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A Comparison of Affine Region Detectors   总被引:25,自引:0,他引:25  
The paper gives a snapshot of the state of the art in affine covariant region detectors, and compares their performance on a set of test images under varying imaging conditions. Six types of detectors are included: detectors based on affine normalization around Harris (Mikolajczyk and Schmid, 2002; Schaffalitzky and Zisserman, 2002) and Hessian points (Mikolajczyk and Schmid, 2002), a detector of ‘maximally stable extremal regions', proposed by Matas et al. (2002); an edge-based region detector (Tuytelaars and Van Gool, 1999) and a detector based on intensity extrema (Tuytelaars and Van Gool, 2000), and a detector of ‘salient regions', proposed by Kadir, Zisserman and Brady (2004). The performance is measured against changes in viewpoint, scale, illumination, defocus and image compression. The objective of this paper is also to establish a reference test set of images and performance software, so that future detectors can be evaluated in the same framework. First online version published in October, 2005  相似文献
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This paper has two goals. The first is to develop a variety of robust methods for the computation of the Fundamental Matrix, the calibration-free representation of camera motion. The methods are drawn from the principal categories of robust estimators, viz. case deletion diagnostics, M-estimators and random sampling, and the paper develops the theory required to apply them to non-linear orthogonal regression problems. Although a considerable amount of interest has focussed on the application of robust estimation in computer vision, the relative merits of the many individual methods are unknown, leaving the potential practitioner to guess at their value. The second goal is therefore to compare and judge the methods.Comparative tests are carried out using correspondences generated both synthetically in a statistically controlled fashion and from feature matching in real imagery. In contrast with previously reported methods the goodness of fit to the synthetic observations is judged not in terms of the fit to the observations per se but in terms of fit to the ground truth. A variety of error measures are examined. The experiments allow a statistically satisfying and quasi-optimal method to be synthesized, which is shown to be stable with up to 50 percent outlier contamination, and may still be used if there are more than 50 percent outliers. Performance bounds are established for the method, and a variety of robust methods to estimate the standard deviation of the error and covariance matrix of the parameters are examined.The results of the comparison have broad applicability to vision algorithms where the input data are corrupted not only by noise but also by gross outliers.  相似文献
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ASSET-2: real-time motion segmentation and shape tracking   总被引:18,自引:0,他引:18  
This paper describes a system for detecting and tracking moving objects in a moving world. The feature-based optic flow field is segmented into clusters with affine internal motion which are tracked over time. The system runs in real-time, and is accurate and reliable  相似文献
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Single View Metrology   总被引:16,自引:0,他引:16  
We describe how 3D affine measurements may be computed from a single perspective view of a scene given only minimal geometric information determined from the image. This minimal information is typically the vanishing line of a reference plane, and a vanishing point for a direction not parallel to the plane. It is shown that affine scene structure may then be determined from the image, without knowledge of the camera's internal calibration (e.g. focal length), nor of the explicit relation between camera and world (pose).In particular, we show how to (i) compute the distance between planes parallel to the reference plane (up to a common scale factor); (ii) compute area and length ratios on any plane parallel to the reference plane; (iii) determine the camera's location. Simple geometric derivations are given for these results. We also develop an algebraic representation which unifies the three types of measurement and, amongst other advantages, permits a first order error propagation analysis to be performed, associating an uncertainty with each measurement.We demonstrate the technique for a variety of applications, including height measurements in forensic images and 3D graphical modelling from single images.  相似文献
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Direct least square fitting of ellipses   总被引:15,自引:0,他引:15  
This work presents a new efficient method for fitting ellipses to scattered data. Previous algorithms either fitted general conics or were computationally expensive. By minimizing the algebraic distance subject to the constraint 4ac-b2=1, the new method incorporates the ellipticity constraint into the normalization factor. The proposed method combines several advantages: It is ellipse-specific, so that even bad data will always return an ellipse. It can be solved naturally by a generalized eigensystem. It is extremely robust, efficient, and easy to implement  相似文献
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Simultaneous localization and map-building using active vision   总被引:12,自引:0,他引:12  
An active approach to sensing can provide the focused measurement capability over a wide field of view which allows correctly formulated simultaneous localization and map-building (SLAM) to be implemented with vision, permitting repeatable longterm localization using only naturally occurring, automatically-detected features. In this paper, we present the first example of a general system for autonomous localization using active vision, enabled here by a high-performance stereo head, addressing such issues as uncertainty-based measurement selection, automatic map-maintenance, and goal-directed steering. We present varied real-time experiments in a complex environment  相似文献
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Creating Architectural Models from Images   总被引:9,自引:0,他引:9  
We present methods for creating 3D graphical models of scenes from a limited numbers of images, i.e. one or two, in situations where no scene co-ordinate measurements are available. The methods employ constraints available from geometric relationships that are common in architectural scenes – such as parallelism and orthogonality – together with constraints available from the camera. In particular, by using the circular points of a plane simple, linear algorithms are given for computing plane rectification, plane orientation and camera calibration from a single image. Examples of image based 3D modelling are given for both single images and image pairs.  相似文献
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