适用于高精度同时定位与地图构建的均衡化亚像素ORB特征提取方法

在视觉同时定位与地图构建问题中,ORB(Oriented FAST and Rotated BRIEF)特征由于其高效、稳定的优点而受到广泛关注。针对ORB特征提取过程中存在的像点量测精度较低、特征聚集现象明显等问题,提出了一种适用于高精度SLAM的均衡化亚像素ORB特征提取方法。分析了精确特征定位的原理,对误差方程进行合理的简化并采用一种基于模板窗口距离的权函数计算方法,大幅降低了计算负担;设计了一种基于四叉树结构的特征均衡化方案,对包含特征的像平面空间进行有限次数的迭代分割,然后选取具有最优响应的特征。试验表明,本文方法进行特征提取的额外计算负担小于2.5 ms,在运行TUM和KITTI数据集时,ORB特征的量测精度分别为0.84和0.62 Pixel,达到亚像素水平,可以降低误差初值,提高光束法平差效率,并能够在满足特征总体分布规律的情况下,显著改善特征聚集的现象,有利于后续问题的稳健、准确求解。     

基于单目视觉直线跟踪的SLAM实现

同时定位和地图生成问题(SLAM)是移动机器人的一个基本问题,有着广阔的应用背景.由于视觉传感器具有成本低、信息丰富的特点,是当前SLAM问题研究的一个热点.针对视觉传感器视野小、远距离观测精度低的问题,提出了一种基于直线跟踪的单目视觉SLAM算法.该算法通过对直线特征的近距离观测和跟踪,保证了定位的精度和地图生成的效率.在Pioneer3dx机器人平台上进行的实验研究表明,该算法尤其适合于结构化环境几何地图的构建.     

A normal boundary intersection approach to multiresponse robust optimization of the surface roughness in end milling process with combined arrays

Robust parameter design (RPD) has recently been applied in modern industries in a large deal of processes. This technique is occasionally employed as a multiobjective optimization approach using weighted sums as a trade-off strategy; in such cases, however, a considerable number of gaps have arisen. In this paper, the use of normal boundary intersection (NBI) method coupled with mean-squared error (MSE) functions is proposed. This approach is capable of generating equispaced Pareto frontiers for a bi-objective robust design model, independent of the relative scales of the objective functions. To verify the adequacy of this proposal, a central composite design (CCD) is developed with combined arrays for the AISI 1045 steel end milling process. In this case study, a CCD with three noise factors and four control factors are used to create the mean and variance equations for MSE of two quality characteristics. The numerical results indicate the NBI-MSE approach is capable of generating a convex and equispaced Pareto frontier to MSE functions of surface roughness, thus nullifying the drawbacks of weighted sums. Moreover, the results show that the achieved optimum lessens the sensitivity of the end milling process to the variability transmitted by the noise factors.