A great number of visual simultaneous localization and mapping(VSLAM)systems need to assume static features in the environment.However,moving objects can vastly impair the performance of a VSLAM system which relies on...A great number of visual simultaneous localization and mapping(VSLAM)systems need to assume static features in the environment.However,moving objects can vastly impair the performance of a VSLAM system which relies on the static-world assumption.To cope with this challenging topic,a real-time and robust VSLAM system based on ORB-SLAM2 for dynamic environments was proposed.To reduce the influence of dynamic content,we incorporate the deep-learning-based object detection method in the visual odometry,then the dynamic object probability model is added to raise the efficiency of object detection deep neural network and enhance the real-time performance of our system.Experiment with both on the TUM and KITTI benchmark dataset,as well as in a real-world environment,the results clarify that our method can significantly reduce the tracking error or drift,enhance the robustness,accuracy and stability of the VSLAM system in dynamic scenes.展开更多
To tackle the problem of simultaneous localization and mapping(SLAM) in dynamic environments, a novel algorithm using landscape theory of aggregation is presented. By exploiting the coherent explanation how actors for...To tackle the problem of simultaneous localization and mapping(SLAM) in dynamic environments, a novel algorithm using landscape theory of aggregation is presented. By exploiting the coherent explanation how actors form alignments in a game provided by the landscape theory of aggregation, the algorithm is able to explicitly deal with the ever-changing relationship between the static objects and the moving objects without any prior models of the moving objects. The effectiveness of the method has been validated by experiments in two representative dynamic environments: the campus road and the urban road.展开更多
Structural health monitoring is widely utilized in outdoor environments,especially under harsh conditions,which can introduce noise into the monitoring system.Therefore,designing an effective denoising strategy to enh...Structural health monitoring is widely utilized in outdoor environments,especially under harsh conditions,which can introduce noise into the monitoring system.Therefore,designing an effective denoising strategy to enhance the performance of guided wave damage detection in noisy environments is crucial.This paper introduces a local temporal principal component analysis(PCA)reconstruction approach for denoising guided waves prior to implementing unsupervised damage detection,achieved through novel autoencoder-based reconstruction.Experimental results demonstrate that the proposed denoising method significantly enhances damage detection performance when guided waves are contaminated by noise,with SNR values ranging from 10 to-5 dB.Following the implementation of the proposed denoising approach,the AUC score can elevate from 0.65 to 0.96 when dealing with guided waves corrputed by noise at a level of-5 dB.Additionally,the paper provides guidance on selecting the appropriate number of components used in the denoising PCA reconstruction,aiding in the optimization of the damage detection in noisy conditions.展开更多
Path planning of a mobile robot in the presence of multiple moving obstacles is found to be a complicated problem.A planning algorithm capable of negotiating both static and moving obstacles in an unpredictable(on-lin...Path planning of a mobile robot in the presence of multiple moving obstacles is found to be a complicated problem.A planning algorithm capable of negotiating both static and moving obstacles in an unpredictable(on-line)environment is proposed.The proposed incremental algorithm plans the path by considering the quadrants in which the current positions of obstacles as well as target are situated.Also,the governing equations for the shortest path are derived.The proposed mathematical model describes the motion(satisfying constraints of the mobile robot)along a collision-free path.Further,the algorithm is applicable to dynamic environments with fixed or moving targets.Simulation results show the effectiveness of the proposed algorithm.Comparison of results with the improved artificial potential field(iAPF)algorithm shows that the proposed algorithm yields shorter path length with less computation time.展开更多
Ocean satellites have realized multi-satellite networked operation.The HY-1D satellite launched in June 2020 realized networked with HY-1C satellite,and completed the construction of ocean color satellite constellatio...Ocean satellites have realized multi-satellite networked operation.The HY-1D satellite launched in June 2020 realized networked with HY-1C satellite,and completed the construction of ocean color satellite constellation.The HY-2D satellite launched in May 2021 is networked with the on orbit HY-2B and HY-2C satellites to complete the construction of marine dynamic environment satellite constellation.The 1 mC-SAR satellite 01 launched in November 2021 is networked with GF-3,which initially forms the marine monitoring satellite constellation.This year,the networking of 1 mC-SAR satellite 02 with satellite 01 and GF-3 is realized,and the construction of marine monitoring satellite constellation is completed.At present,the ocean satellites have the operational application capabilities of remote sensing investigation,monitoring,evaluation and supervision of marine ecology,marine disaster prevention and reduction,global oceans and Polar Regions,Sea Islands,rights and interests maintenance.展开更多
基金the National Natural Science Foundation of China(No.61671470).
文摘A great number of visual simultaneous localization and mapping(VSLAM)systems need to assume static features in the environment.However,moving objects can vastly impair the performance of a VSLAM system which relies on the static-world assumption.To cope with this challenging topic,a real-time and robust VSLAM system based on ORB-SLAM2 for dynamic environments was proposed.To reduce the influence of dynamic content,we incorporate the deep-learning-based object detection method in the visual odometry,then the dynamic object probability model is added to raise the efficiency of object detection deep neural network and enhance the real-time performance of our system.Experiment with both on the TUM and KITTI benchmark dataset,as well as in a real-world environment,the results clarify that our method can significantly reduce the tracking error or drift,enhance the robustness,accuracy and stability of the VSLAM system in dynamic scenes.
基金Project(XK100070532)supported by Beijing Education Committee Cooperation Building Foundation,China
文摘To tackle the problem of simultaneous localization and mapping(SLAM) in dynamic environments, a novel algorithm using landscape theory of aggregation is presented. By exploiting the coherent explanation how actors form alignments in a game provided by the landscape theory of aggregation, the algorithm is able to explicitly deal with the ever-changing relationship between the static objects and the moving objects without any prior models of the moving objects. The effectiveness of the method has been validated by experiments in two representative dynamic environments: the campus road and the urban road.
基金National Science Foundation of Zhejiang under Contract(LY23E010001)。
文摘Structural health monitoring is widely utilized in outdoor environments,especially under harsh conditions,which can introduce noise into the monitoring system.Therefore,designing an effective denoising strategy to enhance the performance of guided wave damage detection in noisy environments is crucial.This paper introduces a local temporal principal component analysis(PCA)reconstruction approach for denoising guided waves prior to implementing unsupervised damage detection,achieved through novel autoencoder-based reconstruction.Experimental results demonstrate that the proposed denoising method significantly enhances damage detection performance when guided waves are contaminated by noise,with SNR values ranging from 10 to-5 dB.Following the implementation of the proposed denoising approach,the AUC score can elevate from 0.65 to 0.96 when dealing with guided waves corrputed by noise at a level of-5 dB.Additionally,the paper provides guidance on selecting the appropriate number of components used in the denoising PCA reconstruction,aiding in the optimization of the damage detection in noisy conditions.
文摘Path planning of a mobile robot in the presence of multiple moving obstacles is found to be a complicated problem.A planning algorithm capable of negotiating both static and moving obstacles in an unpredictable(on-line)environment is proposed.The proposed incremental algorithm plans the path by considering the quadrants in which the current positions of obstacles as well as target are situated.Also,the governing equations for the shortest path are derived.The proposed mathematical model describes the motion(satisfying constraints of the mobile robot)along a collision-free path.Further,the algorithm is applicable to dynamic environments with fixed or moving targets.Simulation results show the effectiveness of the proposed algorithm.Comparison of results with the improved artificial potential field(iAPF)algorithm shows that the proposed algorithm yields shorter path length with less computation time.
文摘Ocean satellites have realized multi-satellite networked operation.The HY-1D satellite launched in June 2020 realized networked with HY-1C satellite,and completed the construction of ocean color satellite constellation.The HY-2D satellite launched in May 2021 is networked with the on orbit HY-2B and HY-2C satellites to complete the construction of marine dynamic environment satellite constellation.The 1 mC-SAR satellite 01 launched in November 2021 is networked with GF-3,which initially forms the marine monitoring satellite constellation.This year,the networking of 1 mC-SAR satellite 02 with satellite 01 and GF-3 is realized,and the construction of marine monitoring satellite constellation is completed.At present,the ocean satellites have the operational application capabilities of remote sensing investigation,monitoring,evaluation and supervision of marine ecology,marine disaster prevention and reduction,global oceans and Polar Regions,Sea Islands,rights and interests maintenance.
