This paper describes a new approach to mobile robot position estimation, based on principal component analysis of laser range data. An eigenspace is constructed from the principal components of a large number of range data sets. The structure of an environment, as seen by a range sensor, is represented as a family of surfaces in this space. Subsequent range data sets from the environment project as a point in this space. Associating this point to the family of surfaces gives a set of candidate positions and orientations (poses) for the sensor. These candidate poses correspond to positions and orientations in the environment which have similar range profiles. A Kalman filter can be used to select the most likely candidate pose based on coherence with small movements.
The first part of this paper describes how a relatively small number of depth profiles of an environment can be used to generate a complete eigenspace. This space is used to build a representation of the range scan profiles obtained from a regular grid of positions and orientations (poses). This representation has the form of a family of surface (a manifold). This representation converts the problem of associating a range profile to possible positions and orientations into a table lookup. As a side benefit, the method provides a simple means to detect obstacles in a range profile. The final section of the paper reviews the use of estimation theory to determine the correct pose hypothesis by tracking. 相似文献
The nonindependent components of couple data require data-analytic strategies tailored to the interpersonal processes occurring between relationship partners. This article examines the benefits of a specifically dyadic analytic method, the actor-partner interdependence model (APIM), for evaluating interpartner influence across time. Both conceptual and methodological features of the APIM are exemplified by applying this model to observations of negative and positive affect and global distress in spouses participating in a randomized trial of couple therapy. In addition to elucidating specific advantages of the APIM relative to alternative data-analytic strategies, the current results shed new light on previous findings from a comparative treatment outcome study evaluating behavioral and insight-oriented approaches to couple therapy. (PsycINFO Database Record (c) 2010 APA, all rights reserved) 相似文献
Approaches are described for image acquisition and playback for 3-D computer graphics, 3-D television and 3-D theatre movies without special glasses. Projection lamps, spatial light modulators, CRTs and dynamic scanning are all eliminated by the application of an active image array, all static components and a semispecular screen. The resulting picture shows horizontal parallax with a wide horizontal view field (up to 360°), giving a holographic appearance in full colour with smooth, continuous viewing without speckle. Static component systems are compared with dynamic component systems using both linear and circular arrays. Computer graphic systems are shown, which allow complex shaded colour images to extend from the viewer's eyes to infinity. Large screen systems visible by hundreds of people are feasible by the use of low f-stops and high-gain screens in projecttion. Screen geometries and special screen properties are shown. 相似文献