In recent years,simultaneous localization and mapping in dynamic environments(dynamic SLAM)has attracted significant attention from both academia and industry.Some pioneering work on this technique has expanded the po...In recent years,simultaneous localization and mapping in dynamic environments(dynamic SLAM)has attracted significant attention from both academia and industry.Some pioneering work on this technique has expanded the potential of robotic applications.Compared to standard SLAM under the static world assumption,dynamic SLAM divides features into static and dynamic categories and leverages each type of feature properly.Therefore,dynamic SLAM can provide more robust localization for intelligent robots that operate in complex dynamic environments.Additionally,to meet the demands of some high-level tasks,dynamic SLAM can be integrated with multiple object tracking.This article presents a survey on dynamic SLAM from the perspective of feature choices.A discussion of the advantages and disadvantages of different visual features is provided in this article.展开更多
The displacement operator is an important and still a hot topic in map generalization. In the generalization product, symbols must be unambiguous and easily perceived and readily understood, which makes space competit...The displacement operator is an important and still a hot topic in map generalization. In the generalization product, symbols must be unambiguous and easily perceived and readily understood, which makes space competition among features an important obstacle in the process of map objects displacement. Space conflict between objects, through propagation process, may be spread and more objects may drift into it. In order to maintain symbols equilibrium and spatial relationship between objects, some unimportant symbols or parts of symbols should be distorted under constraints according to visual graphic resolution thresholds to figure out space competition among map features. Three constraints including position, legibility and characteristics are important for the maintenance of symbols equilibrium and spatial relationship, which are discussed in this paper. The skeleton is introduced to represent area objects figure characteristic, in which an area object can be separated to parts hierarchically according to their importance in the construction. Then, the finite element method is applied to the map objects’ displacement and distortion, in which a strategy for the parameters of finite element method is discussed.展开更多
The paper makes a detailed analysis and design of the Vega application software based on Windows NT platform. It includes object oriented software analysis and design, design patterns and Windows kernel mechanism...The paper makes a detailed analysis and design of the Vega application software based on Windows NT platform. It includes object oriented software analysis and design, design patterns and Windows kernel mechanism. The paper brings forward a design pattern, a fence pattern, and depends on this pattern. Windows NT memory mapped files adopted, the paper presents a Vega application solution based on the multi process technique. Although the design solution is developing under a real time simulation system, it is established at the clear analysis of the Vega system, therefore, the solution has extensive practicability and many uses.展开更多
基金This work was supported by National Natural Science Foundation of China,Nos.62002359 and 61836015the Beijing Advanced Discipline Fund,No.115200S001.
文摘In recent years,simultaneous localization and mapping in dynamic environments(dynamic SLAM)has attracted significant attention from both academia and industry.Some pioneering work on this technique has expanded the potential of robotic applications.Compared to standard SLAM under the static world assumption,dynamic SLAM divides features into static and dynamic categories and leverages each type of feature properly.Therefore,dynamic SLAM can provide more robust localization for intelligent robots that operate in complex dynamic environments.Additionally,to meet the demands of some high-level tasks,dynamic SLAM can be integrated with multiple object tracking.This article presents a survey on dynamic SLAM from the perspective of feature choices.A discussion of the advantages and disadvantages of different visual features is provided in this article.
基金Supported by the National Science Foundation of China (No40401050)the Leading Academic Discipline Project of Shanghai Educational Committee(NoJ50104)the Science Foundation of Shanghai Education Department (07ZZ09)
文摘The displacement operator is an important and still a hot topic in map generalization. In the generalization product, symbols must be unambiguous and easily perceived and readily understood, which makes space competition among features an important obstacle in the process of map objects displacement. Space conflict between objects, through propagation process, may be spread and more objects may drift into it. In order to maintain symbols equilibrium and spatial relationship between objects, some unimportant symbols or parts of symbols should be distorted under constraints according to visual graphic resolution thresholds to figure out space competition among map features. Three constraints including position, legibility and characteristics are important for the maintenance of symbols equilibrium and spatial relationship, which are discussed in this paper. The skeleton is introduced to represent area objects figure characteristic, in which an area object can be separated to parts hierarchically according to their importance in the construction. Then, the finite element method is applied to the map objects’ displacement and distortion, in which a strategy for the parameters of finite element method is discussed.
文摘The paper makes a detailed analysis and design of the Vega application software based on Windows NT platform. It includes object oriented software analysis and design, design patterns and Windows kernel mechanism. The paper brings forward a design pattern, a fence pattern, and depends on this pattern. Windows NT memory mapped files adopted, the paper presents a Vega application solution based on the multi process technique. Although the design solution is developing under a real time simulation system, it is established at the clear analysis of the Vega system, therefore, the solution has extensive practicability and many uses.
