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.     

基于互信息F统计量特征选择技术的地基气象云图分类

在地基气象云图的云状(云类)识别研究中,基于局部二值模式(Local Binary Pattern,LBP)描述子的特征选择技术由于它的简单性和有效性成为最通用的方法.然而,LBP特征的高维特性使得云状识别的性能和计算开销不能令人满意.为此,本文提出一种基于互信息构造的F检验统计量的LBP特征选择算法,可以实现高维LBP特征的有效降维,同时保证云状识别的准确性,极大减少了特征选择过程的计算开销.     

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.     

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。     

超声左心耳图像的轮廓自动提取

针对经食道超声左心耳图像的分辨率低、对比度低、含有斑点噪声等问题,提出了一种结合左心耳解剖位置和超声图像灰度及相位信息的方法,全自动定位常规切片中的左心耳。首先,根据医生采集习惯,以左心耳在标准切面中的解剖位置为先验知识,结合其灰度特性,自动确定分割模型中的初始轮廓;然后,通过线型加权相位和梯度信息构造新的外力项,改进向量场卷积模型,完成左心耳轮廓的自动提取。300张左心耳超声图片测试结果表明,以医生手动勾勒的轮廓作为“金标准”,该方法自动提取左心耳的准确性为0.8969 0.0494、敏感性为0.9058 0.0762、特异性为0.9645 0.1687。分割效果优于传统的向量场卷积模型,能够解决自动定位超声图像中左心耳的初始轮廓和弱边界分割的问题。     

立体图像对亮度差异对立体视融合的影响研究

针对具有亮度差异的立体图像对如何影响立体融合,提出了对不同亮度差异的立体图像对识别融合的影响范围。通过8名被试对亮度差异分别为0,10,20,30,40,50,60,70,80,90的立体图像对融合识别的反应时和正确率进行分析,给出了亮度差异对立体视融合的定量影响范围。结果表明:反应时随着亮度差异的增大逐渐增加,但识别正确率逐渐降低。亮度差异为20以下,立体识别可达到较好的识别效果,反应时较短并且正确率很高。当亮度差异介于20~60之间,反应时急剧增加,正确率稍有降低。但当亮度差异达到60以上,不仅反应时急剧增加,而且正确率急剧降低,达到很难识别的程度。     

微波暗室中基于开关切换的动态干扰仿真方法

为了准确实时复现航空通信系统数据链路中复杂电磁空间环境,本文进行了动态干扰仿真．在静态暗室中设计一种能模拟真实飞行过程抗干扰的半实物仿真系统,并分析了航空通信系统数据链路的特性.在微波暗室中复现动态干扰时,通过微波仪表的控制实现电磁空间环境动态干扰的映射构建．采用参数化模型表征技术实时建立相应的动态干扰模型,并利用最小均方值方法设计出与其匹配的干扰切换的输出算法,利用动静结合的方法仿真实现了微波暗室中通过静态喇叭模拟动态干扰模拟功能.验证结果表明,采用本文的方法能够逼真的反映飞行器在真实环境下所受动态干扰的影响,该仿真系统的研究对提高航空通信系统数据链路的抗干扰性能具有参考意义．     

基于灰度图像的秘密分享方案

目前像素的扩展问题成为可视秘密分享方案的重要问题。利用布尔运算给出一个可视的秘密分享方案,并且没有像素的扩展,恢复出的秘密图像质量很好。