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针对无先验地图条件下电力管廊无人机自主巡检能力不足的问题,本文提出了一种不依赖先验地图的无人机巡检方法。首先,无人机搭载激光雷达,通过SLAM(Simultaneous Localization and Mapping)算法进行实时场景构图,并基于RRT(Rapidly-exploring Random Tree)算法对构建的全局栅格地图进行边界搜索;其次,针对传统RRT算法难以判断环境地图完整性、保障巡检全面性的问题,提出了一种基于数字图像处理的边界检测方法。通过Canny算子对实时构建的地图进行边缘检测,并对地图进行完整性评估。最后,为验证本文提出方法的有效性,在江苏无锡处某220kV电力管廊的仿真模型中进行验证,分别采用RRT算法和本文改进算法进行自主巡检测试,结果表明本文提出的算法相比RRT算法可提升21.8%的巡检覆盖率。 相似文献
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By analyzing the extended X-ray absorption fine structure (EXAFS) of the Mo K-absorption edge, structural information for both oxidic and sulfided K-MoO3/-Al2O3 catalysts with different potassium content was obtained. The oxidic samples show two backscatterer peaks in the radial distribution function (RDF), which correspond to the Mo-O coordinations in the nearest Mo-O shell. The nearest oxygen atoms are present with large configurational disorder. The RDF for the K/Mo = 0 sample is significantly different from that for crystalline MoO3 and ammonium heptamolybdate. The RDFs for potassium promoted samples are, in some extent, similar to that for ammonium heptamolybdate. The sample with K/Mo = 0.8 and that with K/Mo=1.5 do not show obvious difference in their local Mo-O structures. The EXAFS results support the earlier conclusions from Raman spectroscopy studies on identical samples [7]. When the samples are sulfided, a rearrangement of the local neighbors around Mo atoms takes place, to form small MoS2-like crystallites. The Mo-S and Mo-Mo coordination distances on these catalysts are the same as those in crystalline MoS2, but the coordination numbers are significantly lower than in MoS2. The EXAFS results indicate that Mo species on the K/Mo=0 catalyst mainly consist of Mo-S-Mo units (the basic building units of MoS2), which are highly dispersed and show a higher level of disorder than in MoS2. With the modification by the potassium promoter, Mo species are significantly aggregated and their local neighbors are more similar to those in MoS2, but the Mo species still exist in a state of high dispersion. 相似文献
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Video frame-rate up-conversion is one of the common operations for tampering digital videos in the temporal domain, such as creating fake high-quality videos and splicing two video clips with different frame rates. However, few existing works have been proposed for detecting this form of tampering operation. Based on the analysis of extensive experiments, we found that frame-rate up-conversion algorithms employed in most current video editing softwares will inevitably introduce some periodic artifacts into inter-frame similarity in the resulting video frame sequence. By analyzing such artifacts, we propose a simple yet very effective method to expose video after frame-rate up-conversion, and further estimate its original frame rate. The experimental results evaluated on 100 original videos at different frame rates have shown the effectiveness of the proposed method. The average detection accuracy can achieve as high as 99 % on noise-free videos in uncompressed and H.264/AVC formats. Besides, the proposed method is robust to noise as the detection accuracy could reach over 85 % and 95 % on noised videos with Gaussian white noise when SNR is 33 db and 36 db respectively. 相似文献
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Qing Xie Chaoyi Pang Xiaofang Zhou Xiangliang Zhang Ke Deng 《The VLDB Journal The International Journal on Very Large Data Bases》2014,23(6):915-937
Given a time series data stream, the generation of error-bounded Piecewise Linear Representation (error-bounded PLR) is to construct a number of consecutive line segments to approximate the stream, such that the approximation error does not exceed a prescribed error bound. In this work, we consider the error bound in \(L_\infty \) norm as approximation criterion, which constrains the approximation error on each corresponding data point, and aim on designing algorithms to generate the minimal number of segments. In the literature, the optimal approximation algorithms are effectively designed based on transformed space other than time-value space, while desirable optimal solutions based on original time domain (i.e., time-value space) are still lacked. In this article, we proposed two linear-time algorithms to construct error-bounded PLR for data stream based on time domain, which are named OptimalPLR and GreedyPLR, respectively. The OptimalPLR is an optimal algorithm that generates minimal number of line segments for the stream approximation, and the GreedyPLR is an alternative solution for the requirements of high efficiency and resource-constrained environment. In order to evaluate the superiority of OptimalPLR, we theoretically analyzed and compared OptimalPLR with the state-of-art optimal solution in transformed space, which also achieves linear complexity. We successfully proved the theoretical equivalence between time-value space and such transformed space, and also discovered the superiority of OptimalPLR on processing efficiency in practice. The extensive results of empirical evaluation support and demonstrate the effectiveness and efficiency of our proposed algorithms. 相似文献