面向大尺度环境中的移动机器人同时定位与地图构建(Simultaneous localization and mapping,SLAM)问题,提出平方根容积Rao-Blackwillised粒子滤波SLAM算法.算法主要特点在于:1)采用容积律计算SLAM中的非线性函数高斯权重积分,达到减小S...面向大尺度环境中的移动机器人同时定位与地图构建(Simultaneous localization and mapping,SLAM)问题,提出平方根容积Rao-Blackwillised粒子滤波SLAM算法.算法主要特点在于:1)采用容积律计算SLAM中的非线性函数高斯权重积分,达到减小SLAM非线性模型线性化误差、提高SLAM精度的目的;2)在SLAM中直接传播误差协方差矩阵的平方根因子,避免了耗费时间的协方差矩阵分解与重构过程,提高了SLAM计算效率.通过仿真、实验将提出的SLAM算法与FastSLAM2.0、UFastSLAM两种算法进行对比,结果表明本文算法在SLAM性能上优于另两者.展开更多
The Poyang Lake is a Ramsar site and is the important over-wintering site for migratory waterbirds along the East Asian-Australasian Fly way. Examining the effects of water level fluctuations on waterbird abundance an...The Poyang Lake is a Ramsar site and is the important over-wintering site for migratory waterbirds along the East Asian-Australasian Fly way. Examining the effects of water level fluctuations on waterbird abundance and analyzing the influencing mechanism is critical to waterbird protection in the context of hydrological alteration. In this study, the effect of water level regime on wintering goose abundance was examined and the influencing mechanism was interpreted. Synchronous waterbirds survey data, hydro- logical data, Moderate Resolution Imaging Spectroradiometer-Normalized Difference Vegetation Index （MODIS-NDVI） data and habi- tat data derived from Landsat TNUETM data and HJ/CCD data were combined. The satellite-derived Green Wave Index （GWI） based on MODIS-NDVI dataset was applied to detect changes in goose food resources. It was found that habitat size and vegetation conditions are key factors determining goose abundance. Geese numbers were positively correlated with habitat area, while intermediate range of vegetation productivity might benefit the goose abundance. Water level affects goose abundance by changing available habitat areas and vegetation conditions. We suggested that matching hydrological regime and exposed meadows time to wintering geese dynamics was crucial in the Poyang Lake wetlands. Our study could provide sound scientific information for hydrological management in the context of waterbird conservation.展开更多
文摘面向大尺度环境中的移动机器人同时定位与地图构建(Simultaneous localization and mapping,SLAM)问题,提出平方根容积Rao-Blackwillised粒子滤波SLAM算法.算法主要特点在于:1)采用容积律计算SLAM中的非线性函数高斯权重积分,达到减小SLAM非线性模型线性化误差、提高SLAM精度的目的;2)在SLAM中直接传播误差协方差矩阵的平方根因子,避免了耗费时间的协方差矩阵分解与重构过程,提高了SLAM计算效率.通过仿真、实验将提出的SLAM算法与FastSLAM2.0、UFastSLAM两种算法进行对比,结果表明本文算法在SLAM性能上优于另两者.
基金Under the auspices of National Natural Science Foundation of China(No.41171030,41471088)
文摘The Poyang Lake is a Ramsar site and is the important over-wintering site for migratory waterbirds along the East Asian-Australasian Fly way. Examining the effects of water level fluctuations on waterbird abundance and analyzing the influencing mechanism is critical to waterbird protection in the context of hydrological alteration. In this study, the effect of water level regime on wintering goose abundance was examined and the influencing mechanism was interpreted. Synchronous waterbirds survey data, hydro- logical data, Moderate Resolution Imaging Spectroradiometer-Normalized Difference Vegetation Index （MODIS-NDVI） data and habi- tat data derived from Landsat TNUETM data and HJ/CCD data were combined. The satellite-derived Green Wave Index （GWI） based on MODIS-NDVI dataset was applied to detect changes in goose food resources. It was found that habitat size and vegetation conditions are key factors determining goose abundance. Geese numbers were positively correlated with habitat area, while intermediate range of vegetation productivity might benefit the goose abundance. Water level affects goose abundance by changing available habitat areas and vegetation conditions. We suggested that matching hydrological regime and exposed meadows time to wintering geese dynamics was crucial in the Poyang Lake wetlands. Our study could provide sound scientific information for hydrological management in the context of waterbird conservation.
