[提示]从空中扔炸弹的飞机对飞行员来说是一件危险的差使,现在,美国人已经试验成功了遥控的"下弹"飞机。在描写试验情况时,文章用了以下一句:...adding that had the bomb contained explosives,the target would have been d...[提示]从空中扔炸弹的飞机对飞行员来说是一件危险的差使,现在,美国人已经试验成功了遥控的"下弹"飞机。在描写试验情况时,文章用了以下一句:...adding that had the bomb contained explosives,the target would have been destroyed.典型的虚拟语气句也!展开更多
This paper analyses robotic signals in the perspective of fractional dynamics and the pseudo phase plane （PPP）.It is shown that the spectra of several experimental signals can be approximated by trend lines whose sl...This paper analyses robotic signals in the perspective of fractional dynamics and the pseudo phase plane （PPP）.It is shown that the spectra of several experimental signals can be approximated by trend lines whose slope characterizes their fractional behavior.For the PPP reconstruction of each signal,the time lags are calculated through the fractal dimension.Moreover,to obtain a smooth PPP,the noisy signals are filtered through wavelets.The behavior of the spectra reveals a relationship with the fractal dimension of the PPP and the corresponding time delay.展开更多
针对利用平面特征计算RGB-D相机位姿时的求解退化问题,提出平面和直线融合的RGB-D视觉里程计(Plane-line-based RGB-D visual odometry,PLVO).首先,提出基于平面-直线混合关联图(Plane-line hybrid association graph,PLHAG)的多特征关...针对利用平面特征计算RGB-D相机位姿时的求解退化问题,提出平面和直线融合的RGB-D视觉里程计(Plane-line-based RGB-D visual odometry,PLVO).首先,提出基于平面-直线混合关联图(Plane-line hybrid association graph,PLHAG)的多特征关联方法,充分考虑平面和平面、平面和直线之间的几何关系,对平面和直线两类几何特征进行一体化关联.然后,提出基于平面和直线主辅相济、自适应融合的RGB-D相机位姿估计方法.具体来说,鉴于平面特征通常比直线特征具有更好的准确性和稳定性,通过自适应加权的方法,确保平面特征在位姿计算中的主导作用,而对平面特征无法约束的位姿自由度(Degree of freedom,DoF),使用直线特征进行补充,得到相机的6自由度位姿估计结果,从而实现两类特征的融合,解决了单纯使用平面特征求解位姿时的退化问题.最后,通过公开数据集上的定量实验以及真实室内环境下的机器人实验,验证了所提出方法的有效性.展开更多
文摘[提示]从空中扔炸弹的飞机对飞行员来说是一件危险的差使,现在,美国人已经试验成功了遥控的"下弹"飞机。在描写试验情况时,文章用了以下一句:...adding that had the bomb contained explosives,the target would have been destroyed.典型的虚拟语气句也!
文摘This paper analyses robotic signals in the perspective of fractional dynamics and the pseudo phase plane （PPP）.It is shown that the spectra of several experimental signals can be approximated by trend lines whose slope characterizes their fractional behavior.For the PPP reconstruction of each signal,the time lags are calculated through the fractal dimension.Moreover,to obtain a smooth PPP,the noisy signals are filtered through wavelets.The behavior of the spectra reveals a relationship with the fractal dimension of the PPP and the corresponding time delay.
文摘针对利用平面特征计算RGB-D相机位姿时的求解退化问题,提出平面和直线融合的RGB-D视觉里程计(Plane-line-based RGB-D visual odometry,PLVO).首先,提出基于平面-直线混合关联图(Plane-line hybrid association graph,PLHAG)的多特征关联方法,充分考虑平面和平面、平面和直线之间的几何关系,对平面和直线两类几何特征进行一体化关联.然后,提出基于平面和直线主辅相济、自适应融合的RGB-D相机位姿估计方法.具体来说,鉴于平面特征通常比直线特征具有更好的准确性和稳定性,通过自适应加权的方法,确保平面特征在位姿计算中的主导作用,而对平面特征无法约束的位姿自由度(Degree of freedom,DoF),使用直线特征进行补充,得到相机的6自由度位姿估计结果,从而实现两类特征的融合,解决了单纯使用平面特征求解位姿时的退化问题.最后,通过公开数据集上的定量实验以及真实室内环境下的机器人实验,验证了所提出方法的有效性.
