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Three-channel CMOS transimpedance amplifier for LiDAR sensor receiver
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作者 LIU Ruqing ZHU Jingguo +3 位作者 JIANG Yan LI Feng JIANG Chenghao MENG Zhe 《Journal of Systems Engineering and Electronics》 SCIE EI CSCD 2024年第1期74-80,共7页
For time-of-flight(TOF)light detection and ranging(LiDAR),a three-channel high-performance transimpedance amplifier(TIA)with high immunity to input load capacitance is presented.A regulated cascade(RGC)as the input st... For time-of-flight(TOF)light detection and ranging(LiDAR),a three-channel high-performance transimpedance amplifier(TIA)with high immunity to input load capacitance is presented.A regulated cascade(RGC)as the input stage is at the core of the complementary metal oxide semiconductor(CMOS)circuit chip,giving it more immunity to input photodiode detectors.A simple smart output interface acting as a feedback structure,which is rarely found in other designs,reduces the chip size and power consumption simultaneously.The circuit is designed using a 0.5μm CMOS process technology to achieve low cost.The device delivers a 33.87 dB?transimpedance gain at 350 MHz.With a higher input load capacitance,it shows a-3 dB bandwidth of 461 MHz,indicating a better detector tolerance at the front end of the system.Under a 3.3 V supply voltage,the device consumes 5.2 mW,and the total chip area with three channels is 402.8×597.0μm2(including the test pads). 展开更多
关键词 transimpedance amplifier(TIA) three-channel regulated cascade(RGC) light detection and ranging(lidar)
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Next Generation Scanning LIDAR Systems for Optimizing Wake Turbulence Separation Minima 被引量:1
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作者 Ludovic Thobois Jean-Pierre Cariou 《雷达学报(中英文)》 CSCD 2017年第6期689-698,共10页
Numerous studies have been performed to better understand the behavior of wake vortices with regards to aircraft characteristics and weather conditionsover the pastten years. These studies have led to the development ... Numerous studies have been performed to better understand the behavior of wake vortices with regards to aircraft characteristics and weather conditionsover the pastten years. These studies have led to the development of the aircraft RECATegorization(RECAT) programs in Europe and in USA. Its phase one focused on redefining distance separation matrix with six static aircraft wake turbulence categories instead of three with the current International Civil Aviation Organization(ICAO) regulations. In Europe, the RECAT-EU regulation is now entering under operational implementation atseveral key airports. As proven by several research projects in the past, LIght Detection And Ranging(LIDAR) sensors are considered as the ground truth wake vortex measurements for assessing the safety impact of a new wake turbulence regulation at an airport in quantifying the risks given the local specificities. LIDAR's can also be used to perform risk monitoring after the implementation. In this paper, the principle to measure wake vortices with scanning coherent Doppler LIDARs is described as well as its dedicated post-processing. Finally the use of WINDCUBELIDAR based solution for supporting the implementation of new wake turbulenceregulation is described along with satisfyingresults that have permitted the monitoring of the wake vortex encounter risk after the implementation of a new wake turbulence regulation. 展开更多
关键词 Wake turbulence Wake vortices LIght detection And Ranging(lidar) Algorithm CIRCULATION Data collection Safety case Risk monitoring
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Multi-Scale Feature Extraction for Joint Classification of Hyperspectral and LiDAR Data
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作者 Yongqiang Xi Zhen Ye 《Journal of Beijing Institute of Technology》 EI CAS 2023年第1期13-22,共10页
With the development of sensors,the application of multi-source remote sensing data has been widely concerned.Since hyperspectral image(HSI)contains rich spectral information while light detection and ranging(LiDAR)da... With the development of sensors,the application of multi-source remote sensing data has been widely concerned.Since hyperspectral image(HSI)contains rich spectral information while light detection and ranging(LiDAR)data contains elevation information,joint use of them for ground object classification can yield positive results,especially by building deep networks.Fortu-nately,multi-scale deep networks allow to expand the receptive fields of convolution without causing the computational and training problems associated with simply adding more network layers.In this work,a multi-scale feature fusion network is proposed for the joint classification of HSI and LiDAR data.First,we design a multi-scale spatial feature extraction module with cross-channel connections,by which spatial information of HSI data and elevation information of LiDAR data are extracted and fused.In addition,a multi-scale spectral feature extraction module is employed to extract the multi-scale spectral features of HSI data.Finally,joint multi-scale features are obtained by weighting and concatenation operations and then fed into the classifier.To verify the effective-ness of the proposed network,experiments are carried out on the MUUFL Gulfport and Trento datasets.The experimental results demonstrate that the classification performance of the proposed method is superior to that of other state-of-the-art methods. 展开更多
关键词 hyperspectral image(HSI) light detection and ranging(lidar) multi-scale feature classification
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Predicting the provisioning potential of forest ecosystem services using airborne laser scanning data and forest resource maps 被引量:1
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作者 Jari Vauhkonen 《Forest Ecosystems》 SCIE CSCD 2018年第3期325-343,共19页
Background: Remote sensing-based mapping of forest Ecosystem Service(ES) indicators has become increasingly popular. The resulting maps may enable to spatially assess the provisioning potential of ESs and prioritize t... Background: Remote sensing-based mapping of forest Ecosystem Service(ES) indicators has become increasingly popular. The resulting maps may enable to spatially assess the provisioning potential of ESs and prioritize the land use in subsequent decision analyses. However, the mapping is often based on readily available data, such as land cover maps and other publicly available databases, and ignoring the related uncertainties.Methods: This study tested the potential to improve the robustness of the decisions by means of local model fitting and uncertainty analysis. The quality of forest land use prioritization was evaluated under two different decision support models: either using the developed models deterministically or in corporation with the uncertainties of the models.Results: Prediction models based on Airborne Laser Scanning(ALS) data explained the variation in proxies of the suitability of forest plots for maintaining biodiversity, producing timber, storing carbon, or providing recreational uses(berry picking and visual amenity) with RMSEs of 15%–30%, depending on the ES. The RMSEs of the ALS-based predictions were 47%–97%of those derived from forest resource maps with a similar resolution. Due to applying a similar field calibration step on both of the data sources, the difference can be attributed to the better ability of ALS to explain the variation in the ES proxies.Conclusions: Despite the different accuracies, proxy values predicted by both the data sources could be used for a pixel-based prioritization of land use at a resolution of 250 m~2, i.e., in a considerably more detailed scale than required by current operational forest management. The uncertainty analysis indicated that maps of the ES provisioning potential should be prepared separately based on expected and extreme outcomes of the ES proxy models to fully describe the production possibilities of the landscape under the uncertainties in the models. 展开更多
关键词 Forestry decision making Spatial prioritization Light detection and ranging(lidar) Remote sensing
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Effects of laser beam divergence angle on airborne LIDAR positioning errors 被引量:1
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作者 姜利芳 蓝天 +1 位作者 顾美霞 倪国强 《Journal of Beijing Institute of Technology》 EI CAS 2012年第2期278-284,共7页
The influence of laser beam divergence angle on the positioning accuracy of scanning airborne light detection and ranging (LIDAR) is analyzed and simulated. Based on the data process and positioning principle of air... The influence of laser beam divergence angle on the positioning accuracy of scanning airborne light detection and ranging (LIDAR) is analyzed and simulated. Based on the data process and positioning principle of airborne LIDAR, the errors from pulse broadening induced by laser beam di vergence angle are modeled and qualitatively analyzed for different terrain surfaces. Simulated results of positioning errors and suggestions to reduce them are given for the flat surface, the downhill of slope surface, and the uphill surface. 展开更多
关键词 Kairborne light detection and ranging lidar positioning error laser beam divergenceangle slope angle scan angle
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Robust Nonsingular Fixed Time Terminal Sliding Mode Control for Atmospheric Pollution Detection Lidar Scanning Mechanism
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作者 KANG Yu YANG Yuxiao +2 位作者 CHEN Cai LüWenjun ZHAO Yunbo 《Journal of Systems Science & Complexity》 SCIE EI CSCD 2023年第2期500-523,共24页
A robust nonsingular fixed time terminal sliding mode control scheme with a time delay disturbance observer is proposed for atmospheric pollution detection lidar scanning mechanism(APDL-SM)system.Distinguished from th... A robust nonsingular fixed time terminal sliding mode control scheme with a time delay disturbance observer is proposed for atmospheric pollution detection lidar scanning mechanism(APDL-SM)system.Distinguished from the conventional terminal sliding mode control methods,the authors design a novel fixed-time terminal sliding surface,the convergence time of sliding mode phase of which has a constant upper bound that is designable by adjusting only one parameter.Moreover,in order to overcome the problem of unknown upper bound of lumped uncertainty including model uncertainty,friction effect and external disturbances from the port environment,the authors propose a time delay disturbance observer to provide an estimation for the system lumped uncertainty.By using the Lyapunov synthesis,the explicit analysis of the convergence time upper bound are performed.Finally,simulation studies are conducted on the APDL-SM system to show the fast convergence rate and strong robustness of the proposed control scheme. 展开更多
关键词 Atmospheric pollution detection lidar fixed time terminal sliding mode time delay disturbance observer tracking control
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On the potential to predetermine dominant tree species based on sparse-density airborne laser scanning data for improving subsequent predictions of species-specific timber volumes 被引量:1
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作者 Janne Raty Jari Vauhkonen +1 位作者 Matti Maltamo Timo Tokola 《Forest Ecosystems》 SCIE CSCD 2016年第2期95-111,共17页
Background: Tree species recognition is the main bottleneck in remote sensing based inventories aiming to produce an input for species-specific growth and yield models. We hypothesized that a stratification of the ta... Background: Tree species recognition is the main bottleneck in remote sensing based inventories aiming to produce an input for species-specific growth and yield models. We hypothesized that a stratification of the target data according to the dominant species could improve the subsequent predictions of species-specific attributes in particular in study areas strongly dominated by certain species. Methods: We tested this hypothesis and an operational potential to improve the predictions of timber volumes, stratified to Scots pine, Norway spruce and deciduous trees, in a conifer forest dominated by the pine species. We derived predictor features from airborne laser scanning (ALS) data and used Most Similar Neighbor (MSN) and Seemingly Unrelated Regression (SUR) as examples of non-parametric and parametric prediction methods, respectively Results: The relationships between the ALS features and the volumes of the aforementioned species were considerably different depending on the dominant species. Incorporating the observed dominant species inthe predictions improved the root mean squared errors by 13.3-16.4 % and 12.6-28.9 % based on MSN and SUR, respectively, depending on the species. Predicting the dominant species based on a linear discriminant analysis had an overall accuracy of only 76 % at best, which degraded the accuracies of the predicted volumes. Consequently, the predictions that did not consider the dominant species were more accurate than those refined with the predicted species. The MSN method gave slightly better results than models fitted with SUR. Conclusions: According to our results, incorporating information on the dominant species has a clear potential to improve the subsequent predictions of species-specific forest attributes. Determining the dominant species based solely on ALS data is deemed challenging, but important in particular in areas where the species composition is otherwise seemingly homogeneous except being dominated by certain species. 展开更多
关键词 Forest inventory Light detection and Ranging lidar Area-based approach Nearest neighbor estimation Crown base height Intensity Volume model
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An evaluation of the role played by remote sensing technology following the World Trade Center attack 被引量:2
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作者 Charles K.Huyck Beverley J.Adams David I.Kehrlein 《Earthquake Engineering and Engineering Vibration》 SCIE EI CSCD 2003年第1期159-168,共10页
Remote sensing technology has been widely recognized for contributing to emergency response efforts after the World Trade Center attack on September 11th, 2001. The need to coordinate activities in the midst of a dens... Remote sensing technology has been widely recognized for contributing to emergency response efforts after the World Trade Center attack on September 11th, 2001. The need to coordinate activities in the midst of a dense, yet relatively small area, made the combination of imagery and mapped data strategically useful. This paper reviews the role played by aerial photography, satellite imagery, and LIDAR data at Ground Zero. It examines how emergency managers utilized these datasets, and identifies significant problems that were encountered. It goes on to explore additional ways in which imagery could have been used, while presenting recommendations for more effective use in future disasters and Homeland Security applications. To plan adequately for future events, it was important to capture knowledge from individuals who responded to the World Trade Center attack. In recognition, interviews with key emergency management and geographic information system (GIS) personnel provide the basis of this paper. Successful techniques should not be forgotten, or serious problems dismissed. Although widely used after September 11th, it is important to recognize that with better planning, remote sensing and GIS could have played an even greater role. Together with a data acquisition timeline, an expanded discussion of these issues is available in the MCEER/NSF report “Emergency Response in the Wake of the World Trade Center Attack; The Remote Sensing Perspective” (Huyck and Adams, 2002) Keywords World Trade Center (WTC) - terrorism - emergency response - emergency management - ground zero - remote sensing - emergency operations - disasters - geographic information systems (GIS) - satellite imagery - synthetic aperture radar (SAR) - light detection and ranging imagery (LIDAR) 展开更多
关键词 World Trade Center (WTC) TERRORISM emergency response emergency management ground zero remote sensing emergency operations DISASTERS geographic information systems (GIS) satellite imagery synthetic aperture radar (SAR) light detection and ranging imagery (lidar)
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Rapid development methodology of agricultural robot navigation system working in GNSS-denied environment
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作者 Run-Mao Zhao Zheng Zhu +5 位作者 Jian-Neng Chen Tao-Jie Yu Jun-Jie Ma Guo-Shuai Fan Min Wu Pei-Chen Huang 《Advances in Manufacturing》 SCIE EI CAS CSCD 2023年第4期601-617,共17页
Robotic autonomous operating systems in global n40avigation satellite system(GNSS)-denied agricultural environments(green houses,feeding farms,and under canopy)have recently become a research hotspot.3D light detectio... Robotic autonomous operating systems in global n40avigation satellite system(GNSS)-denied agricultural environments(green houses,feeding farms,and under canopy)have recently become a research hotspot.3D light detection and ranging(LiDAR)locates the robot depending on environment and has become a popular perception sensor to navigate agricultural robots.A rapid development methodology of a 3D LiDAR-based navigation system for agricultural robots is proposed in this study,which includes:(i)individual plant clustering and its location estimation method(improved Euclidean clustering algorithm);(ii)robot path planning and tracking control method(Lyapunov direct method);(iii)construction of a robot-LiDAR-plant unified virtual simulation environment(combination use of Gazebo and SolidWorks);and(vi)evaluating the accuracy of the navigation system(triple evaluation:virtual simulation test,physical simulation test,and field test).Applying the proposed methodology,a navigation system for a grape field operation robot has been developed.The virtual simulation test,physical simulation test with GNSS as ground truth,and field test with path tracer showed that the robot could travel along the planned path quickly and smoothly.The maximum and mean absolute errors of path tracking are 2.72 cm,1.02 cm;3.12 cm,1.31 cm,respectively,which meet the accuracy requirements of field operations,establishing the effectiveness of the proposed methodology.The proposed methodology has good scalability and can be implemented in a wide variety of field robot,which is promising to shorten the development cycle of agricultural robot navigation system working in GNSS-denied environment. 展开更多
关键词 Agricultural robot Global navigation satellite system(GNSS)-denied environment Navigation system 3D light detection and ranging(lidar) Rapid developing METHODOLOGY
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Intelligent optimization of seam-line finding for orthophoto mosaicking with LiDAR point clouds 被引量:10
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作者 Hong-chao MA Jie SUN 《Journal of Zhejiang University-Science C(Computers and Electronics)》 SCIE EI 2011年第5期417-429,共13页
A detailed study was carried out to find optimal seam-lines for mosaicking of images acquired by an airborne light detection and ranging (LiDAR) system.High ground objects labeled as obstacles can be identified by del... A detailed study was carried out to find optimal seam-lines for mosaicking of images acquired by an airborne light detection and ranging (LiDAR) system.High ground objects labeled as obstacles can be identified by delineating black holes from filtered point clouds obtained by filtering the raw laser scanning dataset.An innovative A algorithm is proposed that can automatically make the seam-lines keep away from these obstacles in the registered images.This method can intelligently optimize the selection of seam-lines and improve the quality of orthophotos.A simulated grid image was first used to analyze the effect of different heuristic functions on path planning.Three subsets of LiDAR data from Xi'an,Dunhuang,and Changyang in Northwest China were obtained.A quantitative method including pixel intensity,hue,and texture was used.With our proposed method,9.4%,8.7%,and 9.8% improvements were achieved in Dunhuang,Xi'an,and Changyang,respectively. 展开更多
关键词 Light detection and ranging (lidar) FILTER A algorithm Mosaicking Seam-line
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Feedforward Control for Wind Turbine Load Reduction with Pseudo-LIDAR Measurement 被引量:2
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作者 Jie Bao Hong Yue +1 位作者 William E.Leithead Ji-Qiang Wang 《International Journal of Automation and computing》 EI CSCD 2018年第2期142-155,共14页
A gain-scheduled feedforward controller, based on pseudo-LIDAR (light detection and ranging) wind speed measurement, is designed to augment the baseline feedback controller for wind turbine's load reduction in abov... A gain-scheduled feedforward controller, based on pseudo-LIDAR (light detection and ranging) wind speed measurement, is designed to augment the baseline feedback controller for wind turbine's load reduction in above rated operation. The pseudo-LIDAR measurement data are generated from a commercial software- Bladed using a designed sampling strategy. The nonlinear wind turbine model has been simplified and linearised at a set of equilibrium operating points. The feedforward controller is firstly developed based on a linearised model at an above rated wind speed, and then expanded to the full above rated operational envelope by employing gain scheduling strategy. The combined feedforward and baseline feedback control is simulated on a 5MW industrial wind turbine model. Simulation studies demonstrate that the proposed control strategy can improve the rotor and tower load reduction performance for large wind turbines. 展开更多
关键词 Wind turbine control light detection and ranging lidar measurement feedforward control load reduction gainscheduling disturbance rejection.
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UAV Laser scanning technology:a potential cost-effective tool for micro-topography detection over wooded areas for archaeological prospection 被引量:1
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作者 Wei Zhou Fulong Chen +10 位作者 Huadong Guo Mingyuan Hu Qi Li Panpan Tang Wenwu Zheng Jian’an Liu Rupeng Luo Kaikai Yan Ru Li Pilong Shi Sheng Nie 《International Journal of Digital Earth》 SCIE 2020年第11期1279-1301,共23页
Airborne laser scanning(ALS)has recently been identified as a potential tool in topographic mapping for archaeological prospection.However,most existing applications in this field refers to manned ALS systems,for whic... Airborne laser scanning(ALS)has recently been identified as a potential tool in topographic mapping for archaeological prospection.However,most existing applications in this field refers to manned ALS systems,for which the high operation and maintenance costs limits its application in small-scale archaeological investigation.In this paper,we conducted an exploratory study on the application of the unmanned aerial vehicle(UAV)laser scanning(ULS)system in ancient micro-topography detection over wooded areas.Compared with manned ALS technology,we analyzed the advantages and potentials of ULS technology for archaeological applications.Then we outlined existing mainstream survey-grade UAV-based laser scanners,data processing and visualization approaches.Furthermore,we performed case studies in three cultural heritage sites in Zhejiang Province,China using two representative mainstream survey-grade ULS systems.Results were then verified by an in-site investigation.Finally,the correct selection of ULS devices,the planning of data acquisition missions and the use of appropriate data processing methods specifically for archaeological prospection were discussed.This paper provides a cost-effective and flexible solution for micro-topography detection in wooded areas.ULS technology,as demonstrated here,can be an important supplement to existing archaeological investigation methods,particularly for small-scale areas,and has promising prospects in archaeological applications. 展开更多
关键词 Unmanned aerial vehicle(UAV) light detection and ranging(lidar) archaeological prospection micro-topography mapping FOREST
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使用Spherical线性内插方法解算移动LiDAR点云
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作者 李奇 周伟 方广杰 《测绘地理信息》 CSCD 2022年第5期66-68,共3页
机载和背包激光雷达(light detection and ranging,LiDAR)均向小型化、灵活安装方向发展,它们都需要联合解算惯性测量单元(inertial measurement unit,IMU)、GPS和激光原始数据来生成点云。激光传感器的发射频率远大于IMU数据的记录间隔... 机载和背包激光雷达(light detection and ranging,LiDAR)均向小型化、灵活安装方向发展,它们都需要联合解算惯性测量单元(inertial measurement unit,IMU)、GPS和激光原始数据来生成点云。激光传感器的发射频率远大于IMU数据的记录间隔,为了在发射激光瞬间插入激光传感器的姿态位置信息,使用Spherical线性内插方法解决IMU与激光传感器扫描角度的万向节锁问题,以得到质量更好的数据。 展开更多
关键词 石油天然气 管网 激光雷达(light detection and ranging lidar) Spherical线性内插
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一种LiDAR平面配准方法辅助的IMU室内定位算法 被引量:1
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作者 聂明炎 杨诚 《测绘地理信息》 CSCD 2021年第5期27-30,共4页
室内环境由于缺乏观测条件,无法使用全球导航卫星系统(global navigation satellite system,GNSS)进行定位,而单独惯性导航系统(inertial navigation system,INS)由于传感器的误差累积,定位结果快速偏移且无法受到限制。因此,针对室内... 室内环境由于缺乏观测条件,无法使用全球导航卫星系统(global navigation satellite system,GNSS)进行定位,而单独惯性导航系统(inertial navigation system,INS)由于传感器的误差累积,定位结果快速偏移且无法受到限制。因此,针对室内未知环境下移动背包的定位问题,提出激光雷达(light detection and ranging,LiDAR)与惯性测量单元(inertial measurement unit,IMU)的组合导航系统,使用LiDAR平面配准获得的载体速度作为扩展卡尔曼滤波器观测量,对IMU位姿推算的误差进行修正。结果表明,该方法可以有效控制惯性导航误差的漂移,从而提高室内定位精度。 展开更多
关键词 激光雷达(light detection and ranging lidar)平面配准 惯性测量单元(inertial measurement unit IMU) 扩展卡尔曼滤波器 室内定位
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一种基于全等三角形的点云自动配准方法
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作者 代许松 花向红 +3 位作者 任志忠 陶武勇 赵不钒 李琪琪 《测绘地理信息》 CSCD 2023年第5期55-59,共5页
点云配准是点云数据处理中比较关键的步骤,直接影响处理结果。经典的迭代最近点(iterative closest point,ICP)算法需要目标点云与源点云之间有良好的初始姿态,否则会遇到局部最优等问题。因此,提出了一种基于全等三角形的点云自动配准... 点云配准是点云数据处理中比较关键的步骤,直接影响处理结果。经典的迭代最近点(iterative closest point,ICP)算法需要目标点云与源点云之间有良好的初始姿态,否则会遇到局部最优等问题。因此,提出了一种基于全等三角形的点云自动配准方法。该方法通过边长相等和面积相等来构造全等三角形,找到源点云与目标点云的对应点,建立源点云与目标点云的对应关系和转换参数最优估计,完成粗配准,再结合ICP算法进行精配准,实现点云的自动配准。结果表明,与四点一致集(4-points congruent sets,4PCS)配准算法和ICP算法的结合算法相比,所提算法能有效改善ICP算法对初值依赖的问题,并且配准精度有一定提升。 展开更多
关键词 激光雷达(light detection and ranging lidar)点云 全等三角形 点云粗配准 迭代最近点(iterative closest point ICP)算法 点云精配准
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数字航空影像与机载点云的配准参数优化及对应数据集构建 被引量:1
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作者 朱卓人 张伟 +3 位作者 李飞 姚剑 王颖 李礼 《测绘地理信息》 CSCD 2021年第S01期242-247,共6页
数字航空影像和机载点云之间的配准参数精度会直接影响到配准效果,利用共线方程及影像特征点和点云特征点之间计算相似性测度的方法进行参数优化,有效避免了由于初始参数误差导致的配准偏差。首先,提取航空影像及激光雷达(light detecti... 数字航空影像和机载点云之间的配准参数精度会直接影响到配准效果,利用共线方程及影像特征点和点云特征点之间计算相似性测度的方法进行参数优化,有效避免了由于初始参数误差导致的配准偏差。首先,提取航空影像及激光雷达(light detection and ranging,LiDAR)点云的特征点;然后,根据初始配准参数及距离误差计算影像与点云之间的匹配点对;最后,通过强制搜索(brute-force,BF)优化方法来寻找更加精确的匹配参数。此外,还构建了2D-3D对应区域的数据集,用于航空影像和机载LiDAR数据配准的相关研究。 展开更多
关键词 数字航空影像 机载激光雷达(light detection and ranging lidar)点云 共线方程 强制搜索(brute-force BF)优化 2D-3D对应数据集
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Novel robust simultaneous localization and mapping for long-term autonomous robots 被引量:1
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作者 Wei WEI Xiaorui ZHU Yi WANG 《Frontiers of Information Technology & Electronic Engineering》 SCIE EI CSCD 2022年第2期234-245,共12页
A fundamental task for mobile robots is simultaneous localization and mapping(SLAM).Moreover,long-term robustness is an important property for SLAM.When vehicles or robots steer fast or steer in certain scenarios,such... A fundamental task for mobile robots is simultaneous localization and mapping(SLAM).Moreover,long-term robustness is an important property for SLAM.When vehicles or robots steer fast or steer in certain scenarios,such as low-texture environments,long corridors,tunnels,or other duplicated structural environments,most SLAM systems might fail.In this paper,we propose a novel robust visual inertial light detection and ranging(Li Da R)navigation(VILN)SLAM system,including stereo visual-inertial Li Da R odometry and visual-Li Da R loop closure.The proposed VILN SLAM system can perform well with low drift after long-term experiments,even when the Li Da R or visual measurements are degraded occasionally in complex scenes.Extensive experimental results show that the robustness has been greatly improved in various scenarios compared to state-of-the-art SLAM systems. 展开更多
关键词 Simultaneous localization and mapping(SLAM) LONG-TERM ROBUSTNESS Light detection and ranging(lidar) Visual inertial lidar navigation(VILN)
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Multi-Object Tracking Strategy of Autonomous Vehicle Using Modified Unscented Kalman Filter and Reference Point Switching
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作者 王木塬 吴晓东 《Journal of Shanghai Jiaotong university(Science)》 EI 2021年第5期607-614,共8页
In this study,a multi-object tracking(MOT)scheme based on a light detection and ranging sensor was proposed to overcome imprecise velocity observations in object occlusion scenarios.By applying real-time velocity esti... In this study,a multi-object tracking(MOT)scheme based on a light detection and ranging sensor was proposed to overcome imprecise velocity observations in object occlusion scenarios.By applying real-time velocity estimation,a modified unscented Kalman filter(UKF)was proposed for the state estimation of a target object.The proposed method can reduce the calculation cost by obviating unscented transformations.Additionally,combined with the advantages of a two-reference-point selection scheme based on a center point and a corner point,a reference point switching approach was introduced to improve tracking accuracy and consistency.The state estimation capability of the proposed UKF was verified by comparing it with the standard UKF in single-target tracking simulations.Moreover,the performance of the proposed MOT system was evaluated using real traffic datasets. 展开更多
关键词 multi-object tracking(MOT) light detection and ranging(lidar)sensor unscented Kalman filter(UKF) object occlusion
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