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1.
基于连续Adaboost算法的多视角人脸检测   总被引:30,自引:4,他引:26  
提出了一种基于连续Adaboost算法的多视角人脸检测方法.人脸按其三维姿态被划分成若干个视点子类,针对每个子类使用Haar型特征设计了具有连续致信度输出的查找表型弱分类器形式,构造出弱分类器空间,采用连续Adaboost算法学习出基于视图的瀑布型人脸检测器.为了提高检测速度,使用了多分辨率搜索和姿态预估计策略.对于正面人脸检测,在CMU MIT的正面人脸测试集合上检测的正确率为94.5%,误报57个;对于多视角人脸检测,在CMU侧面人脸测试集合上检测的正确率为89.8%,误报221个.在一台PentiumⅣ2.4GHz的PC上,处理一幅大小为320×240的图片平均需80ms.实验结果表明该方法十分有效,具有明显的应用价值.  相似文献
2.
室内自主移动机器人定位方法研究综述   总被引:25,自引:0,他引:25  
李群明  熊蓉  褚健 《机器人》2003,25(6):560-567
定位是确定机器人在其作业环境中所处位置的过程.应用传感器感知信息实现可靠的定位是自主移动机器人最基本、也是最重要的一项功能之一.本文对室内自主移动机器人的定位技术进行了综述,提出了一种通用的控制结构,对其中与定位相关的地图结构、位姿估计方法进行了详细介绍,指出了地图构造、全局定位、数据关联、同步定位与地图构造、信息融合及协同定位所应用的方法及存在的问题.  相似文献
3.
A common need in machine vision is to compute the 3-D rigid body transformation that aligns two sets of points for which correspondence is known. A comparative analysis is presented here of four popular and efficient algorithms, each of which computes the translational and rotational components of the transform in closed form, as the solution to a least squares formulation of the problem. They differ in terms of the transformation representation used and the mathematical derivation of the solution, using respectively singular value decomposition or eigensystem computation based on the standard representation, and the eigensystem analysis of matrices derived from unit and dual quaternion forms of the transform. This comparison presents both qualitative and quantitative results of several experiments designed to determine (1) the accuracy and robustness of each algorithm in the presence of different levels of noise, (2) the stability with respect to degenerate data sets, and (3) relative computation time of each approach under different conditions. The results indicate that under “ideal” data conditions (no noise) certain distinctions in accuracy and stability can be seen. But for “typical, real-world” noise levels, there is no difference in the robustness of the final solutions (contrary to certain previously published results). Efficiency, in terms of execution time, is found to be highly dependent on the computer system setup.  相似文献
4.
关于P4P问题的一点讨论   总被引:17,自引:3,他引:14       下载免费PDF全文
研究表明,在P4P问题中,当空间4个点共面时,不仅摄像机坐标系与物体坐标系之间 的旋转矩阵R和平移向量t可以线性求解,而且可以同时确定摄像机的有效焦距f和像素比例 因子a.该结论似乎在文献中还没有过类似的报导.  相似文献
5.
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans   总被引:14,自引:0,他引:14  
A mobile robot exploring an unknown environment has no absolute frame of reference for its position, other than features it detects through its sensors. Using distinguishable landmarks is one possible approach, but it requires solving the object recognition problem. In particular, when the robot uses two-dimensional laser range scans for localization, it is difficult to accurately detect and localize landmarks in the environment (such as corners and occlusions) from the range scans.In this paper, we develop two new iterative algorithms to register a range scan to a previous scan so as to compute relative robot positions in an unknown environment, that avoid the above problems. The first algorithm is based on matching data points with tangent directions in two scans and minimizing a distance function in order to solve the displacement between the scans. The second algorithm establishes correspondences between points in the two scans and then solves the point-to-point least-squares problem to compute the relative pose of the two scans. Our methods work in curved environments and can handle partial occlusions by rejecting outliers.  相似文献
6.
基于三维可变形模板的眼睛特征提取   总被引:12,自引:0,他引:12  
眼睛特征提取在人脸感知的各种应用中有着非常重要的作用,为了解决人脸垂直旋转角度比较大时,眼睛特征提取的问题,提出了一种新的基于三维可变形模板的眼睛特征提取方法,此方法采用了两个新提出的技术,一个是人脸姿态估计策略用于估测人脸的垂直旋转方向,另一个就是三维可变形模板匹配技术用于具体提取眼睛的精确特征,实验表明该方法能够适应人脸图像垂直旋转角度的变化,获得很好的特征提取结果。  相似文献
7.
基于激光雷达的移动机器人位姿估计方法综述   总被引:11,自引:2,他引:9  
杨明  王宏  张钹 《机器人》2002,24(2):177-183
位姿估计是移动机器人研究的一个核心问题.本文综述了国内外基于激光雷达的移 动机器人位姿估计的最新进展,并对各种方法进行分类、比较和分析,从中归纳出应用中值 得注意的问题和发展趋势.  相似文献
8.
基于视频的人体运动捕捉综述   总被引:10,自引:0,他引:10  
系统地总结和介绍了基于视频的人体运动捕捉研究的技术方法和最新进展.将基于视频的人体运动捕捉方法分为自顶向下的方法和自底向上的方法2大类,阐述了每一类中各种方法的原理、技术特点和研究现状,最后分析了该领域的难点问题和发展趋势.  相似文献
9.
Point Signatures: A New Representation for 3D Object Recognition   总被引:10,自引:0,他引:10  
Few systems capable of recognizing complex objects with free-form (sculptured) surfaces have been developed. The apparent lack of success is mainly due to the lack of a competent modelling scheme for representing such complex objects. In this paper, a new form of point representation for describing 3D free-form surfaces is proposed. This representation, which we call the point signature, serves to describe the structural neighbourhood of a point in a more complete manner than just using the 3D coordinates of the point. Being invariant to rotation and translation, the point signature can be used directly to hypothesize the correspondence to model points with similar signatures. Recognition is achieved by matching the signatures of data points representing the sensed surface to the signatures of data points representing the model surface.The use of point signatures is not restricted to the recognition of a single-object scene to a small library of models. Instead, it can be extended naturally to the recognition of scenes containing multiple partially-overlapping objects (which may also be juxtaposed with each other) against a large model library. No preliminary phase of segmenting the scene into the component objects is required. In searching for the appropriate candidate model, recognition need not proceed in a linear order which can become prohibitive for a large model library. For a given scene, signatures are extracted at arbitrarily spaced seed points. Each of these signatures is used to vote for models that contain points having similar signatures. Inappropriate models with low votes can be rejected while the remaining candidate models are ordered according to the votes they received. In this way, efficient verification of the hypothesized candidates can proceed by testing the most likely model first. Experiments using real data obtained from a range finder have shown fast recognition from a library of fifteen models whose complexities vary from that of simple piecewise quadric shapes to complicated face masks. Results from the recognition of both single-object and multiple-object scenes are presented.  相似文献
10.
基于三维模型和仿射对应原理的人脸姿态估计方法   总被引:9,自引:0,他引:9  
该文提出了一种基于人脸三维模型和仿射对应原理从单目视频图像序列中估计人脸空间姿态的方法.其主要思想是利用人脸的三维模型生成特征点正面平行投影,并估算输入帧和该正面平行投影之间的仿射变换参数,然后根据圆一椭圆之间的仿射对应关系得到描述人脸空间姿态的6个参数(3个旋转分量,3个平移分量)的粗略估计值,最后通过基于ICP(Iterative Closest Points:反复最近点)算法的优化迭代过程得到精确值.对石膏像和真实人脸进行的实验结果表明该算法能在较大的姿态变化范围内实现精确的人脸姿态估计.  相似文献
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