分组移动对象的区域偏离监视算法

以大量可分组移动对象的区域偏离监视问题为研究背景,扩展了基于区域覆盖的空间索引结构——虚拟网格四分树,提出了一种新的索引结构VGQ_G。基于VGQ_G,实现了区域偏离监视算法RDMA;给出了监视算法的性能对比实验。实验结果表明,在移动对象数量足够大的时候,设计的监视算法比朴素的监视算法在响应时间上提高了一个数量级。     

层状地质体建模与可视化

针对已有的层状地质体模型不便进行分析的弱点，提出一个改进模型．该模型不仅可以显式地表示层状地质体的结构元素，而且可以显式地表示它们的空间关系．利用此模型开发的相应软件分别应用于霍林河煤矿床、天津热储层和苍山星球撞击构造的建模和可视化中，均取得良好效果。     

Interactive modeling of implicit surfaces using a direct visualization approach with signed distance functions

Modeling appealing virtual scenes is an elaborate and time-consuming task, requiring not only training and experience, but also powerful modeling tools providing the desired functionality to the user. In this paper, we describe a modeling approach using signed distance functions as an underlying representation for objects, handling both conventional and complex surface manipulations. Scenes defined by signed distance functions can be stored compactly and rendered directly in real-time using sphere tracing. Hence, we are capable of providing an interactive application with immediate visual feedback for the artist, which is a crucial factor for the modeling process. Moreover, dealing with underlying mathematical operations is not necessary on the user level. We show that fundamental aspects of traditional modeling can be directly transferred to this novel kind of environment, resulting in an intuitive application behavior, and describe modeling operations which naturally benefit from implicit representations. We show modeling examples where signed distance functions are superior to explicit representations, but discuss the limitations of this approach as well.     

基于力矩外环的软物体抓取控制

为减少机械手抓取软物体造成的损害,提出基于关节力矩预测的力矩外环在线抓取控制方案。该方案通过建立灰色预测模型直接预测关节力矩的变化代替预测软物体刚度的变化;并能同时控制机械手抓取过程中关节力矩偏差和角速度关系。在实际关节力矩和灰色预测力矩之间采用线性插值,按采样周期将预测力矩逐渐加到力矩回路中。仿真表明,当抓取具有刚度变化的软物体时,基于关节力矩预测的力矩外环软物体抓取控制系统对机械手和软物体之间的动态接触过程具有一定的自适应性,可以快速跟踪设定值,而且无大的超调和振荡出现,使控制性能和动态品质得到较大改善,具有较强的鲁棒性,是适合软物体抓取的一种控制方法。     

时间区间上的不确定移动对象距离范围查询

针对目标对象与查询发出者皆为不确定移动对象的情况,提出了一种时间区间上的距离范围查询（DRqTI）.此类查询搜索出数据集中在给定时间区间内,到查询发出者距离不超过阈值的目标对象,查询结果中包含对象满足查询条件的有效时间段和匹配度.提出了基于轨迹、基于时间区间和基于距离的三种剪枝策略,并给出了精炼和匹配度计算方法,在此基础上设计了查询处理算法.实验分析表明,三种剪枝策略中基于距离的方法性能最佳,提出的算法能有效处理DRqTI问题.     

Analytical Method for Solution of the Game Problem of Soft Landing for Moving Objects

A game problem of pursuit of a controlled object moving in a horizontal plane, by another object, moving in a three-dimensional space, is treated. The dynamics of the players models motion in a medium characterized by friction. Initial phase states are described, and sufficient conditions on parameters of a conflict-controlled object are derived, for which the soft landing may be performed.     

基于距离图像的定性识别

本文提出的定性描述图表示方法能在无模型指导的情况下有效地实现遮挡物体的分离,并将识别过程转化为图或子图同构的问题,还提出了用"提纯"与"搜索"相结合的递归过程来判定图或子图同构.实验证明了该方法的有效性和稳定性.     

Reconstructing Surfaces and Functions on Surfaces from Unorganized Three-Dimensional Data

Creating a computer model from an existing part is a common problem in reverse engineering. The part might be scanned with a device like the laser range scanner, or points might be measured on its surface with a mechanical probe. Sometimes, not only the spatial location of points, but also some associated physical property can be measured. The problem of automatically reconstructing from this data a topologically consistent and geometrically accurate model of the object and of the sampled scalar field is the subject of this paper. The proposed algorithm can deal with connected, orientable manifolds of unrestricted topological type, given a sufficiently dense and uniform sampling of the object's surface. It is capable of automatically reconstructing both the model and a scalar field over its surface. It uses Delaunay triangulations, Voronoi diagrams, and α-shapes for efficiency of computation and theoretical soundness. It generates a representation of the surface and the field based on Bernstein—Bézier polynomials, with the surface modeled by implicit patches (A-patches), that are guaranteed to be smooth and single-sheeted. Received June 1, 1994; revised February 2, 1995, and August 14, 1995.     

近距离多目标（种子）检测中摄像机系统的标定方法

在进行基于计算机视觉的排种器性能检测时，为了解决目标（种子）之间的遮挡、加快图象采集速度和节省计算机的存储空间，提出了一种近距离多目标（种子）检测中，摄像机系统的标定方法。建立了由摄像机和平面镜组成的摄像机系统标定的数学模型，并给出了恢复空间点的方法。同时在排种器实验台上进行了验证，结果表明该系统不仅能较好地检测出种子和重叠和丢失等情况，而且检测误差小于1mm，且完全可以不用粘胶带，即可检测出排种器性能。     

基于子域基函数的任意频率选择表面数值分析

频率选择表面的电磁散射特性问题是飞行器隐身技术中的重要研究内容.采用了谱域法和子域屋顶基函数相结合的方法对任意单元形状的周期结构进行分析.首先将单元划分成若干个小网格,每个网格上的电流密度用屋顶基函数表征,然后通过电流密度和散射场的关系以及边界条件,得到导体面上的感应电流,从而分析结构的反射和传输特性.同时给出了贴片型、环形和孔径型的仿真算例,分析了单元上的电流分布规律,并与仿真的结果进行比较分析,验证了方法的有效性和通用性.     

Ray casting implicit fractal surfaces with reduced affine arithmetic

A method is presented for ray casting implicit surfaces defined by fractal combinations of procedural noise functions. The method is robust and uses affine arithmetic to bound the variation of the implicit function along a ray. The method is also efficient due to a modification in the affine arithmetic representation that introduces a condensation step at the end of every non-affine operation. We show that our method is able to retain the tight estimation capabilities of affine arithmetic for ray casting implicit surfaces made from procedural noise functions while being faster to compute and more efficient to store.     

Topologically guaranteed bivariate solutions of under-constrained multivariate piecewise polynomial systems

We present a subdivision based algorithm to compute the solution of an under-constrained piecewise polynomial system of $n-2$ equations with $n$ unknowns, exploiting properties of B-spline basis functions. The solution of such systems is, typically, a two-manifold in ${\mathbb{R}}^n$. To guarantee the topology of the approximated solution in each sub-domain, we provide subdivision termination criteria, based on the (known) topology of the univariate solution on the domain’s boundary, and the existence of a one-to-one projection of the unknown solution on a two dimensional plane, in ${\mathbb{R}}^n$. We assume the equation solving problem is regular, while sub-domains containing points that violate the regularity assumption are detected, bounded, and returned as singular locations of small (subdivision tolerance) size. This work extends (and makes extensive use of) topological guarantee results for systems with zero and one dimensional solution sets. Test results in ${\mathbb{R}}^3$ and ${\mathbb{R}}^4$ are also demonstrated, using error-bounded piecewise linear approximations of the two-manifolds.     

Ratioquadrics: an alternative model for superquadrics

This paper presents a new family of 2D curves and its extension to 3D surfaces, respectively, calledrationconics andratioquadrics that have been designed as alternatives to the well-known superconics and superquadrics. This new model is intended as an improvement to the original one on three main points: first, it involves lower computation cost and provides better numerical robustness; second, it offers higher order continuities (C ¹/G ² orC ²/G ² instead ofC ⁰/G ⁰); and third, it provides a greater variety of shapes for the resulting curves and surfaces. All these improvements are obtained by replacing the signed power function involved in the formulation of superconics and superquadrics by linear or quadratic rational polynomials.     

Shrinkwrap: An efficient adaptive algorithm for triangulating an iso-surface

An algorithm is presented which generates a triangular mesh to approximate an iso-surface. It starts with a triangulation of a sphere and next applies a series of deformations to this triangulation to transform it into the required surface. These deformations leave the topology invariant, so the final iso-surface should be homeomorphic with a sphere. The algorithm is adaptive in the sense that the lengths of the sides of the triangles in the mesh vary with the local curvature of the underlying surface. A quantitative analysis of the accuracy of the algorithm is given along with an empirical comparison with earlier algorithms.     

移动对象查询研究进展

移动对象查询技术是目前数据库技术研究的热点。移动对象的查询处理技术不仅要追求高效率和高精确度,而且要充分考虑到现实可行性和不同维度空间的可拓展性。本文基于前人对移动对象查询的分类方法,根据移动对象查询的发展动态,将移动对象查询分为轨迹查询和坐标查询两大类;回顾了已有的各种查询处理方法,分析了各种方法的优缺点,并且基于方法间的继承性和互补性,为后续的查询研究提出了建议。     

Adaptive Sampling of Implicit Surfaces for Interactive Modelling and Animation

This paper presents a new adaptive sampling method for implicit surfaces that can be used in both interactive modelling and animation. The algorithm samples implicit objects composed of blending primitives and efficiently maintains this sampling over time, even when their topology changes (during fractures and fusions). It provides two complementary modes of immediate visualization: displaying “scales” lying on the surface, or a “primitive-wise” polygonization. The sampling method efficiently avoids unwanted blending between different parts of an object. Moreover, it can be used for partitioning an implicit surface into local bounding boxes that will accelerate collision detection during animation and ray-intersections during final rendering.     

类人足球机器人场上目标识别算法

在比赛过程中类人足球机器人的视觉系统需要对足球、球门以及对阵双方机器人进行识别. 考虑到算法的快速性及有效性,采用基于颜色信息的算法对球及球门进行识别,通过球及球门的颜色阈值提取图片中球与球门可能的位置,再由球与球门的背景色或面积信息确定球与球门的正确位置. 对双方机器人的识别,首先提取机器人的特征,然后通过在线实时的监督学习方法训练一组级联分类器,通过训练好的分类器对双方机器人进行检测. 实验表明算法能够快速有效地识别场上目标,且算法具有较好的鲁棒性.     

Grasp and Delivery for Moving Objects on Broken Lines

This paper studies the following variant of the Vehicle Routing Problem that we call the Grasp and Delivery for Moving Objects (GDMO) problem, motivated by robot navigation: The input to the problem consists of n products, each of which moves on a predefined path with a fixed constant speed, and a robot arm of capacity one. In each round, the robot arm grasps one product and then delivers it to the depot. The goal of the problem is to find a collection of tours such that the robot arm grasps and delivers as many products as possible. In this paper we prove the following results: (i) If the products move on broken lines with at least one bend, then the GDMO is MAXSNP-hard, and (ii) it can be approximated with ratio 2. However, (iii) if we impose the “straight line without bend” restriction on the motion of every product, then the GDMO becomes tractable. Y. Asahiro’s research was supported in part by Grant-in-Aid for Young Scientists 15700021, and Research on Priority Areas 16092223. E. Miyano’s research was supported in part by Grant-in-Aid for Research on Priority Areas 16092223. Presently, S. Shimoirisa is with the Software Development Engineering Department, Products Development Center, Retail Information Systems Company, Toshiba TEC Corporation.     

Kinetic Collision Detection for Convex Fat Objects

We design compact and responsive kinetic data structures for detecting collisions between n convex fat objects in 3-dimensional space that can have arbitrary sizes. Our main results are:

一种新的基于在线采样的多物体跟踪方法

跟踪多个运动物体,尤其是在遮挡过程中跟踪多个运动物体,是计算机视觉领域一个重要但具有挑战性的问题.该文提出了一种新的在线采样、更新学习和分类的跟踪框架来处理多物体跟踪问题.首先,对遮挡发生前若干帧的各物体进行块采样,作为训练样本进行在线分类器设计.各帧的物体区域也在线进行块采样,并用这些分类器来进行分类标号.如果遮挡没有发生,一些新的训练样本被添加用来更新分类器.当遮挡发生时,根据标号结果,前景区域被分割成多个目标物体.和以往方法相比,新方法不依赖于一些假设条件,如场景深度信息、物体的先验模型(比如形状、种类、区域内颜色各向同性、运动规律等),具有更好的适应能力.实验结果验证了该文方法的稳定性和有效性.