We propose a novel online multiple object tracker taking structure information into account. State-of-the-art multi-object tracking (MOT) approaches commonly focus on discriminative appearance features, while neglect in different levels structure information and the core of data association. Addressing this, we design a new tracker fully exploiting structure information and encoding such information into the cost function of the graph matching model. Firstly, a new measurement is proposed to compare the structure similarity of two graphs whose nodes are equal. With this measurement, we define a complete matching which performs association in high efficiency. Secondly, for incomplete matching scenarios, a structure keeper net (SKnet) is designed to adaptively establish the graph for matching. Finally, we conduct extensive experiments on benchmarks including MOT2015 and MOT17. The results demonstrate the competitiveness and practicability of our tracker.
The objective of this study is to develop a tri-rotor flying robot, which adopts the Y-shaped three-rotor structure. In order to balance the yaw torque produced by the three rotors, the RC servomotor and linkage is installed on the tail axis in order to improve the angle of the rolling axis of the tail motor. Moreover, through the torque generated by the horizontal component of the lift from the inclined motor on the tail axis, it balances the yaw torque of the three rotors. The dynamic equations of the tri-rotor flying robot are determined in this paper. The relationship between motor thrust, angular acceleration, and voltage input was also studied in this research. In order to study the effect of control parameters on the flight stability completely, this study develops a universal stability experimental platform to help tuning the control parameters safely. Based on this, the tri-rotor flying robot can rapidly change flying gesture and avoid oscillation. Finally, we conducted some indoor and outdoor flight tests. From the experimental results, the tri-rotor flying robot can fly and hover stably in the sky. 相似文献
In the presence of mixed micelle of a cationic and a nonionic surfactants,the reaction of scandium(Ⅲ)with phenylfluorone or its derivatives results in a very sensitive colouration:furthermore this chromophoricsystem tolerates the existence of a considerable amount of masking agents,so that many interfering ions can bemasked and its selectivity would be further improved.After studying the optimum conditions and main charac-ters of some similar systems,the system of Sc(Ⅲ)—Orthonitrophenyuorone—CetyltrimethylammoniumBromide(CTMAB)—Triton X-200 is chosen for the spectrophotometric determination of microamount ofscandium.The proposed method shows not only high sensitivity(with a molar absorptivity of 2.12×1~sLmol~(-1)·cm~(-1))and selectivity,but also high tolerance of chromophoric conditions.Beer's law is obeyed over arange of 0~6.0 μg Sc/25ml.If the dual-wavelength method is applied,a much higher molar absorptivity o|"3.04×10~5L·mol~(-1)·cm~(-1)than those of other systems ever reported in the literatures can be attained:more-over.its linear range is extended to 0~8.0 μg Sc/25ml and its reproducibility is also improved. 相似文献
Canavalia rosea (bay bean), distributing in coastal areas or islands in tropical and subtropical regions, is an extremophile halophyte with good adaptability to seawater and drought. Late embryogenesis abundant (LEA) proteins typically accumulate in response to various abiotic stresses, including dehydration, salinity, high temperature, and cold, or during the late stage of seed development. Abscisic acid-, stress-, and ripening-induced (ASR) genes are stress and developmentally regulated plant-specific genes. In this study, we reported the first comprehensive survey of the LEA and ASR gene superfamily in C. rosea. A total of 84 CrLEAs and three CrASRs were identified in C. rosea and classified into nine groups. All CrLEAs and CrASRs harbored the conserved motif for their family proteins. Our results revealed that the CrLEA genes were widely distributed in different chromosomes, and all of the CrLEA/CrASR genes showed wide expression features in different tissues in C. rosea plants. Additionally, we introduced 10 genes from different groups into yeast to assess the functions of the CrLEAs/CrASRs. These results contribute to our understanding of LEA/ASR genes from halophytes and provide robust candidate genes for functional investigations in plant species adapted to extreme environments. 相似文献
The optimum conditions for the extraction-chromatography by using 2-ethylhexyl-2-ethylhexyl-phosphonate resin to separate scandium(Ⅲ)from large amounts of other metal ions were reported.A me-thod for the separation and determination of microamount of scandium has been developed.This methodgives higher accuracy and reproducibility than solvent extraction with PMBP,especially,for the samplescontaining high content of titanium.Many shortcomings of other methods ever reported can be overcomeby the present method. 相似文献