针对采摘机器人自主行走导航过程中,难以准确定位其与果树之间的相对位置,难以准确估计果树树干姿态的问题,提出基于双目eye in hand系统的多角度树干位姿估计方法。利用YOLOv5深度学习方法与半全局块匹配算法识别树干并生成局部点云;...针对采摘机器人自主行走导航过程中,难以准确定位其与果树之间的相对位置,难以准确估计果树树干姿态的问题,提出基于双目eye in hand系统的多角度树干位姿估计方法。利用YOLOv5深度学习方法与半全局块匹配算法识别树干并生成局部点云;利用半径滤波和体素滤波减少树干点云数据;利用闭环式手眼标定方法对双目eye in hand系统进行标定,并对同一树干多角度相机位置的点云数据进行拼接;利用随机抽样一致(RANSAC)算法与无约束最小二乘法估计并优化树干的位置和姿态,获取树干的圆柱体参数。通过对30幅标定板图像进行实验,闭环式手眼标定方法的平均欧式误差为3.7177 mm;采用半径滤波和体素滤波可减少98.470%的点云数据;采用RANSAC算法、圆柱体估计算法拟合树干点云数据,得到圆柱体的半径r=41.2771 mm,R_(MAE)=2.57156 mm,R_(RMSE)=2.98936 mm;无约束最小二乘法优化后r=39.4028 mm,R_(MAE)=1.98955 mm,R_(RMSE)=2.46588 mm。该文通过对双目eye in hand系统进行标定,建立坐标系转换关系,多角度采集环境信息,准确定位机器人与果树之间的相对位置,估计果树树干的姿态。展开更多
To implement the CPC CentralCommittee’s strategy of slanting theeconomic construction to the Midand West of China and to further promote thedevelopment and cooperation of economyand trade between the East and West, t...To implement the CPC CentralCommittee’s strategy of slanting theeconomic construction to the Midand West of China and to further promote thedevelopment and cooperation of economyand trade between the East and West, theEast-West Business and Trade Talks wereheld by the China Council for the Promotionof International Trade (CCPIT). At theconference, Mr. Cui Zhenghua, vice governorof Gansu Province and concurrently chairmanof the Gansu Subcouncil of the CCPIT,delivered a speech on the economiccooperation and development between theEast and West of China.展开更多
IT was midsummer when Beijing International Airport received a group of 500 young guests - a delegation of college students from California, USA. They came for the "New Century, Silk Road" activity. In t...IT was midsummer when Beijing International Airport received a group of 500 young guests - a delegation of college students from California, USA. They came for the "New Century, Silk Road" activity. In the following two days, they not only visited the Beijing University of Traditional Chinese Medicine and the China Millennium Monument, but also got together with 500 of their Chinese counterparts at the China Millennium Monument southern square. During their visit to world famous Tsinghua University, American students talked animatedly with contemporaries and teachers.展开更多
Nurtured by the moist winds of the Pacific Ocean, California is a beautiful American state. Among its famous cities, San Francisco is the one "most favored by Americans".On May 28, a group of Tibetan governm...Nurtured by the moist winds of the Pacific Ocean, California is a beautiful American state. Among its famous cities, San Francisco is the one "most favored by Americans".On May 28, a group of Tibetan government officials and entrepreneurs arrived in San Francisco at the start of a 10-day-long friendship visit to the city and the state at large.Meeting Mayor BrownAccompanied by Wang Yunxiang, Chinese Consul General in San Francisco, the Tibetan delegation, led by Leqoi, Chairman of the展开更多
China, the fast-growing and largest developing country in the world, and the Association of Southeast Asian Nations (ASEAN), a dynamic regional organization for economic, political and security integration, are celebr...China, the fast-growing and largest developing country in the world, and the Association of Southeast Asian Nations (ASEAN), a dynamic regional organization for economic, political and security integration, are celebrating the 15th anniversary of the launch of a bilateral dialogue mechanism through the second half of this year. Back in 1991, China and ASEAN initiated bilateral dialogues to further develop their ties, right after the former established or resumed Ml diplomatic relations with members of th...展开更多
U.S. bonds still comprise a major share of Chinese foreign reserves People are becoming increasingly uneasy about reports saying China is reducing its holdings of U.S.bonds. Currently, China is the sec-ond largest hol...U.S. bonds still comprise a major share of Chinese foreign reserves People are becoming increasingly uneasy about reports saying China is reducing its holdings of U.S.bonds. Currently, China is the sec-ond largest holder of U.S.展开更多
China unveils a partner assistance program to propel Xinjiang toward economic prosperity and social stability While China’s coastal provinces basked in the glow of an economic
This year, on the eve of the June I International Children’s Day, the Central Committee of the Chinese Communist Youth League and the China Young Pioneers Working Committee invited 100 pairs of friends to Beijing to ...This year, on the eve of the June I International Children’s Day, the Central Committee of the Chinese Communist Youth League and the China Young Pioneers Working Committee invited 100 pairs of friends to Beijing to celebrate. The 200 children came from 29 provinces, municipalities and autonomous regions of China.展开更多
Addressed by Mr. McTague, Vice President of Ford Motor Company, and Mr. Xu Guanhua, Vice President of the State Science & Technology Commission (SSTC) of the People’s Republic of China, the signing ceremony for
WHEN a truck with the banner "Provincial Children's Troupe of Traditional Art" appeared in sight, children of the Chaoyanggou Primary School of Dengfeng County at the foot of Songshan Mountain of Henan P...WHEN a truck with the banner "Provincial Children's Troupe of Traditional Art" appeared in sight, children of the Chaoyanggou Primary School of Dengfeng County at the foot of Songshan Mountain of Henan Province became wild with joy and hailed ceaselessly Welcome! Welcome! The establishment of the "Provincial Children's Troupe of Traditional Art" was proposed by Ms, Song Aihua, veteran展开更多
On Feb. 23rd., 1995, the signing ceremony of Jinbei Automotive Company Limited (hereinafter refered to Jinbei) entering China First Automotive Group Corporation (hereinafter refered to FAW) and carrying out assets int...On Feb. 23rd., 1995, the signing ceremony of Jinbei Automotive Company Limited (hereinafter refered to Jinbei) entering China First Automotive Group Corporation (hereinafter refered to FAW) and carrying out assets integration was held in Shenyang Jinbei Complex, which marks the set up of First Auto Jinbei Automotive Co., Ltd. (hereinafter refered to FAJB).展开更多
Zbengzhou Yufa （Group） Co., Ltd., the largest white corundum manufacturer in China,＂ the enterprise drafting and revising the national standard of white fused alumina abrasive GB/T 2479-2008, one of top 10 corundum...Zbengzhou Yufa （Group） Co., Ltd., the largest white corundum manufacturer in China,＂ the enterprise drafting and revising the national standard of white fused alumina abrasive GB/T 2479-2008, one of top 10 corundum manufacturer in Chinese abrasives industry,展开更多
文摘针对采摘机器人自主行走导航过程中,难以准确定位其与果树之间的相对位置,难以准确估计果树树干姿态的问题,提出基于双目eye in hand系统的多角度树干位姿估计方法。利用YOLOv5深度学习方法与半全局块匹配算法识别树干并生成局部点云;利用半径滤波和体素滤波减少树干点云数据;利用闭环式手眼标定方法对双目eye in hand系统进行标定,并对同一树干多角度相机位置的点云数据进行拼接;利用随机抽样一致(RANSAC)算法与无约束最小二乘法估计并优化树干的位置和姿态,获取树干的圆柱体参数。通过对30幅标定板图像进行实验,闭环式手眼标定方法的平均欧式误差为3.7177 mm;采用半径滤波和体素滤波可减少98.470%的点云数据;采用RANSAC算法、圆柱体估计算法拟合树干点云数据,得到圆柱体的半径r=41.2771 mm,R_(MAE)=2.57156 mm,R_(RMSE)=2.98936 mm;无约束最小二乘法优化后r=39.4028 mm,R_(MAE)=1.98955 mm,R_(RMSE)=2.46588 mm。该文通过对双目eye in hand系统进行标定,建立坐标系转换关系,多角度采集环境信息,准确定位机器人与果树之间的相对位置,估计果树树干的姿态。
文摘To implement the CPC CentralCommittee’s strategy of slanting theeconomic construction to the Midand West of China and to further promote thedevelopment and cooperation of economyand trade between the East and West, theEast-West Business and Trade Talks wereheld by the China Council for the Promotionof International Trade (CCPIT). At theconference, Mr. Cui Zhenghua, vice governorof Gansu Province and concurrently chairmanof the Gansu Subcouncil of the CCPIT,delivered a speech on the economiccooperation and development between theEast and West of China.
文摘IT was midsummer when Beijing International Airport received a group of 500 young guests - a delegation of college students from California, USA. They came for the "New Century, Silk Road" activity. In the following two days, they not only visited the Beijing University of Traditional Chinese Medicine and the China Millennium Monument, but also got together with 500 of their Chinese counterparts at the China Millennium Monument southern square. During their visit to world famous Tsinghua University, American students talked animatedly with contemporaries and teachers.
文摘Nurtured by the moist winds of the Pacific Ocean, California is a beautiful American state. Among its famous cities, San Francisco is the one "most favored by Americans".On May 28, a group of Tibetan government officials and entrepreneurs arrived in San Francisco at the start of a 10-day-long friendship visit to the city and the state at large.Meeting Mayor BrownAccompanied by Wang Yunxiang, Chinese Consul General in San Francisco, the Tibetan delegation, led by Leqoi, Chairman of the
文摘China, the fast-growing and largest developing country in the world, and the Association of Southeast Asian Nations (ASEAN), a dynamic regional organization for economic, political and security integration, are celebrating the 15th anniversary of the launch of a bilateral dialogue mechanism through the second half of this year. Back in 1991, China and ASEAN initiated bilateral dialogues to further develop their ties, right after the former established or resumed Ml diplomatic relations with members of th...
文摘U.S. bonds still comprise a major share of Chinese foreign reserves People are becoming increasingly uneasy about reports saying China is reducing its holdings of U.S.bonds. Currently, China is the sec-ond largest holder of U.S.
文摘China unveils a partner assistance program to propel Xinjiang toward economic prosperity and social stability While China’s coastal provinces basked in the glow of an economic
文摘This year, on the eve of the June I International Children’s Day, the Central Committee of the Chinese Communist Youth League and the China Young Pioneers Working Committee invited 100 pairs of friends to Beijing to celebrate. The 200 children came from 29 provinces, municipalities and autonomous regions of China.
文摘Addressed by Mr. McTague, Vice President of Ford Motor Company, and Mr. Xu Guanhua, Vice President of the State Science & Technology Commission (SSTC) of the People’s Republic of China, the signing ceremony for
文摘WHEN a truck with the banner "Provincial Children's Troupe of Traditional Art" appeared in sight, children of the Chaoyanggou Primary School of Dengfeng County at the foot of Songshan Mountain of Henan Province became wild with joy and hailed ceaselessly Welcome! Welcome! The establishment of the "Provincial Children's Troupe of Traditional Art" was proposed by Ms, Song Aihua, veteran
文摘On Feb. 23rd., 1995, the signing ceremony of Jinbei Automotive Company Limited (hereinafter refered to Jinbei) entering China First Automotive Group Corporation (hereinafter refered to FAW) and carrying out assets integration was held in Shenyang Jinbei Complex, which marks the set up of First Auto Jinbei Automotive Co., Ltd. (hereinafter refered to FAJB).
文摘Zbengzhou Yufa （Group） Co., Ltd., the largest white corundum manufacturer in China,＂ the enterprise drafting and revising the national standard of white fused alumina abrasive GB/T 2479-2008, one of top 10 corundum manufacturer in Chinese abrasives industry,
