Simultaneous Localization and Mapping(SLAM)is the foundation of autonomous navigation for unmanned systems.The existing SLAM solutions are mainly divided into the visual SLAM(vSLAM)equipped with camera and the lidar S...Simultaneous Localization and Mapping(SLAM)is the foundation of autonomous navigation for unmanned systems.The existing SLAM solutions are mainly divided into the visual SLAM(vSLAM)equipped with camera and the lidar SLAM equipped with lidar.However,pure visual SLAM have shortcomings such as low positioning accuracy,the paper proposes a visual-inertial information fusion SLAM based on Runge-Kutta improved pre-integration.First,the Inertial Measurement Unit(IMU)information between two adjacent keyframes is pre-integrated at the front-end to provide IMU constraints for visual-inertial information fusion.In particular,to improve the accuracy in pre-integration,the paper uses the RungeKutta algorithm instead of Euler integral to calculate the pre-integration value at the next moment.Then,the IMU pre-integration value is used as the initial value of the system state at the current frame time.We combine the visual reprojection error and imu pre-integration error to optimize the state variables such as speed and pose,and restore map points’three-dimensional coordinates.Finally,we set a sliding window to optimize map points’coordinates and state variables.The experimental part is divided into dataset experiment and complex indoor-environment experiment.The results show that compared with pure visual SLAM and the existing visual-inertial fusion SLAM,our method has higher positioning accuracy.展开更多
A newly proposed competent population-based optimization algorithm called RUN,which uses the principle of slope variations calculated by applying the Runge Kutta method as the key search mechanism,has gained wider int...A newly proposed competent population-based optimization algorithm called RUN,which uses the principle of slope variations calculated by applying the Runge Kutta method as the key search mechanism,has gained wider interest in solving optimization problems.However,in high-dimensional problems,the search capabilities,convergence speed,and runtime of RUN deteriorate.This work aims at filling this gap by proposing an improved variant of the RUN algorithm called the Adaptive-RUN.Population size plays a vital role in both runtime efficiency and optimization effectiveness of metaheuristic algorithms.Unlike the original RUN where population size is fixed throughout the search process,Adaptive-RUN automatically adjusts population size according to two population size adaptation techniques,which are linear staircase reduction and iterative halving,during the search process to achieve a good balance between exploration and exploitation characteristics.In addition,the proposed methodology employs an adaptive search step size technique to determine a better solution in the early stages of evolution to improve the solution quality,fitness,and convergence speed of the original RUN.Adaptive-RUN performance is analyzed over 23 IEEE CEC-2017 benchmark functions for two cases,where the first one applies linear staircase reduction with adaptive search step size(LSRUN),and the second one applies iterative halving with adaptive search step size(HRUN),with the original RUN.To promote green computing,the carbon footprint metric is included in the performance evaluation in addition to runtime and fitness.Simulation results based on the Friedman andWilcoxon tests revealed that Adaptive-RUN can produce high-quality solutions with lower runtime and carbon footprint values as compared to the original RUN and three recent metaheuristics.Therefore,with its higher computation efficiency,Adaptive-RUN is a much more favorable choice as compared to RUN in time stringent applications.展开更多
We propose a symplectic partitioned Runge-Kutta （SPRK） method with eighth-order spatial accuracy based on the extended Hamiltonian system of the acoustic waveequation. Known as the eighth-order NSPRK method, this te...We propose a symplectic partitioned Runge-Kutta （SPRK） method with eighth-order spatial accuracy based on the extended Hamiltonian system of the acoustic waveequation. Known as the eighth-order NSPRK method, this technique uses an eighth-orderaccurate nearly analytic discrete （NAD） operator to discretize high-order spatial differentialoperators and employs a second-order SPRK method to discretize temporal derivatives.The stability criteria and numerical dispersion relations of the eighth-order NSPRK methodare given by a semi-analytical method and are tested by numerical experiments. We alsoshow the differences of the numerical dispersions between the eighth-order NSPRK methodand conventional numerical methods such as the fourth-order NSPRK method, the eighth-order Lax-Wendroff correction （LWC） method and the eighth-order staggered-grid （SG）method. The result shows that the ability of the eighth-order NSPRK method to suppress thenumerical dispersion is obviously superior to that of the conventional numerical methods. Inthe same computational environment, to eliminate visible numerical dispersions, the eighth-order NSPRK is approximately 2.5 times faster than the fourth-order NSPRK and 3.4 timesfaster than the fourth-order SPRK, and the memory requirement is only approximately47.17% of the fourth-order NSPRK method and 49.41% of the fourth-order SPRK method,which indicates the highest computational efficiency. Modeling examples for the two-layermodels such as the heterogeneous and Marmousi models show that the wavefields generatedby the eighth-order NSPRK method are very clear with no visible numerical dispersion.These numerical experiments illustrate that the eighth-order NSPRK method can effectivelysuppress numerical dispersion when coarse grids are adopted. Therefore, this methodcan greatly decrease computer memory requirement and accelerate the forward modelingproductivity. In general, the eighth-order NSPRK method has tremendous potential value forseismic exploration and seismology research.展开更多
基金supported by the China Postdoctoral Science Foundation under Grant 2019M653870XBNational Natural Science Foundation of Shanxi Province under Grants No.2020GY-003 and 2021GY-036+1 种基金National Natural Science Foundation of China under Grants 62001340Fundamental Research Funds for the Central Universities,China,XJS211306 and JC2007
文摘Simultaneous Localization and Mapping(SLAM)is the foundation of autonomous navigation for unmanned systems.The existing SLAM solutions are mainly divided into the visual SLAM(vSLAM)equipped with camera and the lidar SLAM equipped with lidar.However,pure visual SLAM have shortcomings such as low positioning accuracy,the paper proposes a visual-inertial information fusion SLAM based on Runge-Kutta improved pre-integration.First,the Inertial Measurement Unit(IMU)information between two adjacent keyframes is pre-integrated at the front-end to provide IMU constraints for visual-inertial information fusion.In particular,to improve the accuracy in pre-integration,the paper uses the RungeKutta algorithm instead of Euler integral to calculate the pre-integration value at the next moment.Then,the IMU pre-integration value is used as the initial value of the system state at the current frame time.We combine the visual reprojection error and imu pre-integration error to optimize the state variables such as speed and pose,and restore map points’three-dimensional coordinates.Finally,we set a sliding window to optimize map points’coordinates and state variables.The experimental part is divided into dataset experiment and complex indoor-environment experiment.The results show that compared with pure visual SLAM and the existing visual-inertial fusion SLAM,our method has higher positioning accuracy.
文摘A newly proposed competent population-based optimization algorithm called RUN,which uses the principle of slope variations calculated by applying the Runge Kutta method as the key search mechanism,has gained wider interest in solving optimization problems.However,in high-dimensional problems,the search capabilities,convergence speed,and runtime of RUN deteriorate.This work aims at filling this gap by proposing an improved variant of the RUN algorithm called the Adaptive-RUN.Population size plays a vital role in both runtime efficiency and optimization effectiveness of metaheuristic algorithms.Unlike the original RUN where population size is fixed throughout the search process,Adaptive-RUN automatically adjusts population size according to two population size adaptation techniques,which are linear staircase reduction and iterative halving,during the search process to achieve a good balance between exploration and exploitation characteristics.In addition,the proposed methodology employs an adaptive search step size technique to determine a better solution in the early stages of evolution to improve the solution quality,fitness,and convergence speed of the original RUN.Adaptive-RUN performance is analyzed over 23 IEEE CEC-2017 benchmark functions for two cases,where the first one applies linear staircase reduction with adaptive search step size(LSRUN),and the second one applies iterative halving with adaptive search step size(HRUN),with the original RUN.To promote green computing,the carbon footprint metric is included in the performance evaluation in addition to runtime and fitness.Simulation results based on the Friedman andWilcoxon tests revealed that Adaptive-RUN can produce high-quality solutions with lower runtime and carbon footprint values as compared to the original RUN and three recent metaheuristics.Therefore,with its higher computation efficiency,Adaptive-RUN is a much more favorable choice as compared to RUN in time stringent applications.
基金This research was supported by the National Natural Science Foundation of China （Nos. 41230210 and 41204074）, the Science Foundation of the Education Department of Yunnan Province （No. 2013Z152）, and Statoil Company （Contract No. 4502502663）.
文摘We propose a symplectic partitioned Runge-Kutta （SPRK） method with eighth-order spatial accuracy based on the extended Hamiltonian system of the acoustic waveequation. Known as the eighth-order NSPRK method, this technique uses an eighth-orderaccurate nearly analytic discrete （NAD） operator to discretize high-order spatial differentialoperators and employs a second-order SPRK method to discretize temporal derivatives.The stability criteria and numerical dispersion relations of the eighth-order NSPRK methodare given by a semi-analytical method and are tested by numerical experiments. We alsoshow the differences of the numerical dispersions between the eighth-order NSPRK methodand conventional numerical methods such as the fourth-order NSPRK method, the eighth-order Lax-Wendroff correction （LWC） method and the eighth-order staggered-grid （SG）method. The result shows that the ability of the eighth-order NSPRK method to suppress thenumerical dispersion is obviously superior to that of the conventional numerical methods. Inthe same computational environment, to eliminate visible numerical dispersions, the eighth-order NSPRK is approximately 2.5 times faster than the fourth-order NSPRK and 3.4 timesfaster than the fourth-order SPRK, and the memory requirement is only approximately47.17% of the fourth-order NSPRK method and 49.41% of the fourth-order SPRK method,which indicates the highest computational efficiency. Modeling examples for the two-layermodels such as the heterogeneous and Marmousi models show that the wavefields generatedby the eighth-order NSPRK method are very clear with no visible numerical dispersion.These numerical experiments illustrate that the eighth-order NSPRK method can effectivelysuppress numerical dispersion when coarse grids are adopted. Therefore, this methodcan greatly decrease computer memory requirement and accelerate the forward modelingproductivity. In general, the eighth-order NSPRK method has tremendous potential value forseismic exploration and seismology research.
