多源融合SLAM的现状与挑战

同时定位与地图构建(simultaneous localization and mapping,SLAM)技术在过去几十年中取得了惊人的进步,并在现实生活中实现了大规模的应用。由于精度和鲁棒性的不足,以及场景的复杂性,使用单一传感器(如相机、激光雷达)的SLAM系统往往无法适应目标需求,故研究者们逐步探索并改进多源融合的SLAM解决方案。本文从3个层面回顾总结该领域的现有方法:1)多传感器融合(由两种及以上传感器组成的混合系统,如相机、激光雷达和惯性测量单元,可分为松耦合、紧耦合);2)多特征基元融合(点、线、面、其他高维几何特征等与直接法相结合);3)多维度信息融合(几何、语义、物理信息和深度神经网络的推理信息等相融合)。惯性测量单元和视觉、激光雷达的融合可以解决视觉里程计的漂移和尺度丢失问题,提高系统在非结构化或退化场景中的鲁棒性。此外,不同几何特征基元的融合,可以大大减少有效约束的程度,并可为自主导航任务提供更多的有用信息。另外,数据驱动下的基于深度学习的策略为SLAM系统开辟了新的道路。监督学习、无监督学习和混合监督学习等逐渐应用于SLAM系统的各个模块,如相对姿势估计、地图表...     

单幅人脸图像的全景纹理图生成方法

目的针对从单幅人脸图像中恢复面部纹理图时获得的信息不完整、纹理细节不够真实等问题,提出一种基于生成对抗网络的人脸全景纹理图生成方法。方法将2维人脸图像与3维人脸模型之间的特征关系转换为编码器中的条件参数,从图像数据与人脸条件参数的多元高斯分布中得到隐层数据的概率分布,用于在生成器中学习人物的头面部纹理特征。在新创建的人脸纹理图数据集上训练一个全景纹理图生成模型,利用不同属性的鉴别器对输出结果进行评估反馈,提升生成纹理图的完整性和真实性。结果实验与当前最新方法进行了比较,在Celeb A-HQ和LFW(labled faces in the wild)数据集中随机选取单幅正面人脸测试图像,经生成结果的可视化对比及3维映射显示效果对比,纹理图的完整度和显示效果均优于其他方法。通过全局和面部区域的像素量化指标进行数据比较,相比于UVGAN,全局峰值信噪比(peak signal to noise ratio,PSNR)和全局结构相似性(structural similarity index,SSIM)分别提高了7.9 d B和0.088,局部PSNR和局部SSIM分别提高了2.8 d B和0...     

着装场景下双分支网络的人体姿态估计

目的 人体姿态估计旨在识别和定位不同场景图像中的人体关节点并优化关节点定位精度。针对由于服装款式多样、背景干扰和着装姿态多变导致人体姿态估计精度较低的问题,本文以着装场景下时尚街拍图像为例,提出一种着装场景下双分支网络的人体姿态估计方法。方法 对输入图像进行人体检测,得到着装人体区域并分别输入姿态表示分支和着装部位分割分支。姿态表示分支通过在堆叠沙漏网络基础上增加多尺度损失和特征融合输出关节点得分图,解决服装款式多样以及复杂背景对关节点特征提取干扰问题,并基于姿态聚类定义姿态类别损失函数,解决着装姿态视角多变问题;着装部位分割分支通过连接残差网络的浅层特征与深层特征进行特征融合得到着装部位得分图。然后使用着装部位分割结果约束人体关节点定位,解决服装对关节点遮挡问题。最后通过姿态优化得到最终的人体姿态估计结果。结果 在构建的着装图像数据集上验证了本文方法。实验结果表明,姿态表示分支有效提高了人体关节点定位准确率,着装部位分割分支能有效避免着装场景中人体关节点误定位。在结合着装部位分割优化后,人体姿态估计精度提高至92.5%。结论 本文提出的人体姿态估计方法能够有效提高着装场景下的人体姿态...     

动态书法墨迹的可回溯感评测

目的 可回溯感是艺术欣赏和临摹时产生的一种审美感受,即在审美过程中想象地再现原作的创作行为,是书法艺术凸显的审美心理现象。在计算机书法的研究中,鲜有研究以动画效果增强书法可回溯感,且缺少关于可回溯感的量化评估方法。因此,本文结合心理感知实验提出可回溯感的测评方法,并探究动态墨迹效果对书法作品可回溯感的影响。方法 首先将可回溯感分解为两种心理因素:顺序感和运动感。然后针对动态书法形式应用粒子动画制作7种不同墨迹效果,并设计心理感知实验对书法作品的可回溯感进行测量,即对选定标记点的运笔顺序进行排列以及对其运笔方向和相对速率进行估计。最后比较原作和动态书法可回溯感的差异,分析动态墨迹对书法作品可回溯感的影响。结果 实验结果证明测评方法是可行的,并发现恰当运用动态墨迹效果,即沿笔迹流动的墨迹动画,可以改进作品的运动感、显著增强顺序感以及提升可回溯感,反之则不能。若混入逆向流动墨迹效果,会削弱其提升顺序感的效用,但减弱的程度与正逆向墨迹的比例并非线性关系。结论 运笔顺序和笔触运动感知的评测方法可以有效量化视觉艺术品的可回溯感,为书法欣赏和临摹过程的研究提供实证方法。动态墨迹的设计也可用于增进书法...     

COSMO-SAC法筛选环戊烷/新己烷分离萃取剂及过程模拟

利用COSMO-SAC溶剂化模型,计算了无限稀释条件下,几种常见卤代烷烃、环烷醇对环戊烷和新己烷的分离选择性.结果表明,三氯丙烷的表面屏蔽电荷主要在非极性区域分布,同时具有一定的氢键供体能力,展现出对环戊烷和新己烷较好的理论分离能力.将其COSMO-SAC模型参数带入AspenPlus软件,对三氯丙烷萃取精馏分离环戊烷...     

An LDMOS with large SOA and low specific on-resistance

An LDMOS with nearly rectangular-shape safe operation area (SOA) and low specific on-resistance is proposed. By utilizing a split gate, an electron accumulation layer is formed near the surface of the n-drift region to improve current conduction capability during on-state operation. As a result, the specific on-resistance can be lowered down to 74.7 mΩ·cm² for a 600 V device from simulation. Furthermore, under high-voltage and high-current conditions, electrons and holes flow as majority carriers in the n-drift region and p-type split gate, respectively. Due to charge compensation occurring between holes and electrons, the local electric field is reduced and impact ionization is weakened in the proposed device. Therefore, a higher on-state breakdown voltage at large V_GS is obtained and snap-back is suppressed as well.     

A Universal Platform for Macromolecular Deliveryinto Cells Using Gold Nanoparticle Layers via the Photoporation Effect

Although promising, it is challenging to develop a simple and universal method for the high‐efficiency delivery of biomacromolecules into diverse cells. Here, a universal delivery platform based on gold nanoparticle layer (GNPL) surfaces is proposed. Upon laser irradiation, GNPL surfaces show such good photothermal properties that absorption of the laser energy causes a rapid increase in surface temperature, leading to enhanced membrane permeability of the cultured cells and the diffusion of macromolecules into the cytosol from the surrounding medium. The high‐efficiency delivery of different macromolecules such as dextran and plasmid DNA into different cell types is achieved, including hard‐to‐transfect mouse embryonic fibroblasts (mEFs) and human umbilical vein endothelial cells (HUVECs), while cell viability is well maintained under optimized irradiation conditions. The platform vastly outperforms the leading commercial reagent, Lipofectamine 2000, especially in transfecting hard‐to‐transfect cell lines (plasmid transfection efficiency: ≈53% vs ≈19% for mEFs and ≈44% vs ≈8% for HUVECs). Importantly, as the gold nanoparticles (GNPs) constituting the GNPL are firmly immobilized together, the potential cytotoxicity caused by endocytosis of GNPs is effectively avoided. This platform is reliable, efficient, and cost‐effective with high‐throughput and broad applicability across different cell types, opening up an innovative avenue for high‐efficiency intracellular delivery.     

开鲁盆地陆西凹陷早白垩世地层构造演化及勘探潜力

开鲁盆地陆西凹陷经历多期构造运动,构造复杂多样,针对该区构造演化规律不清的问题,运用构造解析、层序地层学等研究方法,通过地震剖面分析和相干体切片技术,明确了陆西凹陷早白垩世断裂体系与构造演化过程及油气成藏模式。研究结果表明：早白垩世以来,陆西凹陷构造样式主要包括半地堑构造样式、滚动背斜构造样式、断块构造样式。依据构造样式形成时间可划分出4个构造演化时期：初始裂陷期(九佛堂下段沉积期)、沉降拗陷期(九佛堂上段沉积期)、稳定沉降期(沙海组沉积期)、回返萎缩期(阜新组沉积期)。研究结果认为,早期形成的断块型圈闭和晚期压扭性构造运动为构造圈闭成藏的主控因素,沉降坳陷期发育的多期扇体为油气成藏提供储集空间,多期次构造运动有利于油气运移和大规模构造油气藏的形成。研究结果为确定陆西凹陷东陡坡的有利勘探方向提供了依据和指导。     

Structural Basis for the Improved Potency of Peroxisome Proliferator‐Activated Receptor (PPAR) Agonists

The need to develop safer and more effective antidiabetic drugs is essential owing to the growth worldwide of the diabetic population. Targeting the PPAR receptor is one strategy for the treatment of diabetes; the PPAR agonists rosiglitazone and pioglitazone are already on the market. Here we report the identification of a potent PPAR agonist, 15 , whose PPARγ activation was more than 20 times better than that of rosiglitazone. Compound 15 was designed to incorporate an indole head with a carboxylic acid group, and 4‐phenylbenzophenone tail to achieve a PPARγ EC₅₀ of 10 nM . Compound 15 showed the most potent PPARγ agonist activity among the compounds we investigated. To gain molecular insight into the improved potency of 15 , a structural biology study and binding energy calculations were carried out. Superimposition of the X‐ray structures of 15 and agonist 10 revealed that, even though they have the same indole head part, they adopt different conformations. The head part of 15 showed stronger interactions toward PPARγ; this could be due to the presence of the novel tail part 4‐phenylbenzophenone, which could enhance the binding efficiency of 15 to PPARγ.     

Polarized differential-phase laser scanning microscope

A polarized differential-phase laser scanning microscope, which combines a polarized optical heterodyne Mach-Zehnder interferometer and a differential amplifier to scan the topographic image of a surface, is proposed. In the experiment the differential amplifier, which acts as a PM-AM converter in the experiment, converting phase modulation (PM) into amplitude modulation (AM). Then a novel, to our knowledge, phase demodulator was proposed and implemented for the differential-phase laser scanning microscope. An optical grating (1800 lp/mm) was imaged. The lateral and the depth resolutions of the imaging system were 0.5 mum and 1 nm, respectively. The detection accuracy, which was limited by the reflectivity variation of the test surface, is discussed.