传统视觉即时定位与建图(SLAM)算法若无回环检测可能会存在累积误差无法消除的现象,即使有回环检测,也因准确率和效率比较低而无法应用于轻量级设备上,为此,研究一种回环检测优化的视觉SLAM算法.前端估计时,对相邻帧图像进行ORB(oriente...传统视觉即时定位与建图(SLAM)算法若无回环检测可能会存在累积误差无法消除的现象,即使有回环检测,也因准确率和效率比较低而无法应用于轻量级设备上,为此,研究一种回环检测优化的视觉SLAM算法.前端估计时,对相邻帧图像进行ORB(oriented fast and rotated brief)特征提取与匹配,对匹配成功的特征点进行PnP(perspective-n-point)求解,获得相机运动估计并筛选出关键帧图像;后端优化时,利用SqueezeNet卷积神经网络(CNN)提取图像的特征向量,计算余弦相似度判断是否出现回环,若出现回环则在位姿图中增加相应约束,利用图优化理论对全局位姿进行整体优化;最后利用项目组制作的数据集和TUM(technical university of munich)公开数据集进行测试与对比.研究结果表明:相比于无回环检测算法,本文方法可以成功检测到回环并为全局轨迹优化增添约束;相比于传统词袋法,在回环检测准确率相同的情况下,本文方法召回率可提高21%且计算耗时减少74%;与RGB-D(red green blue-depth)SLAM算法相比,本文方法建图误差可降低29%.展开更多
With the purpose of making calculation more efficient in practical hydraulic simulations, an improved algorithm was proposed and was applied in the practical water distribution field. This methodology was developed by...With the purpose of making calculation more efficient in practical hydraulic simulations, an improved algorithm was proposed and was applied in the practical water distribution field. This methodology was developed by expanding the traditional loop-equation theory through utilization of the advantages of the graph theory in efficiency. The utilization of the spanning tree technique from graph theory makes the proposed algorithm efficient in calculation and simple to use for computer coding. The algorithms for topological generation and practical implementations are presented in detail in this paper. Through the application to a practical urban system, the consumption of the CPU time and computation memory were decreased while the accuracy was greatly enhanced compared with the present existing methods.展开更多
LDPC codes are finding increasing use in applications requiring reliable and highly efficient information transfer over bandwidth. An LDPC code is defined by a sparse parity-check matrix and can be described by a bipa...LDPC codes are finding increasing use in applications requiring reliable and highly efficient information transfer over bandwidth. An LDPC code is defined by a sparse parity-check matrix and can be described by a bipartite graph called Tanner graph. Loops in Tanner graph prevent the sum-product algorithm from converging. Further, loops, especially short loops, degrade the performance of LDPC decoder, because they affect the independence of the extrinsic information exchanged in the iterative decoding. This paper, by graph theory, deduces cut-node tree graph of LDPC code, and depicts it with matrix. On the basis of tree matrix algorithm, whole depictions of loops can be figured out, providing of foundation for further research of relations between loops and LDPC codes’ performance.展开更多
为了高效地译码,需要构造没有短环的LDLC(Low Density Lattice Codes)校验矩阵。应用一种基于子集矩阵的方法,在子集矩阵中去除4环及6环,然后结合Tanner图,得到需要的校验矩阵。利用子集矩阵,计算复杂度与码长无关并且没有新的短环生成...为了高效地译码,需要构造没有短环的LDLC(Low Density Lattice Codes)校验矩阵。应用一种基于子集矩阵的方法,在子集矩阵中去除4环及6环,然后结合Tanner图,得到需要的校验矩阵。利用子集矩阵,计算复杂度与码长无关并且没有新的短环生成,使用该方法可以灵活地构造各种码长的LDLC码。仿真结果表明,在高斯白噪声信道下,与只去除了4环的LDLC码相比,应用该方法去除了6环以后,译码性能具有较大提高。展开更多
文摘传统视觉即时定位与建图(SLAM)算法若无回环检测可能会存在累积误差无法消除的现象,即使有回环检测,也因准确率和效率比较低而无法应用于轻量级设备上,为此,研究一种回环检测优化的视觉SLAM算法.前端估计时,对相邻帧图像进行ORB(oriented fast and rotated brief)特征提取与匹配,对匹配成功的特征点进行PnP(perspective-n-point)求解,获得相机运动估计并筛选出关键帧图像;后端优化时,利用SqueezeNet卷积神经网络(CNN)提取图像的特征向量,计算余弦相似度判断是否出现回环,若出现回环则在位姿图中增加相应约束,利用图优化理论对全局位姿进行整体优化;最后利用项目组制作的数据集和TUM(technical university of munich)公开数据集进行测试与对比.研究结果表明:相比于无回环检测算法,本文方法可以成功检测到回环并为全局轨迹优化增添约束;相比于传统词袋法,在回环检测准确率相同的情况下,本文方法召回率可提高21%且计算耗时减少74%;与RGB-D(red green blue-depth)SLAM算法相比,本文方法建图误差可降低29%.
文摘With the purpose of making calculation more efficient in practical hydraulic simulations, an improved algorithm was proposed and was applied in the practical water distribution field. This methodology was developed by expanding the traditional loop-equation theory through utilization of the advantages of the graph theory in efficiency. The utilization of the spanning tree technique from graph theory makes the proposed algorithm efficient in calculation and simple to use for computer coding. The algorithms for topological generation and practical implementations are presented in detail in this paper. Through the application to a practical urban system, the consumption of the CPU time and computation memory were decreased while the accuracy was greatly enhanced compared with the present existing methods.
文摘LDPC codes are finding increasing use in applications requiring reliable and highly efficient information transfer over bandwidth. An LDPC code is defined by a sparse parity-check matrix and can be described by a bipartite graph called Tanner graph. Loops in Tanner graph prevent the sum-product algorithm from converging. Further, loops, especially short loops, degrade the performance of LDPC decoder, because they affect the independence of the extrinsic information exchanged in the iterative decoding. This paper, by graph theory, deduces cut-node tree graph of LDPC code, and depicts it with matrix. On the basis of tree matrix algorithm, whole depictions of loops can be figured out, providing of foundation for further research of relations between loops and LDPC codes’ performance.
文摘为了高效地译码,需要构造没有短环的LDLC(Low Density Lattice Codes)校验矩阵。应用一种基于子集矩阵的方法,在子集矩阵中去除4环及6环,然后结合Tanner图,得到需要的校验矩阵。利用子集矩阵,计算复杂度与码长无关并且没有新的短环生成,使用该方法可以灵活地构造各种码长的LDLC码。仿真结果表明,在高斯白噪声信道下,与只去除了4环的LDLC码相比,应用该方法去除了6环以后,译码性能具有较大提高。
