RBPF( Rao-Blackwellized Particle Filter) is a popular PF( Particle Filter) in decreasing the dimension of estimation problems and FastSLAM( Fast Simultaneous Localization and Mapping) is a RBPFbased algorithm. In Fast...RBPF( Rao-Blackwellized Particle Filter) is a popular PF( Particle Filter) in decreasing the dimension of estimation problems and FastSLAM( Fast Simultaneous Localization and Mapping) is a RBPFbased algorithm. In FastSLAM,each particle carries a large amount of data which results in low computing efficiency and large memory space occupancy. To solve this problem,a RBPF algorithm with non-intact particle data is studied. The key idea is to differentiate the particle data. Through the screening of particles,the number of particles carrying individual map data is limited to reduce the data occupied space and speed up the computational efficiency. The simulation and experiment results have verified the effectiveness and accuracy of the algorithm. Compared with the original one,this proposed algorithm reduces time consumption by 18%-34% and considerably saves memory space.展开更多
The principle of the technique of microscope laser light scattering spectroscopy, its development and applications to the studies on single intact cells, including our work on non-invasive in situ real time measuremen...The principle of the technique of microscope laser light scattering spectroscopy, its development and applications to the studies on single intact cells, including our work on non-invasive in situ real time measurements on single intact erythrocyte simultaneously at the levels of cellular, sub-cellular and intracellular molecules, are introduced.展开更多
基金Sponsored by the National Natural Science Foundation of China(Grant No.61673125)the Frontier and Key Technology Innovation Special Funds of Guangdong Province(Grant Nos.2016B090910003 and 2015B010917003)+1 种基金the Natural Science Foundation of Guangdong Province(Grant No.2015A030308011)the State International Science and Technology Cooperation Special Items(Grant No.2015DFA11700)
文摘RBPF( Rao-Blackwellized Particle Filter) is a popular PF( Particle Filter) in decreasing the dimension of estimation problems and FastSLAM( Fast Simultaneous Localization and Mapping) is a RBPFbased algorithm. In FastSLAM,each particle carries a large amount of data which results in low computing efficiency and large memory space occupancy. To solve this problem,a RBPF algorithm with non-intact particle data is studied. The key idea is to differentiate the particle data. Through the screening of particles,the number of particles carrying individual map data is limited to reduce the data occupied space and speed up the computational efficiency. The simulation and experiment results have verified the effectiveness and accuracy of the algorithm. Compared with the original one,this proposed algorithm reduces time consumption by 18%-34% and considerably saves memory space.
文摘The principle of the technique of microscope laser light scattering spectroscopy, its development and applications to the studies on single intact cells, including our work on non-invasive in situ real time measurements on single intact erythrocyte simultaneously at the levels of cellular, sub-cellular and intracellular molecules, are introduced.
