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融合BRIEF与ICP点云配准的零部件姿态估计方法
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作者 田华平 陈鹏飞 +2 位作者 杨涛 何培垒 巩鑫 《计算机与数字工程》 2024年第5期1383-1387,1411,共6页
物体姿态估计在增强现实、自动驾驶和机器人操作等领域具有重要意义。在机器人抓取与辅助装配过程中实时并准确地估计目标姿态极其重要,为提高装配过程中零部件的抓取与监控的实时性与精度,研究了基于多视图特征库估计目标姿态的方法,... 物体姿态估计在增强现实、自动驾驶和机器人操作等领域具有重要意义。在机器人抓取与辅助装配过程中实时并准确地估计目标姿态极其重要,为提高装配过程中零部件的抓取与监控的实时性与精度,研究了基于多视图特征库估计目标姿态的方法,设计融合BRIEF(Binary Robust Independent Elementary Features)特征匹配与ICP(Iterative Closest Point)点云配准的零部件姿态估计方法对零部件姿态角进行估计测量。以法兰、扳手、电钻等零件工具进行实验,实验结果表明融合BRIEF特征匹配与ICP点云配准的姿态估计方法运行耗时约200ms,而姿态估计的最大误差角度为4.5°,能有效保证零部件姿态估计方法的实时性与精度,可应用于机器人抓取作业、辅助装配监控等。 展开更多
关键词 K-D树索引 brief特征匹配 ICP点云配准 姿态估计
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NEWS in brief
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《China Report ASEAN》 2024年第8期6-9,共4页
Beijing,Hanoi vow to advance traditional ties.China rolled out the red carpet on August 19 for Vietnam’s top leader To Lam,and the two socialist countries vowed to further enhance their comprehensive strategic cooper... Beijing,Hanoi vow to advance traditional ties.China rolled out the red carpet on August 19 for Vietnam’s top leader To Lam,and the two socialist countries vowed to further enhance their comprehensive strategic cooperative partnership and advance the building of a community with a shared future that carries strategic significance. 展开更多
关键词 STRATEGIC NEWS brief
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一种基于阶阵列的BRIEF特征描述子 被引量:1
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作者 张娓娓 赵金龙 +2 位作者 何佳 陈绥阳 王杰 《计算机技术与发展》 2023年第5期81-87,共7页
局部特征匹配是机器视觉研究领域中的一个基础问题,也是该领域的研究热点之一,在目标识别、目标跟踪、场景区分等应用中具有重要的作用。而在局部特征匹配研究过程中,如何在满足多种图像变换的前提下,设计一种高效的图像特征描述子是需... 局部特征匹配是机器视觉研究领域中的一个基础问题,也是该领域的研究热点之一,在目标识别、目标跟踪、场景区分等应用中具有重要的作用。而在局部特征匹配研究过程中,如何在满足多种图像变换的前提下,设计一种高效的图像特征描述子是需要解决的一个关键问题。现有的特征描述子,如SIFT和SURF,计算复杂性较高,难以胜任实时视频或移动计算环境;BRIEF特征描述子计算简单,匹配效率高,能满足实时视频或者移动计算环境的要求,但其仅考虑了单个像素,不具备方向,也就不具有旋转不变性。在BRIEF特征描述子的基础上,该文选择多个特征点,并引入阶排列方法,提出一种改进的特征描述子OPoBRIEF。相对于传统的特征描述子,OPoBRIEF能够包含更多的局部特征信息,并且计算复杂性较低。通过特征描述子稳定性实验,表明OPoBRIEF比BRRIEF具有更高的匹配正确率和更好的稳定性。而特征描述子旋转不变性的实验则表明,在旋转角度为10~12区间,OPoBRIEF与SIFT效果相当,但明显优于ORB算法。 展开更多
关键词 描述子 二值模式 brief 阶排列 旋转不变性
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NEWS in brief
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《China Report ASEAN》 2023年第8期6-9,共4页
China’s Space Lab Starts Formal Operation,China’s orbiting Tiangong space station,which functions as a national space laboratory,has been put into operation,pushing forward space applications and achieving fruitful ... China’s Space Lab Starts Formal Operation,China’s orbiting Tiangong space station,which functions as a national space laboratory,has been put into operation,pushing forward space applications and achieving fruitful results,according to the China Manned Space Agency.A total of 110 in-orbit science research and application projects have been implemented,involving space life science and human body research,microgravity physics,and new space technologies,making multiple world’s firsts,said Lin Xiqiang,the agency’s deputy director,at a press conference on August 18. 展开更多
关键词 NEWS brief fruitful
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BRIEF算法在基于增强现实的产品装配引导中的应用研究 被引量:6
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作者 王峻峰 陈亭 +1 位作者 李世其 徐迟 《机械科学与技术》 CSCD 北大核心 2013年第2期213-216,共4页
面向增强现实环境下采用零件自然特征的装配引导应用,提出一种基于BRIEF算法的虚实装配场景注册融合方法。利用BRIEF算法进行装配零件图像自然特征的提取,建立零件图像的特征描述符。通过海明距离进行装配引导过程中零件图像特征描述符... 面向增强现实环境下采用零件自然特征的装配引导应用,提出一种基于BRIEF算法的虚实装配场景注册融合方法。利用BRIEF算法进行装配零件图像自然特征的提取,建立零件图像的特征描述符。通过海明距离进行装配引导过程中零件图像特征描述符的匹配,实现虚实装配零件的注册;同时将虚拟装配信息在真实装配场景中叠加,用于引导用户完成装配作业过程。实验结果表明:利用该算法进行虚实注册具有较好的鲁棒性和实时性,能够较好地应用于增强现实环境下的产品装配引导过程中。 展开更多
关键词 增强现实 brief算法 特征匹配 装配引导
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中文版学龄前儿童执行功能行为评定问卷(BRIEF-P)父母版的效度和信度 被引量:21
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作者 路腾飞 帅澜 +6 位作者 张劲松 王玉凤 钱英 张慧凤 夏卫萍 王周烨 谭歆 《中国心理卫生杂志》 CSSCI CSCD 北大核心 2017年第2期138-143,共6页
目的:评价中文版学龄前儿童执行功能行为评定量表(BRIEF-P)父母版的效度和信度。方法:选取符合精神障碍诊断与统计手册第5版(DSM-5)诊断标准的注意缺陷多动障碍(ADHD)、智力发育障碍(IDD)及孤独症谱系障碍(ASD)的儿童265例,年龄4~5岁,... 目的:评价中文版学龄前儿童执行功能行为评定量表(BRIEF-P)父母版的效度和信度。方法:选取符合精神障碍诊断与统计手册第5版(DSM-5)诊断标准的注意缺陷多动障碍(ADHD)、智力发育障碍(IDD)及孤独症谱系障碍(ASD)的儿童265例,年龄4~5岁,其中男218例,女47例,以及性别、年龄匹配的正常儿童61例。由家长填写BRIEF-P问卷后,对问卷进行内部一致性分析及验证性因素分析,其中完整填写ADHD-IV及CBQ问卷者303例,对问卷进行分析以检验效标效度,随机选取39名家长间隔1~2周再次填写BRIEF-P问卷检验重测效度。结果:BRIEF-P与ADHD-IV及CBQ问卷多个因子呈中度相关(r=0.30~0.73,P<0.05)。验证性因素分析显示一阶5因子模型拟合良好。ROC曲线显示当BRIEF-P总分为88.5分时,诊断发育障碍儿童的敏感度为0.82,特异度为0.77。BRIEF-P重测信度为0.54~0.72,内部一致性系数为0.78~0.95。结论:BRIEF-P父母版具有相对良好的效度和信度,适用于中国文化背景。 展开更多
关键词 学龄前儿童 执行功能 brief-P 效度 信度
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基于改进BRIEF算法的物流编码识别技术 被引量:2
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作者 杜辉 《物流技术》 2015年第7期261-264,共4页
提出一种改进BRIEF算法的QR码识别方法,该方法通过图像校正和快速特征点识别技术,对QR码进行快速识别匹配,有效地解决了QR码在实际应用中遇到的问题。实验结果表明,该QR码识别方法运算速度快,实时性好,识别率高,鲁棒性强,改善了现实中... 提出一种改进BRIEF算法的QR码识别方法,该方法通过图像校正和快速特征点识别技术,对QR码进行快速识别匹配,有效地解决了QR码在实际应用中遇到的问题。实验结果表明,该QR码识别方法运算速度快,实时性好,识别率高,鲁棒性强,改善了现实中的识别难题,满足了移动物流管理的需求。 展开更多
关键词 移动物流管理 物流编码 QR码 特征识别 改进brief算法
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A Brief Analysis of the Implication in “The Celebrated Jumping Frog of Calaveras County”
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作者 贺小华 《海外英语》 2010年第5X期202-202,共1页
The Celebrated Jumping Frog of Calaveras County is a novel first published in 1865.It tells us a story taking place in the ancient mining camp of Angel's.By using analysis,the implication hidden behind the novel i... The Celebrated Jumping Frog of Calaveras County is a novel first published in 1865.It tells us a story taking place in the ancient mining camp of Angel's.By using analysis,the implication hidden behind the novel is explored here.That is,the abnormal social phenomena exist in the reality,the intrigue among people to gain profits and also the immoral measures people took for panning gold at the Gold Rush Era. 展开更多
关键词 brief ANALYSIS IMPLICATION JUMPING FROG
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A Brief Analysis of Discrimination in Language Classroom——from the Perspective of Sociolinguistics
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作者 曹志勇 《神州》 2014年第9期145-145,147,共2页
It is widely acknowledged that sociolinguistics is the study of language in certain context concerned with our society.Sociolinguistics and linguistics are intrinsically related to each other,but there has been differ... It is widely acknowledged that sociolinguistics is the study of language in certain context concerned with our society.Sociolinguistics and linguistics are intrinsically related to each other,but there has been difference as well.Linguistics research deals with language system itself,which belongs to the micro level on the one hand;many phenomena reflect discrimination in language classroom,these discrimination are caused by social factors to a certain degree.This paper makes a brief analysis of discrimination in language classroom from the perspective of sociolinguistics,which deals with many issues such as depiction of language discrimination、analysis of phenomenon and accordinglysolved measures. 展开更多
关键词 SOCIOLINGUISTICS LINGUISTICS DISCRIMINATION social factors brief analysis
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一种基于SURF和BRIEF的图像配准算法 被引量:7
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作者 尚明姝 王克朝 《微电子学与计算机》 北大核心 2020年第10期59-63,共5页
针对SURF算法特征描述复杂和匹配精确度不高的问题,提出先用SURF算法提取特征点,再计算其Harris响应值,剔除质量较差的特征点,使用BRIEF算法描述特征点,再用最近邻汉明距离匹配特征点.采用改进的K-means算法对数据分类,将数量较多的类... 针对SURF算法特征描述复杂和匹配精确度不高的问题,提出先用SURF算法提取特征点,再计算其Harris响应值,剔除质量较差的特征点,使用BRIEF算法描述特征点,再用最近邻汉明距离匹配特征点.采用改进的K-means算法对数据分类,将数量较多的类里的匹配点作为正确匹配点保留.最后应用改进的RANSAC算法求变换矩阵.实验验证了算法性能. 展开更多
关键词 图像配准 SURF brief K-MEANS RANSAC
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基于图像结构与改进Brief检测算子的目标匹配算法 被引量:4
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作者 李莉 《国外电子测量技术》 2017年第2期29-33,共5页
为了解决当前特征点匹配算法在前景遮挡、背景复杂的干扰下,存在匹配能力不足的问题,提出了基于改进Brief的目标鲁棒匹配算法。首先,对存在匹配干扰的图像展开分析,通过基于不变矩的特征点检测方法,改进breif特征点检测。然后扩大滤波... 为了解决当前特征点匹配算法在前景遮挡、背景复杂的干扰下,存在匹配能力不足的问题,提出了基于改进Brief的目标鲁棒匹配算法。首先,对存在匹配干扰的图像展开分析,通过基于不变矩的特征点检测方法,改进breif特征点检测。然后扩大滤波范围来处理目标积分图像,通过基于特征点主方向的旋转矩阵,构建Brief特征描述算子;最后结合欧式距离和KNN,进行匹配运算,并编程实现算法,实验测试结果显示:与当前传统特征点匹配算法相比,在特征遮挡严重、背景极复杂的干扰下,本文算法拥有较强的匹配精度与鲁棒性。 展开更多
关键词 brief特征 目标匹配 特征点检测 积分图像 特征描述 鲁棒
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基于FAST和BRIEF的图像匹配算法 被引量:22
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作者 周莉莉 姜枫 《计算机工程与设计》 北大核心 2015年第5期1269-1273,共5页
针对图像匹配算法中匹配率不高以及运算速度较慢等问题,采用改进的FAST(加速分割测试特征)和BRIEF(二进制稳健基元独立特征)算法对图像进行匹配。使用FAST算法提取图像特征点,简化测试模板以提高检测速度;以提取的特征点为中心,使用强... 针对图像匹配算法中匹配率不高以及运算速度较慢等问题,采用改进的FAST(加速分割测试特征)和BRIEF(二进制稳健基元独立特征)算法对图像进行匹配。使用FAST算法提取图像特征点,简化测试模板以提高检测速度;以提取的特征点为中心,使用强度质心方法计算图像块的主方向,根据主方向旋转BRIEF描述器,使其具备旋转不变性;使用易于计算的汉明距离度量各描述器的相似度,据此进行匹配特征。通过和其余算法进行对比实验,验证了该算法在保持高匹配率的同时,降低了计算复杂性。 展开更多
关键词 图像匹配 加速分割测试特征 二进制稳健基元独立特征 旋转不变性 强度质心
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Brief History of Greenway Development and Its Useful Experience and Referential Value for Greenway Construction in China 被引量:3
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作者 WANG Hanzhu ZHOU Jun CAI Ping 《Journal of Landscape Research》 2012年第12期41-42,46,共3页
Concept, type and function of greenway was introduced as well as its development history and current status in China and abroad. Useful experience for greenway construction in China was proposed from the perspectives ... Concept, type and function of greenway was introduced as well as its development history and current status in China and abroad. Useful experience for greenway construction in China was proposed from the perspectives of construction, planning and design. 展开更多
关键词 GREENWAY brief DEVELOPMENT HISTORY EXPERIENCE and reference
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美英法律文书中的brief译名 被引量:1
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作者 刘蔚铭 刘淑颖 《科技术语研究》 2006年第1期27-31,共5页
brief是英文法律文书中的一个常用法律术语。然而,它的中文译名比较混乱,不规范的译名和误译较多,给实际应用带来诸多不便。本着“孤证不足信”的原则,本文通过多种词典定义,分别探讨美英法律文书中brief的本质属性,分析译名混乱的原因... brief是英文法律文书中的一个常用法律术语。然而,它的中文译名比较混乱,不规范的译名和误译较多,给实际应用带来诸多不便。本着“孤证不足信”的原则,本文通过多种词典定义,分别探讨美英法律文书中brief的本质属性,分析译名混乱的原因,在此基础上建议合适的中文译名。 展开更多
关键词 brief 法律术语 译名 法律文书 属性
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Wilson disease and psychiatric symptoms: A brief case report 被引量:2
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作者 Margarita Guerrero-Jimenez Carmen Maura Carrillo de Albornoz Calahorro Luis Gutierrez Rojas 《General Psychiatry》 CSCD 2019年第3期155-158,共4页
Wilson disease (WD) is an uncommon recessive genetic disorder affecti叩 copper metabolism. Cardiac, neurological, hepatic and renal manifestations are well defined, nevertheless approximately 30% of patients debut wit... Wilson disease (WD) is an uncommon recessive genetic disorder affecti叩 copper metabolism. Cardiac, neurological, hepatic and renal manifestations are well defined, nevertheless approximately 30% of patients debut with neuropsychiatric symptoms. These psychiatric alterations resulting from the accumulation of this heavy metal in the basal ganglia are some how less specific. We present a short review of psychiatric symptoms of WD and describe a case of a 37-year-old woman diagnosed with WD who presented neuropsychiatric symptoms and had a consequent delay in diagnosis and causal treatment. Patients who develop WD starti叩 with a predominance of neuropsychiatric symptoms tend to manifest hepatic symptoms later, therefore have a longer delay of diagnosis and a poorer outcome than patients with hepatic symptoms. An early diagnosis ofWD can avoid irreversible neurological damage. 展开更多
关键词 WILSON DISEASE PSYCHIATRIC SYMPTOMS A brief case report
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Brief Introduction to Chinese Optics and Applied Optics Abstracts 被引量:2
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《中国光学》 EI CAS 2003年第3期4-4,共1页
The Chinese Optics and Applied Optics Abstracts , sponsored by the Documentation andInformation Center of the Chinese Academy of Sciences, the Optical Information Networkof the Chinese Academy of Sciences and the Chan... The Chinese Optics and Applied Optics Abstracts , sponsored by the Documentation andInformation Center of the Chinese Academy of Sciences, the Optical Information Networkof the Chinese Academy of Sciences and the Changchun Institute of Optics, Fine Mechanicsand Physics of the Chinese Academy of Sciences, is one of the series of science andtechnology indexing periodicals published by the Chinese Academy of Sciences.The Chinese Optics and Applied Optics Abstracts started a quarterly publication in 1985,with the name of Chinese Science and Technology Document Catalogues: Optics andApplied Optics. It changed into a bimonthly publication with the name of Chinese Opticsand Applied Optics Abstracts in 1987. In combination with the Chinese Optics Documen- 展开更多
关键词 of into brief Introduction to Chinese Optics and Applied Optics Abstracts with
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Machine learning methods in psychiatry: a brief introduction 被引量:2
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作者 Zhirou Zhou Tsung-Chin Wu +3 位作者 Bokai Wang Hongyue Wang Xin M Tu Changyong Feng 《General Psychiatry》 CSCD 2020年第1期20-22,共3页
Machine learning(ML)techniques have been widely used to address mental health questions.We discuss two main aspects of ML in psychiatry in this paper,that is,supervised learning and unsupervised learning.Examples are ... Machine learning(ML)techniques have been widely used to address mental health questions.We discuss two main aspects of ML in psychiatry in this paper,that is,supervised learning and unsupervised learning.Examples are used to illustrate how ML has been implemented in recent mental health research. 展开更多
关键词 LEARNING illustrate brief
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Assessing quality of life using the brief cancer-related worry inventory for gynecological surgery 被引量:1
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作者 Ami Kikuchi Ryo Koide +7 位作者 Masahiro Iwasaki Mizue Teramoto Seiro Satohisa Masato Tamate Masami Horiguchi Nozomi Niwa Tsuyoshi Saito Toru Mizuguchi 《World Journal of Obstetrics and Gynecology》 2019年第1期1-7,共7页
BACKGROUND The mental status of gynecologic patients has an important influence on their quality of life(QOL).Although high-quality QOL studies into breast cancer patients have been performed internationally,few QOL s... BACKGROUND The mental status of gynecologic patients has an important influence on their quality of life(QOL).Although high-quality QOL studies into breast cancer patients have been performed internationally,few QOL studies have examined patients with gynecological cancer.AIM To investigate the brief cancer-related worry inventory(BCWI)could evaluate the mental status of gynecological patients.METHODS Between July 2018 and December 2018,19 consecutive gynecological cancer patients were prospectively recruited for this study.The BCWI is a 15-item selfreported questionnaire that assesses cancer-related worries on a numeric scale(0–100).RESULTS The high BCWI group was significantly younger than the low BCWI group.Regarding social status,the absence of a spouse and children was significantly more common in the high BCWI group than in the low BCWI group.The operation time was longer in the worsening BCWI group than in the stable BCWI group(305.3±140.5 min vs 171.1±97.2 min;P=0.026).CONCLUSION Being young,having no family,and a long operation time were found to be risk factors for increased anxiety.Therefore,gynecological cancer patients should be assessed using the BCWI,and specific perioperative mental care should be considered for highly anxious patients. 展开更多
关键词 GYNECOLOGY brief cancer-related WORRY INVENTORY Quality of life Surgery
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Briefing on mercury and methyl mercury in hair of the fishermen living along the Songhua River 被引量:1
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《Journal of Environmental Sciences》 SCIE EI CAS CSCD 1994年第3期387-388,共2页
BriefingonmercuryandmethylmercuryinhairofthefishermenlivingalongtheSonghuaRiverGuanMing;QiuBingyuan;HuMengli... BriefingonmercuryandmethylmercuryinhairofthefishermenlivingalongtheSonghuaRiverGuanMing;QiuBingyuan;HuMenglin;ShiYong;ShiLong... 展开更多
关键词 MERCURY briefING
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基于FAST和BRIEF的密度聚类图像匹配算法改进 被引量:2
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作者 刘欢蝶 龚涛 +1 位作者 章庆伟 苏时玲 《测绘与空间地理信息》 2020年第3期54-57,共4页
FAST(Features From Accelerated Segment Test)特征检测算法是通过邻域像素比较来确定特征点,运算简单,同时采用BRIEF(Binary Robust Independent Elementary Features)算子进行二值化特征描述,可有效降低数据复杂度,提高匹配速度。因... FAST(Features From Accelerated Segment Test)特征检测算法是通过邻域像素比较来确定特征点,运算简单,同时采用BRIEF(Binary Robust Independent Elementary Features)算子进行二值化特征描述,可有效降低数据复杂度,提高匹配速度。因此,结合FAST和BRIEF算法,对截取的图像感兴趣区域(ROI)进行特征点提取,在减少数据量的基础上保证了图像特征点的快速获取与匹配;同时,利用机器学习中的密度聚类(DBSCAN),将暴力匹配特征点对的角度和距离作为二维数据样本集进行簇分类,优化改进匹配结果,有效提高匹配精度。通过实验比对改进结果与RANSAC(Random Sample Consensus)错误剔除算法,表明该方法提取速度快、匹配精度高。 展开更多
关键词 FAST brief ROI 密度聚类 图像匹配
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