在动态场景下,视觉同时定位与地图构建(simultaneous localization and mapping, SLAM)通常与深度学习方法结合提高系统的定位精度.针对深度学习方法运行时产生的时间延迟,导致系统难以达到流式处理要求的问题,提出一种面向动态场景下视...在动态场景下,视觉同时定位与地图构建(simultaneous localization and mapping, SLAM)通常与深度学习方法结合提高系统的定位精度.针对深度学习方法运行时产生的时间延迟,导致系统难以达到流式处理要求的问题,提出一种面向动态场景下视觉SLAM的流感知定位方法.首先针对传统评估指标只考虑定位精度的问题,提出流式评估指标,该指标同时考虑定位精度和时间延迟,能够准确反映系统的流式处理性能;其次针对传统视觉SLAM方法无法实现流式处理的问题,提出流感知的视觉定位方法,通过多线程并行和相机位姿预测相结合的方式,获得持续稳定的相机位姿输出.在BONN数据集和真实场景上的实验结果表明,所提方法能够有效地提升动态场景下采用深度学习方法的视觉定位的流性能.基于BONN数据集和流式评估方式的评估结果表明,与DynaSLAM方法对比,所提方法的绝对轨迹误差(APE),相对平移误差(RPE_trans)和相对旋转误差(RPE_angle)分别下降80.438%, 56.180%和54.676%.在真实场景下的实验结果表明,所提方法可以得到与实际相符的相机轨迹.展开更多
Compared with traditional feedback control,predictive control can eliminate the lag of pose control and avoid the snakelike motion of shield machines.Therefore,a shield pose prediction model was proposed based on dyna...Compared with traditional feedback control,predictive control can eliminate the lag of pose control and avoid the snakelike motion of shield machines.Therefore,a shield pose prediction model was proposed based on dynamic modeling.Firstly,the dynamic equations of shield thrust system were established to clarify the relationship between force and movement of shield machine.Secondly,an analytical model was proposed to predict future multistep pose of the shield machine.Finally,a virtual prototype model was developed to simulate the dynamic behavior of the shield machine and validate the accuracy of the proposed pose prediction method.Results reveal that the model proposed can predict the shield pose with high accuracy,which can provide a decision basis whether for manual or automatic control of shield pose.展开更多
基金Project(2023JBZY030)supported by the Fundamental Research Funds for the Central Universities,ChinaProject(U1834208)supported by the National Natural Science Foundation of China。
文摘Compared with traditional feedback control,predictive control can eliminate the lag of pose control and avoid the snakelike motion of shield machines.Therefore,a shield pose prediction model was proposed based on dynamic modeling.Firstly,the dynamic equations of shield thrust system were established to clarify the relationship between force and movement of shield machine.Secondly,an analytical model was proposed to predict future multistep pose of the shield machine.Finally,a virtual prototype model was developed to simulate the dynamic behavior of the shield machine and validate the accuracy of the proposed pose prediction method.Results reveal that the model proposed can predict the shield pose with high accuracy,which can provide a decision basis whether for manual or automatic control of shield pose.
