地形三维可视化的实现与应用

文中讨论了地形三维可视化的原理，详细介绍了高级编程语言与OpenGL结合开发环境下的地形三维可视化的计算机实现过程。在此基础之上，讨论了基于GRID DEM的应用分析功能的实现,包括等高线、坡度图、通视分析以及淹没分析。为三维地形可视化的实施提出了有效的方案。     

小波分析在三维地形数据简化中的应用研究

研究了小波分析在三维地形数据简化中的应用。在分析了小波多分辨率分析理论的基础上,重点探讨了小波多分辨率分析理论在三维地形简化中的应用,提出了实现三维地形数据简化的一种新的方法。     

Rough Terrain Autonomous Mobility—Part 1: A Theoretical Analysis of Requirements

A basic requirement of autonomous vehicles is that of guaranteeing the safety of the vehicle by avoiding hazardous situations. This paper analyses this requirement in general terms of real-time response, throughput, and the resolution and accuracy of sensors and computations. Several nondimensional expressions emerge which characterize requirements in canonical form.The automatic generation of dense geometric models for autonomously navigating vehicles is a computationally expensive process. Using first principles, it is possible to quantify the relationship between the raw throughput required of the perception system and the maximum safely achievable speed of the vehicle. We derive several useful expressions for the complexity of terrain mapping perception under various assumptions. All of them can be reduced to polynomials in the response distance.The significant time consumed by geometric perception degrades real-time response characteristics. Using our results, several strategies of active geometric perception arise which are practical for autonomous vehicles and increasingly important at higher speeds.     

基于复杂地形上三角网数字地面模型的建立

本文提出了一种生成三角网数字地面模型的新方法，它首先利用凸多边形的性质与凸锥的特性来将离散点连成一三角网，计算工作特别快速有效；其次在三角网形成过程中，能将特征信息线作为三角形的边参加构网并采用了优化手段来优化三角网的现状。该方法能有效地限制狭长三角形的出现，并使生成的三角网能密贴地面，真实反映出地表形状。与其它算法相比，该方法具有思路简单明了、成网速度快、编程容易及成网质量高的特点。实际应用表明     

Distributed Cooperative Outdoor Multirobot Localization and Mapping

The subject of this article is a scheme for distributed outdoor localization of a team of robots and the use of the robot team for outdoor terrain mapping. Localization is accomplished via Extended Kalman Filtering (EKF). In the distributed EKF-based scheme for localization, heterogeneity of the available sensors is exploited in the absence or degradation of absolute sensors aboard the team members. The terrain mapping technique then utilizes localization information to facilitate the fusion of vision-based range information of environmental features with changes in elevation profile across the terrain. The result is a terrain matrix from which a metric map is then generated. The proposed algorithms are implemented using field data obtained from a team of robots traversing an uneven outdoor terrain.     

Research on Constructing Contours from Regular Terrain Grids Containing Invalid Data

A new method for constructing contours from complicated terrain elevation grids containing invalid data is put forward. By using this method, the topological consistency of contours in groups can be maintained effectively and the contours can be drawn smoothly based on boundaries pre-searching and local correction. An experimental example is given to demonstrate that the contours constructed by this method are of good quality.     

基于Kriging插值的数字地图生成算法研究

提出基于Kriging法进行水深数据插值形成规则网格数字高程模型的算法,对海底数字地图的模拟具有重要参考价值,是海底地形匹配定位技术研究的关键.数字仿真结果证明该算法可行.     

A compact spark pre-ionized pulser sustainer TE-CO<Subscript>2</Subscript> laser

A compact spark pre-ionized pulser sustainer TE-CO₂ laser that can produce an output energy of one joule with an overall efficiency of 12.4% is presented. Optical pulses have durations of 7.15 μs FWHM. Here, the laser uses all solid-state excitation (ASSE) circuit and the discharge formed between two uniform field electrodes placed 1.5 cm apart ultimately leads to a discharge volume of 50 cm × 1.5 cm × 1.5 cm     

基于嵌入式系统的EFIS三维地形软件设计

在EFIS软件上进行三维地形的显示,能使飞行员快速直观地了解到飞机当前的态势和飞行前方的地形,从而及时做出反应。EFIS是典型的嵌入式系统,在其上进行真实感三维处理,必须在有限的系统资源和复杂的图形算法之间进行折衷。该文采用基于视相关的格网地形数据结构,降低了对系统内存的需求。在此基础上采用简化的三维处理系统,在嵌入式操作系统上设计了投影、变换、消隐等模块,实现了三维地形的实时显示,提高了飞行员对态势的感知度。     

A novel approach for coal seam terrain prediction through information fusion of improved D–S evidence theory and neural network

In order to effectively and accurately forecast the distribution of coal seam terrain, a novel prediction approach through information fusion of improved D–S evidence theory and neural network was proposed. An improved strategy based on confidence level was presented for evidence theory to reduce the conflicts between evidences and enhance the fusion effect. Moreover, BPAs function was constructed reasonably through extracting weights from preliminary prediction values of four neural networks, and the flowchart of proposed approach was designed. Furthermore, a simulation example was provided and some comparisons with other fusion prediction methods were carried out. The simulation example and comparison results indicated that the proposed approach was feasible, high-precision and outperforming others. Finally, an industrial application example of mining automation production was demonstrated to specify the effect of proposed system.