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RGB-D相机位姿估计不确定性与观测参数化分析 被引量:3
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作者 马鑫 梁新武 《机器人》 EI CSCD 北大核心 2021年第1期54-65,73,共13页
针对基于RGB-D相机的位姿估计问题,根据最大似然估计和协方差传播规律,分析了ICP(迭代最近点)与PnP(n点透视)两种算法的位姿估计不确定性;并从数据关联的角度探究了2种算法在实际应用中的差异.此外,对比了不同的特征观测参数化形式对视... 针对基于RGB-D相机的位姿估计问题,根据最大似然估计和协方差传播规律,分析了ICP(迭代最近点)与PnP(n点透视)两种算法的位姿估计不确定性;并从数据关联的角度探究了2种算法在实际应用中的差异.此外,对比了不同的特征观测参数化形式对视觉里程计定位精度的影响,并提出了一种参数化方法.基于ICP与PnP算法的区别与联系,提出RGB-D SLAM(同步定位与地图创建)系统中2种PnP算法的切换策略,并在优化问题中根据观测的不确定性对各误差项赋予不同权重.在两大公开数据集上的实验表明,与主流RGB-D SLAM算法相比本文所提算法在弱纹理、相机快速运动和动态物体等多种场景下具有更高的定位精度和鲁棒性.同时,本文所提算法的时间效率较ORB-SLAM2算法提高了约10%. 展开更多
关键词 同时定位与地图构建(SLAM) 位姿估计不确定性 观测参数化 RGB-D
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Effects of wind input and wave dissipation formulations on the steady Ekman current solution
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作者 徐俊丽 宋金宝 《Chinese Journal of Oceanology and Limnology》 SCIE CAS CSCD 2014年第3期709-719,共11页
The effects of different wind input and wave dissipation formulations on the steady Ekman current solution are described. Two formulations are considered: one from the wave modeling(WAM) program proposed by Hasselmann... The effects of different wind input and wave dissipation formulations on the steady Ekman current solution are described. Two formulations are considered: one from the wave modeling(WAM) program proposed by Hasselmann and Komen and the other provided by Tsagareli and Babanin. The solution adopted for our study was presented by Song for the wave-modifi ed Ekman current model that included the Stokes drift, wind input, and wave dissipation with eddy viscosity increasing linearly with depth. Using the Combi spectrum with tail effects, the solutions are calculated using two formulations for wind input and wave dissipation, and compared. Differences in the results are not negligible. Furthermore, the solution presented by Song and Xu for the eddy viscosity formulated using the K-Profi le Parameterization scheme under wind input and wave dissipation given by Tsagareli and Babanin is compared with that obtained for a depth-dependent eddy viscosity. The solutions are further compared with the available well-known observational data. The result indicates that the Tsagareli and Babanin scheme is more suitable for use in the model when capillary waves are included, and the solution calculated using the K-Profi le Parameterization scheme agrees best with observations. 展开更多
关键词 Combi spectrum Stokes drift wind input wave dissipation steady Ekman current solution
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Dark energy and fate of the Universe 被引量:8
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作者 LI XiaoDong WANG Shuang +2 位作者 HUANG QingGuo ZHANG Xin LI Miao 《Science China(Physics,Mechanics & Astronomy)》 SCIE EI CAS 2012年第7期1330-1334,共5页
We explore the ultimate fate of the Universe by using a divergence-free parametrization for dark energy w(z)=w0+wa, [In(2 + z) / (1 + z) - In 2] . Unlike the Chevallier-Polarski-Linder parametrization, this p... We explore the ultimate fate of the Universe by using a divergence-free parametrization for dark energy w(z)=w0+wa, [In(2 + z) / (1 + z) - In 2] . Unlike the Chevallier-Polarski-Linder parametrization, this parametrization has well behaved, bounded behavior for both high redshifts and negative redshifts, and thus can genuinely cover many theoretical dark energy models. Alter constraining the parameter space of this parametrization by using the current cosmological observations, we find that, at the 95.4% confidence level, our Universe can still exist at least 16.7 Gyr before it ends in a big rip. Moreover, for the phantom energy dominated Universe, we find that a gravitationally bound system will be destroyed at a time t = P√2| 1 + 3w( 1)] / [6π] 1 + w(-1)|], where P is the period of a circular orbit around this system, before the big rip. 展开更多
关键词 dark energy dynamical evolution fate of the Universe
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