餐厅服务机器人的引导探索

对于在餐厅、家庭或类似环境下工作的移动式服务机器人,能准确的引导到指定的工作位置是机器人设计的一个重要环节.针对这个问题,提出一种基于超声波引导的三角定位法解决方案.用低成本传感器和简单的算法使服务机器人能够获得较高精度的当前位置数据,引导到达工作位置.文章详细介绍了该方法的定位原理以及实现方法.     

基于灭点理论和平面控制场的相机标定方法研究

给出了一种基于灭点理论和平面控制场的相机解析自标定方法。在系统分析平面场景灭点几何的基础上,依据灭点理论并结合2维场景的共线方程严密论证和推导了平面控制场中相机外方位元素初值的实用算法。给出了一种圆形标志点的快速检测及定位方法,提出了一种基于计算可靠性矩阵QVVP的自检校光束法平差中各类观测值权值的确定方法。实验证明了该相机标定方法的正确性和有效性,为相机标定探索了一种可行的方法。     

噪声对基于不同梯度算子的ICG算法的影响

反向合成梯度算法是一种基于局部指向性的反向合成图像对齐算法,能有效克服光照变化对匹配结果准确性的影响。局部指向性的计算在本质上是梯度的计算,可以用不同的梯度算子求解。该文采用4种梯度算子计算局部指向性,通过给输入图像和模板图像中加入噪声模拟实际图像,研究了噪声对基于4种梯度算子的反向合成梯度算法的影响。     

一种自适应车牌图像定位新方法

针对不同尺寸车牌图像的定位问题,提出了一种新的自适应车牌定位方法.该方法首先根据车牌区域的共性来提取图像的纵向边缘;然后由车牌区纵向纹理和边缘密度等特征,采用一系列步骤自适应去除干扰边缘来保留类车牌特征区域;最后通过横向形态学运箅使类车牌区闭合,以有效地克服以往形态学结构元素难以随车牌尺寸变化自适应选取的问题;同时提出了根据场景实际情况,选用灰度调整和颜色来判别模块的观点.通过实际场景中大量车牌样本的验证结果表明,该算法不仅准确率较高,而且自适应性良好,具有实用价值.     

一种用于指纹方向场估计的网格插值模型

指纹方向场的估计是指纹识别预处理算法中的重要环节,对算法识别效率起到关键作用。本文提出了一种网格插值模型,该模型以指纹奇异点为中心,将指纹平面做网格划分,利用插值算法建立了方向场与指纹奇异点之间的非线性关系。模型中利用了指纹的全局信息来调整网格点的值,使得它与传统的基于局部信息的方向场算法有本质的区别。在FVC2002 和FVC2004 指纹数据库上的实验结果表明,该模型比传统算法具有更高的准确性和鲁棒性,同时对于低质量的指纹图像,仍然能够给出很好的方向场估计。     

基于图像质量分区的指纹特征提取

低质量指纹图像的特征提取和变形指纹的匹配是当前指纹识别研究中的两个主要问题。很多算法在特征提取时不区分高、低质量区域,结果在高质量区域耗费了过多的运算时间和计算资源。本文提出了一种基于图像质量分区的指纹特征提取方法,先用一种简单的图像区域质量计算方法评价各区域的图像质量,然后对高质量区域直接从灰度图像跟踪纹线、提取节点,对低质量区域执行传统的方向计算、增强、二值化和细化后提取特征。实验结果表明,该方法不仅提高了特征提取的速度,在准确性上也有所提高。     

论景观艺术设计学科教学研究

景观艺术设计是一门建立在广泛的人文与艺术学科和自然学科基础上的应用性学科。学科的发展正处于探索阶段,从学科观念、学科性质、学科目标到学科实践主体范围均缺少系统性,明确性和指向性,本文就该学科的学科特点、学科理念以及景观艺术设计实践主体进行了系统的论述。     

Five-axis tool path generation for a flat-end tool based on iso-conic partitioning

Traditionally, for the flat-end tool, due to the intertwined dependence relationship between its axis and reference point, most 5-axis tool-path generation algorithms take a decoupled two-stage strategy: first, the so-called cutter contact (CC) curves are placed on the part surface; then, for each CC curve, tool orientations are decided that will accommodate local and/or global constraints such as minimum local gouging and global collision avoidance. For the former stage, usually simplistic “offset” methods are adopted to determine the cutter contact curves, such as the iso-parametric or iso-plane method; whereas for the latter, a common practice is to assign fixed tilt and yaw angle to the tool axis regardless the local curvature information and, in the case of considering global interference, the tool orientation is decided solely based on avoiding global collision but ignoring important local machining efficiency issues. This independence between the placement of CC curves and the determination of tool orientations, as well as the rigid way in which the tilt and yaw angle get assigned, incurs many undesired problems, such as the abrupt change of tool orientations, the reduced efficiency in machining, the reduced finishing surface quality, the unnecessary dynamic loading on the machine, etc. In this paper, we present a 5-axis tool-path generation algorithm that aims at alleviating these problems and thus improving the machining efficiency and accuracy. In our algorithm, the CC curves are contour lines on the part surface that satisfy the iso-conic property — the surface normal vectors on each CC curve fall on a right small circle on the Gaussian sphere, and the tool orientations associated to a CC curve are determined by the principle of minimum tilt (also sometimes called lead) angle that seeks fastest cutting rate without local gouging. Together with an elaborate scheme for determining the step-over distance between adjacent CC curves that seeks maximum material removal, the presented algorithm offers some plausible advantages over most existing 5-axis tool-path generation algorithms, particularly in terms of reducing the angular velocity and acceleration of the rotary axes of the machine. The simulation experiments of the proposed algorithm and their comparison with a leading commercial CAM software toolbox are also provided that demonstrate the claimed advantages.     

Part Orientation Optimization in Three Dimensional Printing

Part orientation is one of the important factors in manufacturing with three dimensional printing (3DP) of rapid prototyping system. The minimum building time, being achieved by the part’s minimum building height and minimum width in 3DP’s y direction, is set as the objective of optimizing the part orientation. Genetic algorithm is adopted to find the minimum building height of parts and then ergodic searching is used to get the minimum width of part in y direction. A corresponding program for optimizing pa...     

基于方向信息测度的非线性扩散图像去噪方法

在研究非线性扩散方法图像去噪的基础上,针对非线性系数扩散问题,提出了应用图像方向信息控制扩散系数的非线性扩散方法,该方法利用方向信息测度来表征图像的区域性质,不仅降低了噪声的干扰,而且克服了其他方法必须先进行高斯卷积的影响,并有效控制了各点的扩散行为。实验结果证明该方法是可行的,该方法在图像去噪的同时保持了图像的重要特征,取得比较理想的效果。