare the SOM and CCE before and after ignition at each temperature.Overall accuracy of the continuous maps generated for the LOI and WB methods was considered to determine the accordance of two procedures.Results showed a significant positive linear relationship between SOM LOI and SOM WB.Coefficients of determination (R2) of the equations for individual plains were higher than that of the overall equation.Coefficients of determination and line slopes decreased and root mean square error (RMSE) increased with increasing ignition temperature,which may be due to the mineral structural water loss and destruction of carbonates at higher temperatures.A temperature around 360 ℃ was identified as optimum as it burnt most organic carbon,destroyed less inorganic carbon,caused less clay structural water loss,and used less electrical energy.Although the trends of SOM in the kriged maps by the two procedures accorded well,low overall accuracy was observed for the maps obtained by the two methods.While not suitable for determination where high accuracy is required,determination of organic carbon through LOI is likely suitable for exploratory soil surveys where rough estimation of organic matter is required.
基金supported by the National Natural Science Foundation of China(Grant No.11072263)
文摘An accurate closed form solution is proposed to estimate camera pose by several mirrored reference object images acquired via a planar mirror under different unknown poses. Compared with state-of-the-art methods, our method is more accurate when there are more than three images and has explicit geometric meanings. This method also properly handles cases in which some of the mirror poses are parallel. The central idea is to minimize an error metric based on all reflections of rotation, which enables the camera rotation to be estimated directly by SVD of sum of mirrored camera rotations. After that, the camera translation is computed by solving a large system of linear equations to minimize object space collinearity error. Both synthesized data and real data experiments show the advantages of our approach.
基金This research is supported by the Natural Science Foundation of China(No.10271112) and Y.C.Tang Disciplinary Development Fund of Zhejiang.
文摘In this paper, an invariant determined by a function used to guarantee the convergence of all members with l ≤ k in the family of deformed Halley iterative methods for solving nonlinear equation in complex field is given. Results include some known ones as this special cases. We get not only the error estimates of the iterative sequences {zn,l} but also those of f(zn,l) for all l ≤ k.
基金supported by the National Natural Science Foundation of China under Grant Nos.11101025,11071080,11171113the National Natural Science Foundation of China under Grant No.11126279+1 种基金the Fundamental Research Funds for the Central Universitiesthe Youth Foundation of Tianyuan Mathematics
文摘This paper investigates the finite element approximation of a class of parameter estimation problems which is the form of performance as the optimal control problems governed by bilinear parabolic equations,where the state and co-state are discretized by piecewise linear functions and control is approximated by piecewise constant functions.The authors derive some a priori error estimates for both the control and state approximations.Finally,the numerical experiments verify the theoretical results.
