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Location estimation of autonomous driving robot and 3D tunnel mapping in underground mines using pattern matched LiDAR sequential images 被引量:4
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作者 Heonmoo Kim Yosoon Choi 《International Journal of Mining Science and Technology》 SCIE EI CAS CSCD 2021年第5期779-788,共10页
In this study,a machine vision-based pattern matching technique was applied to estimate the location of an autonomous driving robot and perform 3D tunnel mapping in an underground mine environment.The autonomous drivi... In this study,a machine vision-based pattern matching technique was applied to estimate the location of an autonomous driving robot and perform 3D tunnel mapping in an underground mine environment.The autonomous driving robot continuously detects the wall of the tunnel in the horizontal direction using the light detection and ranging(Li DAR)sensor and performs pattern matching by recognizing the shape of the tunnel wall.The proposed method was designed to measure the heading of the robot by fusion with the inertial measurement units sensor according to the pattern matching accuracy;it is combined with the encoder sensor to estimate the location of the robot.In addition,when the robot is driving,the vertical direction of the underground mine is scanned through the vertical Li DAR sensor and stacked to create a 3D map of the underground mine.The performance of the proposed method was superior to that of previous studies;the mean absolute error achieved was 0.08 m for the X-Y axes.A root mean square error of 0.05 m^(2)was achieved by comparing the tunnel section maps that were created by the autonomous driving robot to those of manual surveying. 展开更多
关键词 Pattern matching location estimation Autonomous driving robot 3D tunnel mapping Underground mine
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Development of a low-frequency magnetic lightning mapping system(LFM-LMS)in North China:validation and preliminary results
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作者 Xiao Li GaoPeng Lu +3 位作者 FanChao Lyu HongBo Zhang Kainat Qamar RuBin Jiang 《Earth and Planetary Physics》 CAS CSCD 2023年第4期460-470,共11页
A low-frequency magnetic lightning mapping system(LFM-LMS)was built during the SHAndong Triggered Lightning Experiment(SHATLE),based on continuous measurements of magnetic field radiation from lightning.The hardware a... A low-frequency magnetic lightning mapping system(LFM-LMS)was built during the SHAndong Triggered Lightning Experiment(SHATLE),based on continuous measurements of magnetic field radiation from lightning.The hardware and source-mapping techniques used by the LFM-LMS were introduced;both Monte Carlo simulations and the observation of rocket-triggered lightning examples were employed to examine the location accuracy and detection effectiveness of the LFM-LMS.We estimated that the system’s location accuracy about 100−200 m horizontally and~200 m vertically.A natural intra-cloud lightning flash and a rocket-triggered lightning flash,both with intricate structures and discharging processes,were examined using the three-dimensional mapping results.The progressing path of negative lightning leaders is usually well-defined,and its propagation speed is estimated to be(0.5−1.4)×10^(6)m/s.In summary,the LFM-LMS can reconstruct the three-dimensional morphology of lightning flashes;this technology provides a efficient method for investigating the characteristics of lightning development,as well as the overall electrical strucuture of thunderstorms. 展开更多
关键词 rocket-triggered lightning low-frequency magnetic field lightning mapping observation location accuracy
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Feasibility study applied to mapping tidal effects in the Pannonian basin--An effort to check location dependencies atμGal level 被引量:1
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作者 G.Papp J.Benedek +5 位作者 P.Varga M.Kis A.Koppan B.Meurers R.Leonhardt M.K.Baracza 《Geodesy and Geodynamics》 2018年第3期237-245,共9页
This paper summarizes the main instrumental and methodological points of the tidal research which was performed in the framework of the National Scientific Research Fund Project K101603. Since the project is still run... This paper summarizes the main instrumental and methodological points of the tidal research which was performed in the framework of the National Scientific Research Fund Project K101603. Since the project is still running the tidal analysis results published here are only preliminary. Unmodelled tidal effects have been highlighted in some recent absolute gravity measurements carried out in the Pannonian basin resulting in a periodic modulation exceeding the typical standard deviations (±1microGal) of the drop sets. Since the most dominant source of the daily gravity variation is the bulk tidal effect, the goal of the project is to check its location dependency at BGal level. Unfortunately Hungary has had no dedicated instrumentation, so an effort was made to make the available LaCoste- Romberg spring G meters capable for continuous recording. As a reference instrument the GWR SG025 operated in the Conrad Observatory, Austria was also used and in the mean time of the project, a Scintrex CG-5 became also available, Eventually 6 instruments at 5 different locations were operated for 3 9 months mainly in co-located configuration. Although many experiments (moving mass calibrations) were done to determine the scale factors and scale functions of the instruments, the direct comparison of the tidal parameters obtained from the observations is still questionable. Therefore the ratio of the delta factors of O1 and M2 tidal constituents was investigated supposing that M2 is much more influenced by the ocean loading effect than O1. The slight detected increase of δ(O1 )/δ(M2) (≈0.2%) toward east does not contradict to theory. This result has to be validated in the near future by analyzing available ocean loading models. 展开更多
关键词 Gravity tide mapping Spring gravity meters Instrumental tests Co-located observations location dependence of delta factors
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基于Gmapping和A*算法的运输机器人系统的设计 被引量:4
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作者 王海瑶 安天洋 《工业控制计算机》 2024年第1期19-21,共3页
在流行病毒活跃的季节,为了降低室内隔离点的病毒交叉感染几率,减轻医护人员负担,设计了可以根据医护人员指令完成室内医疗货物运输的防疫辅助机器人。机器人由背部的NVIDIA Tegra X2计算单元运行Ubuntu操作系统用于算法设计与功能开发... 在流行病毒活跃的季节,为了降低室内隔离点的病毒交叉感染几率,减轻医护人员负担,设计了可以根据医护人员指令完成室内医疗货物运输的防疫辅助机器人。机器人由背部的NVIDIA Tegra X2计算单元运行Ubuntu操作系统用于算法设计与功能开发,配有显示器、键盘摄像头、激光雷达。系统利用GMapping算法实现了机器人的定位与建图,并利用改进的A*算法和动态窗口法融合的方式进行路径规划。仿真实验结果表明,机器人建图轮廓清晰,误差在允许范围内,午间运行轨迹平滑且成功躲避行人,可以在确保安全性的前提下应用在运输机器人领域。 展开更多
关键词 机器人 定位 建图 路径规划
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Research on Ubiquitous Map Information Organization Oriented to Location-Based Aggregation
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作者 Si Wang Guangxia Wang 《Journal of Geoscience and Environment Protection》 2022年第1期238-249,共12页
<div style="text-align:justify;"> In the era of information and communication technology (ICT) and big data, the map gradually shows a new qualitative feature of “spatiotemporal ubiquitous” due to th... <div style="text-align:justify;"> In the era of information and communication technology (ICT) and big data, the map gradually shows a new qualitative feature of “spatiotemporal ubiquitous” due to the extension of its object space and the geographic information it contains, which brings new challenges to map information organization. This paper analyzes the concept and information characteristics of the ubiquitous map. Based on that, it proposes a ubiquitous map information organization model oriented to location-based aggregation. This new model includes three parts as “ubiquitous map instance”, “location-based aggregation mode” and “map scene”. This paper focuses on the “map scene” part which is the core of the model and contains two mutually mapped aspects as “content scene” and “representation scene”. And both aspects are divided into three levels as “features” ←→ “elements” ←→ “scenes” according to ubiquitous map information characteristics and location-based aggregation mode. With cases of map decomposition, the application of the model is explained to illustrate its effectiveness. The model is expected to provide powerful data organization and management capabilities for ubiquitous map production and use. </div> 展开更多
关键词 Ubiquitous map Information Organization location-Based Aggregation map Scene
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Rough Set Theory Based Map Matching Scheme for Mobile Location System
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作者 Ruyun Zhang Peng Li Shanshan Wang 《通讯和计算机(中英文版)》 2010年第3期39-43,共5页
关键词 移动定位系统 粗糙集理论 地图匹配 统计 移动用户 无线网络 道路驾驶 数据通信
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Scalability and Security in Identifier-to-Locator Mapping: Case Study for Locator/ID Separated Networks 被引量:1
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作者 吴恒奎 杨冬 +1 位作者 高德云 张宏科 《China Communications》 SCIE CSCD 2011年第7期34-45,共12页
The locator/ID separation paradigm has been widely discussed to resolve the serious scalability issue that today's Internet is facing. Many researches have been carried on with this issue to alleviate the routing ... The locator/ID separation paradigm has been widely discussed to resolve the serious scalability issue that today's Internet is facing. Many researches have been carried on with this issue to alleviate the routing burden of the Default Free Zone (DFZ), improve the traffic engineering capabilities and support efficient mobility and multi-homing. However, in the locator/ID split networks, a third party is needed to store the identifier-to-locator pairs. How to map identifiers onto locators in a scalable and secure way is a really critical challenge. In this paper, we propose SS-MAP, a scalable and secure locator/ID mapping scheme for future Internet. First, SS-MAP uses a near-optimal DHT to map identifiers onto locators, which is able to achieve the maximal performance of the system with reasonable maintenance overhead relatively. Second, SS-MAP uses a decentralized admission control system to protect the DHT-based identifier-to-locator mapping from Sybil attacks, where a malicious mapping server creates numerous fake identities (called Sybil identifiers) to control a large fraction of the mapping system. This is the first work to discuss the Sybil attack problem in identifier-to-locator mapping mechanisms with the best knowledge of the authors. We evaluate the performance of the proposed approach in terms of scalability and security. The analysis and simulation results show that the scheme is scalable for large size networks and can resistant to Sybil attacks. 展开更多
关键词 locator/ID separation identifier-to-locator mapping SCALABILITY SECURITY Sybil attack
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A User Proprietary Obfuscate System for Positions Sharing in Location-Aware Social Networks
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作者 Wei Cherng Cheng Masayoshi Aritsugi 《Journal of Computer and Communications》 2015年第5期7-20,共14页
A user’s trajectory can be maliciously monitored by adversaries when they share the positions in location-aware social networking applications which require users to update their own locations continuously. An advers... A user’s trajectory can be maliciously monitored by adversaries when they share the positions in location-aware social networking applications which require users to update their own locations continuously. An adversary infers user’s locations from the trajectories, and gleans user’s private information through them via location-aware social networking applications and public available geographic data. In this paper, we propose a user proprietary obfuscate system to suit situations for position sharing and location privacy preserving in location-aware social network. Users transform the public available geographic data into personal obfuscate region maps with pre-defined profile to prevent the location leaking in stationary status. Our obfuscation with size restricted regions method tunes user’s transformed locations fitting into natural movement and prevents unreasonable snapshot locations been recorded in the trajectory. 展开更多
关键词 location PRIVACY Obfuscate Region maps location-AWARE POSITIONS SHARING
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Design and implementation of user information sharing system using location-based services for social network services
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作者 Donsu Lee Junghoon Shin Sangjun Lee 《Journal of Measurement Science and Instrumentation》 CAS 2012年第2期169-172,共4页
Internet takes a role as a place for communication between people beyond a space simply for the acquisition of information.Recently,social network service(SNS)reflecting human’s basic desire for talking and communica... Internet takes a role as a place for communication between people beyond a space simply for the acquisition of information.Recently,social network service(SNS)reflecting human’s basic desire for talking and communicating with others is focused on around the world.And location-based service(LBS)is a service that provides various life conveniences like improving productivity through location information,such as GPS and WiFi.This paper suggests an application combining LBS and SNS based on Android OS.By using smart phone which is personal mobile information equipment,it combines location information with user information and SNS so that the service can be developed.It also maximizes sharing and use of information via twit based on locations of friends.This proposed system is aims for users to show online identity more actively and more conveniently. 展开更多
关键词 android OS social network service(SNS) location-based service(LBS) Google maps TWITTER Open API
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阻尼器测试试验台的新变步长LMS自适应滤波器设计
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作者 丁兆轩 刘凯磊 +1 位作者 强红宾 康绍鹏 《南方农机》 2023年第21期31-34,共4页
【目的】提升阻尼器测试试验台的控制品质,进而得到更好的被测阻尼器参数曲线,需要对试验台反馈数据进行滤波提取。【方法】课题组通过对传统LMS自适应滤波器的研究,针对其步长选值问题,提出了一种基于麻雀搜索算法(Sparrow Search Algo... 【目的】提升阻尼器测试试验台的控制品质,进而得到更好的被测阻尼器参数曲线,需要对试验台反馈数据进行滤波提取。【方法】课题组通过对传统LMS自适应滤波器的研究,针对其步长选值问题,提出了一种基于麻雀搜索算法(Sparrow Search Algorithm,SSA)的变步长LMS算法,进而进行了新变步长LMS自适应滤波器设计。并通过Tent混沌映射优化了SSA算法在LMS自适应滤波器中的使用,加强了该算法的跟踪和收敛能力。【结果】仿真结果表明,优化后的算法较优化前误差总值下降约75.72%,优化效果较为显著。同时,相较于其他文献中的LMS自适应滤波算法,本设计中的算法能在快速收敛的同时保持较低的稳态误差,误差总值下降约35.17%。【结论】经过Tent混沌映射所得出的SSA算法初始种群能够提高LMS算法的跟踪能力、收敛速度和稳态精度。课题组设计的滤波器表现良好,具有较强的跟踪能力和稳态精度在低范围的保持能力,为阻尼器测试试验台性能优化和反馈数据的滤波提取提供了新的思路和方案。 展开更多
关键词 阻尼器测试试验台 lmS自适应滤波器 麻雀搜索算法 Tent混沌映射
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BSA联合转录组分析发掘西瓜叶片黄化候选基因
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作者 张朝阳 程瑞 +3 位作者 徐兵划 顾妍 黄大跃 孙玉东 《江苏农业学报》 CSCD 北大核心 2024年第1期165-173,共9页
叶片是植物重要的功能器官之一,不仅是植株进行光合作用的主要场所,也可作为重要的形态标记,应用于育种中。叶片颜色作为形态标记,不仅可用于苗期杂种的清除,亦可用于种子纯度的测定。以西瓜全生育期叶片黄化突变体纯合自交系ly104为母... 叶片是植物重要的功能器官之一,不仅是植株进行光合作用的主要场所,也可作为重要的形态标记,应用于育种中。叶片颜色作为形态标记,不仅可用于苗期杂种的清除,亦可用于种子纯度的测定。以西瓜全生育期叶片黄化突变体纯合自交系ly104为母本(P_(1))、绿叶自交系w3为父本(P_(2)),通过杂交创制F_(1)代、F_(2)代、BC_(1)代群体。遗传分析结果表明,该突变体的叶片黄化由单隐性基因控制。采用混合分组分析(BSA)进行初定位,通过简化基因组测序(RAD)开发全基因组单核苷酸多态性(SNP)标记构建西瓜高密度遗传图谱,将西瓜叶片黄化基因定位于2号染色体13950306~15517591 bp(大小约为1.57 Mb)。以西瓜97103v2为参考基因组,该区间包含24个注释基因。对P_(1)(P1Y)、P_(2)(P2G)和F 2代群体中黄叶(F2Y)、绿叶(F2G)株系进行转录组水平分析,结果表明,目标区间内基因Cla97C02G035950、Cla97C02G036010、Cla97C02G036020、Cla97C02G036060在黄化叶片与正常绿叶材料中的表达量差异显著,可能是西瓜叶片的黄化候选基因。研究结果可为进一步解析西瓜叶片黄化基因功能和生物学特性奠定重要基础。 展开更多
关键词 西瓜 黄化 BSA 遗传图谱 基因定位
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一种基于相机投影模型的管柱图像展开方法
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作者 张家田 张志威 +1 位作者 严正国 赵耀 《西安石油大学学报(自然科学版)》 CAS 北大核心 2024年第2期87-93,共7页
在管柱图像展开过程中,针对摄像机中心轴偏移与图像展开扭曲问题进行理论研究。通过相机成像原理分析,提出了一种基于管柱图像中心定位的模型映射展开算法。该算法利用最大类间方差法(OTSU)和区域标记法(RMA)定位管柱中心确定有效区域,... 在管柱图像展开过程中,针对摄像机中心轴偏移与图像展开扭曲问题进行理论研究。通过相机成像原理分析,提出了一种基于管柱图像中心定位的模型映射展开算法。该算法利用最大类间方差法(OTSU)和区域标记法(RMA)定位管柱中心确定有效区域,通过推导投影函数,建立相机投影模型,改进映射方式,得到了无变形失真的展开图像。实验结果表明:设计方法与当前展开方法相比,消除了失真影响,实现了管柱与图像的量化关系,为后续定量分析提供了新的研究方向。 展开更多
关键词 套管检测 图像展开 中心定位 区域标记 投影模型 模型映射
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WSN中基于改进秃鹰算法的三维非测距节点定位
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作者 彭铎 陈江旭 +1 位作者 杨喜娟 王蝉飞 《计算机仿真》 2024年第10期414-418,423,共6页
在三维无线传感器网络中进行非测距算法的定位时,由于三维空间节点的分布比较复杂,导致算法的定位精度不高。为了提升非测距算法在三维空间中的定位精度,提出了一种3D-CBD定位算法。算法利用多个通信半径对跳数进行优化,并对锚节点的跳... 在三维无线传感器网络中进行非测距算法的定位时,由于三维空间节点的分布比较复杂,导致算法的定位精度不高。为了提升非测距算法在三维空间中的定位精度,提出了一种3D-CBD定位算法。算法利用多个通信半径对跳数进行优化,并对锚节点的跳距进行加权平均,从而使各权值的平均跳距能够参与到未知节点中的平均跳距的计算。在秃鹰搜索算法中加入Circle混沌映射策略和莱维飞行策略,用来保证种群分散更均匀,扩大了群体的搜索范围,使算法能够及时跳出局部最优,通过对目标函数进行迭代寻优从而找到最佳的未知节点坐标。仿真结果表明,与3D-DV-Hop算法及现有改进算法相比,所提算法定位误差平均值降低了约49.6%、33.1%和13%,定位精度更高。 展开更多
关键词 无线传感器网络 定位算法 混沌映射 莱维飞行
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基于体素症状病变映射方法对急性脑卒中后疲劳症状的研究
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作者 王朋 孙文 +2 位作者 王金晶 音大为 何野 《医学研究与战创伤救治》 CAS 北大核心 2024年第2期143-149,共7页
目的旨在确定急性脑卒中患者中功能性脑损伤与卒中后疲劳(PSF)的相关。方法回顾性分析2019年1月至2022年6月中国科学技术大学附属第一医院(安徽省立医院)连续收治的首次急性缺血性脑卒中患者的临床资料。卒中后疲劳评分采用疲劳严重程... 目的旨在确定急性脑卒中患者中功能性脑损伤与卒中后疲劳(PSF)的相关。方法回顾性分析2019年1月至2022年6月中国科学技术大学附属第一医院(安徽省立医院)连续收治的首次急性缺血性脑卒中患者的临床资料。卒中后疲劳评分采用疲劳严重程度量表进行评分。所有参与者均由3位高年资神经内科医师进行评估。患者均进行3.0T磁共振全脑扫描,包括弥散加权成像。人工勾画脑梗死病变区域,制作成相应图像模板。采用基于体素病变症状映射图谱(VLSM)来研究病变的位置与卒中后疲劳的发生和严重程度之间的关系。通过翻转对侧病变,也进行同样的分析,并且采用多变量逻辑回归分析来验证功能性脑损伤和PSF的相关性。结果在361例急性卒中患者中,142例(39.3%)患者在急性期被诊断为疲劳,116例(35.8%)患者在卒中后6个月随诊时被诊断为疲劳。VLSM分析显示,在6个月的随访中,右侧丘脑的聚集性病变与PSF的发生和严重程度显著相关(P<0.05)。与对侧病灶翻转分析相比,在卒中的急性期没有发现明显的聚集性疾病。翻转分析结果无统计学意义(P=0.311)。多变量逻辑回归证实,右丘脑病变负荷(OR=2.67,95%CI 1.46~4.88)是6个月PSF的预测因素。结论右侧丘脑病变增加了卒中6个月后出现卒中后疲劳症状的风险。 展开更多
关键词 基于体素的病变-症状映射 神经影像学 卒中后疲劳 急性缺血性卒中 病变位置
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面向地图匹配的室内位置-语义模型设计
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作者 罗帅伟 黄艳华 +1 位作者 李超 陈迅 《科技创新与应用》 2024年第14期108-111,共4页
传统的室内空间信息模型或者过于复杂导致操作性较差,或者没有充分表达地图匹配所需的空间要素信息,阻碍地图匹配方法的高效实施。该研究将以构建能够有效支撑地图匹配的室内空间信息模型作为研究目标,此模型应明确室内空间要素的表达内... 传统的室内空间信息模型或者过于复杂导致操作性较差,或者没有充分表达地图匹配所需的空间要素信息,阻碍地图匹配方法的高效实施。该研究将以构建能够有效支撑地图匹配的室内空间信息模型作为研究目标,此模型应明确室内空间要素的表达内容,并应确定具体的表达方法。模型的构建应以地图匹配方法的机理为基础,以室内地图匹配的实际需要为导向,以表达支撑室内地图匹配的空间信息为目的,分别对室内空间要素的位置及属性,室内空间要素之间的拓扑关系进行表达。该研究构建面向地图匹配的室内位置-语义模型。实验表明此模型较为简洁且信息完备,可在保证地图匹配实际需要的同时提高运行效率。 展开更多
关键词 室内 地图匹配 位置 语义模型 空间信息模型
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基于地理信息的智慧校园空间位置服务应用研究
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作者 唐春霞 雷军环 邱凯 《数字通信世界》 2024年第1期90-92,140,共4页
随着高校信息化的发展进程及日常教学管理中对地理信息空间位置信息的需求越来越多,GIS被广泛的应用于校园各类场景中,结合物联网、数字孪生、可视化等技术,建设空间位置中台、空间位置数据、空间位置门户、位置服务应用及数据展现IOC... 随着高校信息化的发展进程及日常教学管理中对地理信息空间位置信息的需求越来越多,GIS被广泛的应用于校园各类场景中,结合物联网、数字孪生、可视化等技术,建设空间位置中台、空间位置数据、空间位置门户、位置服务应用及数据展现IOC应用场景。通过学校统一建设具备室内外空间位置服务能力的基础平台,有效解决了GIS平台重复建设和数据不统一规范的问题。 展开更多
关键词 孪生校园 GIS 可视化 位置服务 校园地图 物联网
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正交异性钢桥面板声发射波三维谱元法模拟及损伤定位
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作者 李丹 胡晨迅 贺文宇 《应用声学》 CSCD 北大核心 2024年第2期404-414,共11页
针对大跨度桥梁正交异性钢桥面板的疲劳损伤评估与结构健康监测需求,开展基于声发射波场谱元法模拟的大型复杂板类结构损伤定位研究。采用Legendre高阶插值三维时域谱元法模拟声发射波在正交异性钢桥面板中的传播过程,验证了其内部显著... 针对大跨度桥梁正交异性钢桥面板的疲劳损伤评估与结构健康监测需求,开展基于声发射波场谱元法模拟的大型复杂板类结构损伤定位研究。采用Legendre高阶插值三维时域谱元法模拟声发射波在正交异性钢桥面板中的传播过程,验证了其内部显著的反射、衍射和频散现象,并代替人工预断铅实测试验获得大量声发射数据。然后,利用赤池信息准则判定声发射波到达各传感器的时间,通过高斯过程回归建立到达时差与声发射源位置的关系模型,用于未知损伤的定位监测。数值模型实验结果表明,赤池信息准则和高斯过程回归改进的时差图法在正交异性钢桥面板中的平均定位误差为37.3 mm(25 dB信噪比工况),平板的定位精度高于U肋。谱元法模拟有望代替繁琐的预断铅实测试验,提升声发射时差图系列损伤定位方法的实用性。 展开更多
关键词 正交异性钢桥面板 损伤定位 声发射波 谱元法 时差图法
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改进Rao-Blackwellized粒子滤波的定位与建图方法及优化
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作者 支奕琛 谷玉海 +1 位作者 龙伊娜 徐小力 《机械设计与制造》 北大核心 2024年第9期251-257,261,共8页
针对复杂地面场景下无人系统自主定位建图的难题,从机器人的建图角度出发,提出一种在复杂环境下机器人实现自我定位的方案,方案采用遗传算法中的交叉变异思想,对改进Rao-Blackwellized粒子滤波的同步定位与地图构建(RBPF-SLAM)算法中的... 针对复杂地面场景下无人系统自主定位建图的难题,从机器人的建图角度出发,提出一种在复杂环境下机器人实现自我定位的方案,方案采用遗传算法中的交叉变异思想,对改进Rao-Blackwellized粒子滤波的同步定位与地图构建(RBPF-SLAM)算法中的重采样过程进行优化。经过仿真和自行设计的履带式无人系统实验平台进行实验验证,采用该方法优化后的SLAM算法,使得无人系统所构建的栅格地图在消耗较少粒子的情况下,能够绘制精度较高的栅格地图,达到了较好的自主定位和建图效果。 展开更多
关键词 移动机器人 RBPF-SLAM 定位建图
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基于LMS与RGB子空间的扫描输入数据的颜色校正(英文) 被引量:4
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作者 朱元泓 孔令罔 +1 位作者 Kurt Muenger 张旭亮 《仪器仪表学报》 EI CAS CSCD 北大核心 2004年第z2期284-287,共4页
在RGB子空间内使用最小二乘原则建立从设备RGB空间直接到CIELAB空间的三维一阶映射方程,实行对扫描输入数据的颜色校正。实验验证,理想色与分别在各RGB子空间内建立的颜色映射方程所计算的颜色的色差明显小于与在整体空间建立的映射方... 在RGB子空间内使用最小二乘原则建立从设备RGB空间直接到CIELAB空间的三维一阶映射方程,实行对扫描输入数据的颜色校正。实验验证,理想色与分别在各RGB子空间内建立的颜色映射方程所计算的颜色的色差明显小于与在整体空间建立的映射方程所计算的颜色的色差。 展开更多
关键词 RGB子空间 lmS 颜色校正 颜色映射方程 色差
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基于LM和SVD结合的点云拼接算法研究 被引量:6
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作者 吴晓庆 黄玉清 《自动化仪表》 CAS 2017年第1期34-37,共4页
点云拼接是场景三维重建过程中的重要环节。针对现有的拼接算法存在耗时长、拼接效果差等问题,通过利用正交映射,获取三维点云与二维图像之间的映射关系,并在二维图像中获取匹配点对。在此基础上,提出了采用LM和SVD结合的方法来变换矩... 点云拼接是场景三维重建过程中的重要环节。针对现有的拼接算法存在耗时长、拼接效果差等问题,通过利用正交映射,获取三维点云与二维图像之间的映射关系,并在二维图像中获取匹配点对。在此基础上,提出了采用LM和SVD结合的方法来变换矩阵。首先根据正交映射,获取三维点云所对应的二维图像;其次利用SURF算法,提取图像的特征点,并通过FLANN算法以及RANSAC算法,提取两幅图像中的特征拼接点对;最后将LM和SVD两种方法相结合,求得变换矩阵。试验结果表明,无论拼接精度,还是运行速度,该算法均较直接利用LM算法或SVD算法有所提高。 展开更多
关键词 机器人 点云拼接 正交映射 线性最小二乘法 lm算法 SVD算法 变换矩阵
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