无线传感器网络标识解析的系统设计

无线传感器网络WSN技术的不断发展及其应用范围的不断扩大暴露了WSN以数据为中心的局限性。因此,通过为传感节点分配身份标识符,用于在全球范围内唯一标识该节点,并使节点在WSN中的身份得以确认,以满足应用和管理的需求,显得尤为重要。首先提出了一种无线传感器网络标识解析的整体架构,并通过对网关硬件设计与整个系统的软件设计,完成了传感节点身份标识符与其在WSN内部通信地址的相互映射,进而实现了对传感节点应用属性的追溯与管理。最后,通过在智能家居环境中的应用对该系统的有效性进行了验证。     

Map Reduce inspired loop mapping for coarse-grained reconfigurable architecture

Our work investigates how to map loops efficiently onto Coarse-Grained Reconfigurable Architecture （CGRA）. This paper examines the properties of CGRA and builds MapReduce inspired models for the loop parallelization problem. The proposed model has a more detailed performance metric and a more flexible unrolling scheme that can unroll different loop levels with different factors. A Geometric Programming based approach is proposed to resolve the optimization problem of loop parallelization problem. The proposed approach can find the optimal unrolling factor for each level loop, resulting in better parallelization of loops. Experimental results show that the proposed approach achieved up to 44% performance gain compared to the state-of-the-art loop mapping scheme.     

基于点线特征融合的视觉惯性SLAM算法

针对目前视觉SLAM方法鲁棒性差、耗时高,使系统定位不够精确的问题,提出了一种基于点线特征融合的视觉惯性SLAM算法。首先通过短线剔除和近似线段合并策略改进LSD（line segment detection）提取质量,以提高线特征检测的速率和准确度;然后在后端优化中有效融合了点、线和IMU数据,建立最小化目标函数进行优化,得到更精确的相机位姿;最后在EuRoC数据集和现实走廊场景进行了实验验证。实验表明,所提算法可以有效提升线特征提取的质量和速度,同时有效提高了SLAM系统的定位精度,获得更为丰富的点线结构地图。     

语义线特征辅助的动态SLAM

动态环境干扰是视觉同时定位与地图构建（simultaneous localization and mapping,SLAM）领域内一个亟待解决的问题,场景中的运动对象会严重影响系统定位精度。结合语义信息和几何约束更强的线特征辅助基于传统ORB特征的SLAM系统来解决动态SLAM问题。首先采用深度学习领域的优秀成果SOLOv2作为场景分割网络,并赋予线特征语义信息;完成物体跟踪和静态区域初始化后,使用mask金字塔提取并分类特征点;再使用极线约束完成动态物体上点线特征的剔除;最后融合静态点线特征完成位姿的精确估计。在TUM动态数据集上的实验表明,提出的系统比ORB-SLAM3的位姿估计精度提高了72.20％,比DynaSLAM提高了20.42％,即使与近年来同领域内的优秀成果相比也有较好的精度表现。     

An homogeneous space geometry for simultaneous localisation and mapping

Simultaneous Localisation and Mapping (SLAM) is the archetypal chicken and egg problem: Localisation of a robot with respect to a map requires an estimate of the map, while mapping an environment from data acquired by a robot requires an estimate of the robot localisation. The nonlinearity and co-dependence of the SLAM problem has made it an ongoing research problem for more than thirty years. The present paper details recent advances in understanding the SLAM problem, specifically the existence of an underlying geometry and symmetry structure that provides significant insight into the difficulties that have plagued many SLAM algorithms. To demonstrate the power of the geometric insight we derive a constant gain observer for the SLAM problem that; that does not depend on linearisation, has globally asymptotically stable error dynamics, is very robust, and operates in dynamic environments (estimating the landmark velocities as states in the observer).     

基于IMU与激光雷达紧耦合的混合匹配算法

针对线、面特征匹配的激光雷达测距与地图构建算法(Lightweight and Ground-Optimized Lidar Odometry And Mapping,LeGO-LOAM)在自动导引运输车(Automated Guided Vehicle,AGV)室内室外实时建图与定位时,易出现激光里程计累积误差大和旋转估计不准确等问题,本工作采用惯性测量单元(Inertial Measurement Unit,IMU)与激光雷达紧耦合的LeGO-LOAM算法,通过IMU为激光雷达提供的初始位姿信息,构建IMU与激光雷达联合误差函数,实现位姿共同迭代优化.其中,对于室外结构化信息较少时,在点对点的迭代最近点算法(Iterative Closest Point,ICP)较高定位精度的基础上,结合LeGO-LOAM算法和ICP算法互补性,进一步提出基于IMU与激光雷达紧耦合的混合匹配算法:当环境中结构信息较多时,激光里程计采用LeGO-LOAM算法,而当环境中结构化信息较少时采用ICP算法.实验结果表明,基于IMU与激光雷达紧耦合的混合匹配算法可有效降低激光里程计相对位姿误差和累积误差,提高AGV小车定位精度以消除部分地图重影.     

What localizes beneath: A metric multisensor localization and mapping system for autonomous underground mining vehicles

Robustly and accurately localizing vehicles in underground mines is particularly challenging due to the unavailability of GPS, variable and often poor lighting conditions, visual aliasing in long tunnels, and airborne dust and water. In this paper, we present a novel, infrastructure‐less, multisensor localization method for robust autonomous operation within underground mines. The proposed method integrates with existing mine site commissioning and operation procedures and includes both an offline map‐building process and an online localization algorithm. The approach combines the strengths of visual‐based place recognition, LIDAR‐based localization, and odometry in a particle filter fusion process. We provide an extensive experimental validation using new large data sets acquired in two operational Australian underground hard‐rock mines (including a 600m‐deep multilevel mine with approximately 33 km of mapping data and 7 km of vehicle localization) by actual mining vehicles during production operations. We demonstrate a significant increase in localization accuracy over prior state‐of‐the‐art SLAM research systems and real‐time operation, with processing times in the order of 10 Hz. We present results showing a mean error of 0.68 m from the Queensland Mine data set and 1.32 m from the New South Wales Mine data set and at least 86% reduction in error compared with prior state of the art. We also analyze the impact of the particle filter parameters with respect to localization accuracy. Together this study represents a new approach to positioning systems for currently deployed autonomous vehicles within underground mine environments.     

多通信方式下的配电通信网融合管理信息模型

为了实现电网配电通信网融合管理,提高优质服务和运维管理能力,本文研究了在扁平化管理模式下的配电通信网的多源、多通信方式的智能管理技术,建立了基于粒子群算法的混合网络的资源映射模型.将WMN和PLC两个不同类型的网络映射到同一个物理网络上,对其安排不同的工作任务,发挥各自网络的优势和特点,将更多的子载波用于业务吞吐上,提高业务吞吐量.对新建立的模型进行仿真验证,通过与遗传算法的比较,证明本文的算法具有明显的优势.     

一种基于MPS的图像重建方法

提出了一种利用多点地质统计法实现图像重建的方法.由于传统基于线性降维的多点地质统计法不能有效处理非线性数据,因此引入等距特征映射以实现非线性数据的降维,并利用条件数据以提高重建图像的质量.实验证明,该方法有利于提高图像重建的有效性.     

对称式基坑渗流涌水量的计算方法

随着地铁、越江隧道等地下工程的日益增多,涌现出了大量的对称式基坑。基于共形映射理论,推导了对称式基坑涌水量计算表达式,并对其计算参数进行分析。研究表明,对称式基坑的单宽涌水量与渗透系数、基坑内外水头差成正比,与（相对）隔水层层顶到坑底的距离和基坑两侧止水帷幕间距的比值、止水帷幕嵌固深度和（相对）隔水层层顶到坑底距离的比值、基坑内外水头差和（相对）隔水层层顶到坑底距离的比值成反相关。