The geometric accuracy of topographic mapping with high-resolution remote sensing images is inevita-bly affected by the orbiter attitude jitter.Therefore,it is necessary to conduct preliminary research on the stereo m...The geometric accuracy of topographic mapping with high-resolution remote sensing images is inevita-bly affected by the orbiter attitude jitter.Therefore,it is necessary to conduct preliminary research on the stereo mapping camera equipped on lunar orbiter before launching.In this work,an imaging simulation method consid-ering the attitude jitter is presented.The impact analysis of different attitude jitter on terrain undulation is conduct-ed by simulating jitter at three attitude angles,respectively.The proposed simulation method is based on the rigor-ous sensor model,using the lunar digital elevation model(DEM)and orthoimage as reference data.The orbit and attitude of the lunar stereo mapping camera are simulated while considering the attitude jitter.Two-dimensional simulated stereo images are generated according to the position and attitude of the orbiter in a given orbit.Experi-mental analyses were conducted by the DEM with the simulated stereo image.The simulation imaging results demonstrate that the proposed method can ensure imaging efficiency without losing the accuracy of topographic mapping.The effect of attitude jitter on the stereo mapping accuracy of the simulated images was analyzed through a DEM comparison.展开更多
经颅磁刺激(transcranial magnetic stimulation, TMS)是一种神经调制方法,临床中凭借医生经验手动确定TMS线圈摆放位姿,导致线圈摆放位置和姿态不准确且重复定位精度差。针对上述问题,提出一种TMS线圈机器人辅助定位系统,使用RGB相机...经颅磁刺激(transcranial magnetic stimulation, TMS)是一种神经调制方法,临床中凭借医生经验手动确定TMS线圈摆放位姿,导致线圈摆放位置和姿态不准确且重复定位精度差。针对上述问题,提出一种TMS线圈机器人辅助定位系统,使用RGB相机替代导航系统中双目红外相机,采用一种基于神经网络的无标志物TMS线圈机器人辅助定位方法。搭建神经网络实现相机空间线圈姿态到操作臂空间关节角度的映射,并通过仿真数据训练验证了该神经网络架构适用于TMS线圈位姿摆放问题。随后,通过实验验证了该方法的可行性,同时表明训练的神经网络针对TMS线圈定位任务具有良好的泛化能力。最后,在笛卡儿空间的位姿验证结果显示TMS线圈三维位置平均误差为2.16 mm,总体姿态误差为0.055 rad,使用RGB相机的TMS线圈机器人辅助定位系统在精度上达到了与其他使用双目红外相机的科研或商用系统相同的水平,满足TMS临床治疗要求,具备临床应用的可行性。展开更多
野猫(Felis silvestris Schreber,1777)隶属于食肉目(Carnivora)猫科(Felidae)猫属(Felis),是一种广泛分布于欧亚非大陆的小型猫科动物(Yama‐guchi et al.,2004)。根据不同地理种群之间存在的形态特征和遗传差异,传统上认为野猫有3个亚...野猫(Felis silvestris Schreber,1777)隶属于食肉目(Carnivora)猫科(Felidae)猫属(Felis),是一种广泛分布于欧亚非大陆的小型猫科动物(Yama‐guchi et al.,2004)。根据不同地理种群之间存在的形态特征和遗传差异,传统上认为野猫有3个亚种,分别为野猫欧洲亚种(F.s.silvestris)、非洲亚种(F.s.lybica)和亚洲亚种(F.s.ornata)(Nowell and Jackson,1996)。野猫欧洲亚种毛色浅色至深灰褐色,背部和两侧具有明显深黑色条纹,尾端黑色,蓬松呈圆型;野猫非洲亚种毛色多为浅棕褐色或浅黄褐色,部分个体耳背染砖红色,背部和两侧具有深黑色条纹或模糊斑点,尾端黑色呈锥形;野猫亚洲亚种与非洲亚种毛色、尾端相似,最大区别在于背部和两侧密布明显深黑色斑点,耳尖具有细小、深棕色毛簇(Yamaguchi et al.,2004;Hunter,2015)。展开更多
基金Supported by the National Natural Science Foundation of China(42221002,42171432)Shanghai Municipal Science and Technology Major Project(2021SHZDZX0100)the Fundamental Research Funds for the Central Universities.
文摘The geometric accuracy of topographic mapping with high-resolution remote sensing images is inevita-bly affected by the orbiter attitude jitter.Therefore,it is necessary to conduct preliminary research on the stereo mapping camera equipped on lunar orbiter before launching.In this work,an imaging simulation method consid-ering the attitude jitter is presented.The impact analysis of different attitude jitter on terrain undulation is conduct-ed by simulating jitter at three attitude angles,respectively.The proposed simulation method is based on the rigor-ous sensor model,using the lunar digital elevation model(DEM)and orthoimage as reference data.The orbit and attitude of the lunar stereo mapping camera are simulated while considering the attitude jitter.Two-dimensional simulated stereo images are generated according to the position and attitude of the orbiter in a given orbit.Experi-mental analyses were conducted by the DEM with the simulated stereo image.The simulation imaging results demonstrate that the proposed method can ensure imaging efficiency without losing the accuracy of topographic mapping.The effect of attitude jitter on the stereo mapping accuracy of the simulated images was analyzed through a DEM comparison.
文摘野猫(Felis silvestris Schreber,1777)隶属于食肉目(Carnivora)猫科(Felidae)猫属(Felis),是一种广泛分布于欧亚非大陆的小型猫科动物(Yama‐guchi et al.,2004)。根据不同地理种群之间存在的形态特征和遗传差异,传统上认为野猫有3个亚种,分别为野猫欧洲亚种(F.s.silvestris)、非洲亚种(F.s.lybica)和亚洲亚种(F.s.ornata)(Nowell and Jackson,1996)。野猫欧洲亚种毛色浅色至深灰褐色,背部和两侧具有明显深黑色条纹,尾端黑色,蓬松呈圆型;野猫非洲亚种毛色多为浅棕褐色或浅黄褐色,部分个体耳背染砖红色,背部和两侧具有深黑色条纹或模糊斑点,尾端黑色呈锥形;野猫亚洲亚种与非洲亚种毛色、尾端相似,最大区别在于背部和两侧密布明显深黑色斑点,耳尖具有细小、深棕色毛簇(Yamaguchi et al.,2004;Hunter,2015)。
