Multi-sensor calibration through iterative registration and fusion

In this paper, a new multi-sensor calibration approach, called iterative registration and fusion (IRF), is presented. The key idea of this approach is to use surfaces reconstructed from multiple point clouds to enhance the registration accuracy and robustness. It calibrates the relative position and orientation of the spatial coordinate systems among multiple sensors by iteratively registering the discrete 3D sensor data against an evolving reconstructed B-spline surface, which results from the Kalman filter-based multi-sensor data fusion. Upon each registration, the sensor data gets closer to the surface. Upon fusing the newly registered sensor data with the surface, the updated surface represents the sensor data more accurately. We prove that such an iterative registration and fusion process is guaranteed to converge. We further demonstrate in experiments that the IRF can result in more accurate and more stable calibration than many classical point cloud registration methods.     

计算机辅助外科手术空间配准技术的研究

医学图像和实际手术空间的配准问题是计算机辅助外科手术技术的一个重要的研究热点,它能够帮助医生选择最佳手术路径和减小手术损伤,实现手术的方便快捷和微创,提高手术成功率。主要研究了一种基于ICP算法的计算机辅助外科手术中空间配准技术,通过获取实验模型的空间坐标信息,进行点集配准,找到最优旋转矩阵和最优平移向量。并通过仿真实验给出了模拟的配准结果,仿真试验结果表明,ICP算法配准精度高,适用于计算机辅助外科手术。     

Function point measurement from Web application source code based on screen transitions and database accesses

A function point (FP) is a unit of measurement that expresses the degree of functionality that an information system provides to a user. Many software organizations use FPs to estimate the effort required for software development. However, it is essential that the definition of 1 FP be based on the software development experience of the organization. In the present study, we propose a method by which to automatically extract data and transaction functions from Web applications under several conditions using static analysis. The proposed method is based on the International Function Point Users Group (IFPUG) method and has been developed as an FP measurement tool. We applied the proposed method to several Web applications and examined the difference between FP counts obtained by the tool and those obtained by a certified FP specialist (CFPS). The results reveal that the numbers of data and transaction functions extracted by the tool is approximately the same as the numbers of data and transaction functions extracted by the specialist.     

The thin plate spline robust point matching (TPS-RPM) algorithm: A revisit

This paper reviews the TPS-RPM algorithm (Chui and Rangarajan, 2003) for robustly registering two sets of points and demonstrates from a theoretical point of view its inherent limited performance when outliers are present in both point sets simultaneously. A double-sided outlier handling approach is proposed to overcome this limitation with a rigorous mathematical proof as the underlying theoretical support. This double-sided outlier handling approach is proved to be equivalent to the original formulation of the point matching problem. For a practical application, we also extend the TPS-RPM algorithms to non-rigid image registration by registering two sets of sparse features extracted from images. The intensity information of the extracted features are incorporated into feature matching in order to reduce the impact from outliers. Our experiments demonstrate the double-sided outlier handling approach and the efficiency of intensity information in assisting outlier detection.     

Analyzing the structure of a class of linear automata over a ring $$ Z_{p^k } $$

Basic finite-automaton characteristics are established for the class of all linear automata and information-lossless automata over a ring. The complexities of solving problems of parametric identification and initial-state identification are analyzed. The sets of fixed points for mappings realized by initial automata are characterized. Canonical forms are proposed for linear automata over the ring. __________ Translated from Kibernetika i Sistemnyi Analiz, No. 3, pp. 60–74, May–June 2008.     

Flow patterns in gas-assisted injection molding process in a channel

The flow field of a long bubble steadily expelling a viscous fluid confined by two closely located parallel plates is examined. In order to investigate the influence of bubble size on the flow field, a theoretical bubble profile is used to replace the complicated procedure for computing simultaneously the interface between the gas surface and fluid flows. The present study showed the two typical flow patterns and also a third flow pattern of the stagnation point moving in the region of the bubble tip front during transformation of the two typical flow patterns. The vorticity patterns are also drawn for various bubble profiles and are examined for their effect on the flow. The velocity field is also presented from two different viewpoints and the phenomena is examined. The stagnation point located on the center line between the bubble tip to the upstream is only found in the small range of in a channel, where λ is ratio of the bubble width to the distance between two parallel plates.     

一种通用的数据类型——十进制浮点数

为智能仪表提供一种“十进制浮点数”,其特点是值域宽、值准确,它能代替整、长整型、三字节浮点数、四字节浮点数、BCD码数。用它通信可简化和统一仪表的通信协议,为制定仪表通用通信协议标准创造条件。     

GPS定位技术在灌区调查中的应用

GPS定位技术日益成熟,在很多领域已得到了广泛应用。文中主要简介说明GPS技术原理与特点,针对工程实践中调查灌区的实际情况存在灌区面积大、渠系长、渠系建筑物多、渠道实际完成不连续的特点,采用传统的测量方法已无法满足快速而准确的调查要求,因此应用GPS定位技术与之比较,同时也验证了新技术的高效性和准确性。     

Robust joint modeling of mean and dispersion through trimming

The Maximum Likelihood Estimator (MLE) and Extended Quasi-Likelihood (EQL) estimator have commonly been used to estimate the unknown parameters within the joint modeling of mean and dispersion framework. However, these estimators can be very sensitive to outliers in the data. In order to overcome this disadvantage, the usage of the maximum Trimmed Likelihood Estimator (TLE) and the maximum Extended Trimmed Quasi-Likelihood (ETQL) estimator is recommended to estimate the unknown parameters in a robust way. The superiority of these approaches in comparison with the MLE and EQL estimator is illustrated by an example and a simulation study. As a prominent measure of robustness, the finite sample Breakdown Point (BDP) of these estimators is characterized in this setting.     

一个二阶非线性中立时滞微分方程的正解

研究了一个二阶非线性中立时滞微分方程,给出了关于此方程正解存在的一些充分条件,其优点在于省略了对任意的a〉0,aQ1（t）-Q2（t）都是最终非负的限制条件。最后通过数值例子说明研究结果的优越性。