基于激光雷达的移动机器人定位和地图创建

针对未知环境下移动机器人定位和地图创建问题,提出了创建局部地图-机器人定位-更新全局地图的方法和步骤.利用激光雷达数据,采用"聚合-分割-聚合"的方法并运用动态阈值获得精确的局部地图.通过匹配局部地图和全局地图的线段关系,实现了机器人的定位,更新了机器人的位姿,减少了机器人的系统误差和环境误差,进而完成了全局地图的创建与更新.实验证明,此算法可以在实现机器人定位的同时获得精确的环境地图,并且有效的缩短了地图生成时间,可靠性高、实时性好.     

General Feature Extraction for Mapping and Localization of a Mobile Robot Using Sparsely Sampled Sonar Data

This study introduces a method of general feature extraction for building a map and localization of a mobile robot using only sparsely sampled sonar data. Sonar data are acquired by using a general fixed-type sensor ring that frequently provides false returns on the locations of objects. We first suggest a data association filter that can classify sets of sonar data that are associated with the same hypothesized feature into one group. A feature extraction method is then introduced to decide the exact geometric parameters of the hypothesized feature in the group. We also show the possibility of extracting a circle feature consistently as well as a line or a point feature by using the proposed filter. These features are then assembled to build a global map and applied to extended Kalman filter-based localization of the robot. We demonstrate the validity of the proposed filter with the results of mapping and localization produced by real experiments.     

一个可用于机器人定位的映射变换

在摄像机以某一角度俯拍地面的情形下,根据透视透影的成像原理,推导了一个从地面各点到摄像机图像间的变换公式,也得到了从摄像机图像中各点到地面的变换公式。只要知道世界坐标系中两个点之间的相对位置及其在摄像机图像的位置,就可以得到从摄像机图像到地面坐标系变换关系,这两个变换互为逆变换,它们可以在机器人定位及其他应用过程中发挥重要作用。     

基于区间数聚类的无线传感器网络定位方法

在基于接收信号强度指示(Received signal strength indicator, RSSI) 测距的无线传感器网络(Wireless sensor network, WSN)定位方法应用过程中, 信号强度与对应通信距离的对数成线性关系的假设在实际无线通信环境下几乎不能满足, 从而导致定位误差较大. 针对此问题, 本文首先利用区间数表示方法结合实际定位环境中RSSI数据的统计信息表示RSSI的分布区域, 并采用区间数聚类方法实现距离估计, 以减小由于RSSI值不确定性引起的距离估计误差, 然后利用这些距离估计值实现基于测距的WSN定位方法. 采用三种实际通信环境下RSSI测量数据完成的定位实验结果表明, 本文提出的基于区间数聚类RSSI-通信距离(RSSI-D)估计的定位方法可有效地提高定位精度.     

基于对抗生成网络的缺陷定位模型域数据增强方法

缺陷定位获取并分析测试用例集的运行信息, 从而度量出各个语句为缺陷的可疑性. 测试用例集由输入域数据构建, 包含成功测试用例和失败测试用例两种类型. 由于失败测试用例在输入域分布不规律且比例很低, 失败测试用例数量往往远少于成功测试用例数量. 已有研究表明, 少量失败测试用例会导致测试用例集出现类别不平衡问题, 严重影响着缺陷定位有效性. 为了解决这个问题, 提出基于对抗生成网络的缺陷定位模型域数据增强方法. 该方法基于模型域(即缺陷定位频谱信息)而非传统输入域(即程序输入), 利用对抗生成网络合成覆盖最小可疑集合的模型域失败测试用例, 从模型域上解决类别不平衡的问题. 实验结果表明, 所提方法大幅提升了11种典型缺陷定位方法的效能.     

移动机器人同步定位与地图构建研究进展

同步定位与地图构建（Simultaneous localization and mapping, SLAM）作为能使移动机器人实现全自主导航的工具近来倍受关注.本文对该领域的最新进展进行综述,特别侧重于一些旨在降低计算复杂度的简化算法的分析上,同时对它们进行分类,并指出其优点和不足.本文首先建立了SLAM问题的一般模型,指出了解决SLAM问题的难点;然后详细分析了基于EKF的一些简化算法和基于其他估计思想的方法;最后,对于多机器人SLAM和主动SLAM等前沿课题进行了讨论,并指出了今后的研究方向.     

Simultaneous Localization and Mapping Using Rao-Blackwellized Particle Filters in Multi Robot Systems

In this paper we investigate the problem of Simultaneous Localization and Mapping (SLAM) for a multi robot system. Relaxing some assumptions that characterize related work we propose an application of Rao-Blackwellized Particle Filters (RBPF) for the purpose of cooperatively estimating SLAM posterior. We consider a realistic setup in which the robots start from unknown initial poses (relative locations are unknown too), and travel in the environment in order to build a shared representation of the latter. The robots are required to exchange a small amount of information only when a rendezvous event occurs and to measure relative poses during the meeting. As a consequence the approach also applies when using an unreliable wireless channel or short range communication technologies (bluetooth, RFId, etc.). Moreover it allows to take into account the uncertainty in relative pose measurements. The proposed technique, which constitutes a distributed solution to the multi robot SLAM problem, is further validated through simulations and experimental tests.     

基于ENVISAT-MERIS数据的过火区制图方法研究

森林或草原在发生火灾后,过火区内的植被层在近红外波段的反射率通常要比健康植被低,利用光学遥感数据的近红外波段和红光波段可以探测出植被层的反射率在大气上界的明显变化。对过火区域的提取是利用卫星数据进行测算森林或草原火灾过火面积的关键技术之一。根据实验区内近年来发生的多次重特大森林或草原火灾,在对ENVISAT\|MERIS数据中典型地物光谱特征进行分析的基础上,分别采用图像处理方法、植被指数法和面向对象的图像分析方法对过火区制图方法进行对比研究。研究结果表明,通过面向对象的图像分析方法获得的过火区域,可以较好地适用于过火区面积的估测,该方法是一项实现定量提取过火区域的行之有效的方法。     

Supporting Efficient Record Linkage for Large Data Sets Using Mapping Techniques

This paper describes an efficient approach to record linkage. Given two lists of records, the record-linkage problem consists of determining all pairs that are similar to each other, where the overall similarity between two records is defined based on domain-specific similarities over individual attributes. The record-linkage problem arises naturally in the context of data cleansing that usually precedes data analysis and mining. Since the scalability issue of record linkage was addressed in [21], the repertoire of database techniques dealing with multidimensional data sets has significantly increased. Specifically, many effective and efficient approaches for distance-preserving transforms and similarity joins have been developed. Based on these advances, we explore a novel approach to record linkage. For each attribute of records, we first map values to a multidimensional Euclidean space that preserves domain-specific similarity. Many mapping algorithms can be applied, and we use the Fastmap approach [16] as an example. Given the merging rule that defines when two records are similar based on their attribute-level similarities, a set of attributes are chosen along which the merge will proceed. A multidimensional similarity join over the chosen attributes is used to find similar pairs of records. Our extensive experiments using real data sets show that our solution has very good efficiency and recall. Part of this article was published in [28]. In addition to the prior materials, this article contains more analysis, a complete proof, and more experimental results that were not included in the original paper.     

基于分布式感知的移动机器人同时定位与地图创建

为了创建大规模环境的精确栅格地图,提出一种基于分布式感知的两层同时定位与地图创建（SLAM）算法．在局部层,机器人一旦进入了一个新的摄像头视野,便依据机器人本体上的激光和里程计信息,采用Rao-Blackwellized粒子滤波方法创建一个新的局部栅格地图．与此同时,带有检测标志的机器人在摄像头视野内以曲线方式运动,以解决该摄像头的标定问题．在全局层,一系列的局部地图组成一个连接图,局部地图间的约束对应于连接图的边．为了生成一个准确且全局一致的环境地图,采用随机梯度下降法对连接图进行优化．实验结果验证了所提算法的有效性．     

基于ALOS PALSAR数据的热带森林制图技术研究

热带森林地区生物量占全球森林总生物量的40%,对于维护全球碳平衡具有重要的意义。为了给热带森林的变化监测提供有效的基础数据,采用面向对象分类方法,基于K&C(Kyoto and Carbon)PALSAR正射校正合成产品数据,研究了利用多尺度分割、特征提取及规则集建立等方法进行热带森林制图。结果表明:极化比值(HV/HH)对森林较敏感,所采用的分类方法能够很好地识别出森林,两个时相的分类结果也能够清楚地反映森林的变化情况。     

移动机器人基于激光测距和单目视觉的室内同时定位和地图构建

该文研究了部分结构化室内环境中自主移动机器人同时定位和地图构建问题.基于激光和视觉传感器模型的不同,加权最小二乘拟合方法和非局部最大抑制算法被分别用于提取二维水平环境特征和垂直物体边缘.为完成移动机器人在缺少先验地图支持的室内环境中的自主导航任务,该文提出了同时进行扩展卡尔曼滤波定位和构建具有不确定性描述的二维几何地图的具体方法.通过对于SmartROB-2移动机器人平台所获得的实验结果和数据的分析讨论,论证了所提出方法的有效性和实用性.     

An Entropy Optimization Strategy for Simultaneous Localization and Mapping

We present a novel algorithm for simultaneous localization and mapping via application of entropy on construction of segment-based maps. Entropy has been incorporated in SLAM to enhance its sensitivity and robustness in presence of non-Gaussian uncertainties and disturbances. The kernel density estimator is employed to approximate the probability appearance of samples directly from sensor data. An entropy based robust estimator is then designed to extract reliable parameters of the line segment from the environment. Rao–Blackwellized particle filter is also adopted to estimate the pose of the robot and update the map simultaneously. Simulations and experiments results validate the effectiveness and accuracy of the proposed approach.     

A Modified Particle Filter for Simultaneous Localization and Mapping

The implementation of a particle filter (PF) for vision-based bearing-only simultaneous localization and mapping (SLAM) of a mobile robot in an unstructured indoor environment is presented in this paper. Variations, using techniques from the genetic algorithm (GA), to standard PF procedures are proposed to alleviate the sample impoverishment problem. A monochrome CCD camera mounted on the robot is used as the measuring device and a measure on the image quality is incorporated into data association and PF update. Since the bearing-only measurement does not contain range information, we add a pseudo range to the measurement during landmark initialization as a hypothesised pair and the non-promising landmark is removed by a map management strategy. Simulation and experimental results from an implementation using real-life data acquired from a Pioneer robot are included to demonstrate the effectiveness of our approach.     

一个映射变换及其在机器人定位中的应用

在摄像机以某一角度俯拍地面的情形下,推导了一个从地面各点到摄像机图象间的变换公式,也得到了从摄像机图象中各点到地面的变换公式。这两个变换互为逆变换。给出了变换实例。利用这两个变换进行了机器人定位,得到了一种机器人定位的新方法,给出了实验结果。     

A Calculus for Data Mapping

Technologies for overcoming heterogeneities between autonomous data sources are key in the emerging networked world. In this paper we discuss the initial results of a formal investigation into the underpinnings of technologies for alleviating structural heterogeneity. At the core of structural heterogeneity is the data mapping problem: discovering effective mappings between structured representations of data. Automating the discovery of these mappings is one of the fundamental unsolved challenges for data interoperability, integration, and sharing. We introduce a novel data model and calculus for expressing data mappings between relational data sources, laying the ground for a better understanding of the data mapping problem. This research uncovers several new safety issues in data mapping languages. We discuss ongoing investigations of syntactic and semantic restrictions on the calculus to deal with these issues.     

利用MODIS数据计算中国地表短波净辐射通量的研究

地表短波净辐射是辐射能量的重要收入部分,对研究地表辐射平衡、地气能量交换以及各种天气气候的形成都具有决定性的意义.目前国际上利用卫星数据计算地表短波净辐射大多采用空间分辨率较低的宽通道反照率数据(如ERBE卫星数据,空间分辨率为35km),这难以满足局部尺度的能量平衡和蒸散等研究的需要.本文利用空间分辨率达1km的窄通道多光谱MODIS卫星数据,通过相关处理计算,无需气象数据和地面测量数据的参与,就获得了中国的地表短波净辐射通量分布图.经与禹城地区地面实测数据对比可知,晴空时均方根误差小于20 W/m2,有云时均方根误差小于35 W/m2,表明本文使用的地表短波净辐射反演方法适合中国范围地表短波净辐射的计算.     

移动机器人同时定位与地图创建研究进展

对移动机器人的同时定位与地图创建􀁫(Simultaneous Localization and Mapping)的最新研究进行了综述.指出SLAM 面临的问题,介绍了SLAM的基本实现方法.通过对各种改进的SLAM实现方法的性能对比,详尽地分析了如何降低SLAM的复杂度、提高SLAM的鲁棒性等关键技术问题,同时对多机器人协作的SLAM也进行了论述.探讨了SLAM的研究与发展方向.􀁱     

有色量测噪声下机器人同步定位与地图构建

针对有色量测噪声模型,提出一种有色量测噪声下的轮式机器人同步定位与地图构建算法。通过重新组合轮式机器人的过程模型和量测模型,将有色量测噪声量测模型转化为虚拟的白噪声量测模型。为使过程噪声和量测噪声不相关,对过程模型进行不相关条件处理。算法按照构造的虚拟过程模型和量测模型进行滤波估计和地图构建。仿真结果验证了算法的一致性和鲁棒性。     

EO-1 Hyperion数据的预处理、特征提取和岩性填图研究

EO-1 Hyperion传感器是第一个可以获取可见光与近红外以及短波红外波长范围光谱信息的星载高光谱传感器。本文以美国最早的金矿采矿区之一,加利福尼亚州东南巧克力山的Rainbow金矿区作为研究案例,探讨了Hyperion数据的预处理方法,专题信息提取与填图,评估了Hyperion高光谱数据在识别与金矿有关的岩性类型的应用价值。结果表明,本文所提出的Hyperion数据预处理方法是有效的,MNF方法能有效用于Hyperion数据维数的降低和数据冗余的去除以及分类特征的提取。最大似然分类器能够有效地从Hyperion高光谱数据中提取与金矿相关的重要岩体信息,所得到的岩性单元与地质图上对应的岩性分布具有很好的一致性。岩体分类的总精度为86%。该研究表明,Hyperion高光谱数据能够很好识别有细微光谱差别的岩性,因而在地质学研究与找矿领域有着良好的应用前景。