在计算机辅助骨科手术系统中应用增强现实技术能帮助医生准确地定位患者的病灶部位,而视频图像的目标跟踪匹配是实现增强现实的关键技术。针对视频图像匹配中SURF(speed up robust features)特征点性能和匹配效率不足的问题,提出一种改...在计算机辅助骨科手术系统中应用增强现实技术能帮助医生准确地定位患者的病灶部位,而视频图像的目标跟踪匹配是实现增强现实的关键技术。针对视频图像匹配中SURF(speed up robust features)特征点性能和匹配效率不足的问题,提出一种改进的基于SURF特征点的FLANN(fast library for approximate nearest neighbors)匹配算法。提取SURF关键特征点,改进其描述符算子,使用改进的FLANN算法进行特征点匹配。通过实验分析比较改进与未改进算法的性能,结果表明该方法的稳定性及快速性较好,具有较强的鲁棒性。展开更多
点云配准是三维模型重建中的关键步骤。针对传统初配准方法效率低等问题,提出一种结合点云特征的超四点快速鲁棒匹配算法(super four point fast robust matching algorithm,Super4PCS)。首先对点云数据进行尺度不变特征提取,凸显点云...点云配准是三维模型重建中的关键步骤。针对传统初配准方法效率低等问题,提出一种结合点云特征的超四点快速鲁棒匹配算法(super four point fast robust matching algorithm,Super4PCS)。首先对点云数据进行尺度不变特征提取,凸显点云的局部特征;然后把提取的特征点作为Super4PCS算法的初始值,以便实现源点云与目标点云的初配准;最后在初配准的基础上利用最近点迭代(ICP)算法进行精确配准。通过斯坦福兔子点云及实测点云数据对比分析,表明该算法具有更好的配准性能。展开更多
The quick response code based artificial labels are applied to provide semantic concepts and relations of surroundings that permit the understanding of complexity and limitations of semantic recognition and scene only...The quick response code based artificial labels are applied to provide semantic concepts and relations of surroundings that permit the understanding of complexity and limitations of semantic recognition and scene only with robot's vision.By imitating spatial cognizing mechanism of human,the robot constantly received the information of artificial labels at cognitive-guide points in a wide range of structured environment to achieve the perception of the environment and robot navigation.The immune network algorithm was used to form the environmental awareness mechanism with "distributed representation".The color recognition and SIFT feature matching algorithm were fused to achieve the memory and cognition of scenario tag.Then the cognition-guide-action based cognizing semantic map was built.Along with the continuously abundant map,the robot did no longer need to rely on the artificial label,and it could plan path and navigate freely.Experimental results show that the artificial label designed in this work can improve the cognitive ability of the robot,navigate the robot in the case of semi-unknown environment,and build the cognizing semantic map favorably.展开更多
文摘在计算机辅助骨科手术系统中应用增强现实技术能帮助医生准确地定位患者的病灶部位,而视频图像的目标跟踪匹配是实现增强现实的关键技术。针对视频图像匹配中SURF(speed up robust features)特征点性能和匹配效率不足的问题,提出一种改进的基于SURF特征点的FLANN(fast library for approximate nearest neighbors)匹配算法。提取SURF关键特征点,改进其描述符算子,使用改进的FLANN算法进行特征点匹配。通过实验分析比较改进与未改进算法的性能,结果表明该方法的稳定性及快速性较好,具有较强的鲁棒性。
文摘点云配准是三维模型重建中的关键步骤。针对传统初配准方法效率低等问题,提出一种结合点云特征的超四点快速鲁棒匹配算法(super four point fast robust matching algorithm,Super4PCS)。首先对点云数据进行尺度不变特征提取,凸显点云的局部特征;然后把提取的特征点作为Super4PCS算法的初始值,以便实现源点云与目标点云的初配准;最后在初配准的基础上利用最近点迭代(ICP)算法进行精确配准。通过斯坦福兔子点云及实测点云数据对比分析,表明该算法具有更好的配准性能。
基金Projects(61203330,61104009,61075092)supported by the National Natural Science Foundation of ChinaProject(2013M540546)supported by China Postdoctoral Science Foundation+2 种基金Projects(ZR2012FM031,ZR2011FM011,ZR2010FM007)supported by Shandong Provincal Nature Science Foundation,ChinaProjects(2011JC017,2012TS078)supported by Independent Innovation Foundation of Shandong University,ChinaProject(201203058)supported by Shandong Provincal Postdoctoral Innovation Foundation,China
文摘The quick response code based artificial labels are applied to provide semantic concepts and relations of surroundings that permit the understanding of complexity and limitations of semantic recognition and scene only with robot's vision.By imitating spatial cognizing mechanism of human,the robot constantly received the information of artificial labels at cognitive-guide points in a wide range of structured environment to achieve the perception of the environment and robot navigation.The immune network algorithm was used to form the environmental awareness mechanism with "distributed representation".The color recognition and SIFT feature matching algorithm were fused to achieve the memory and cognition of scenario tag.Then the cognition-guide-action based cognizing semantic map was built.Along with the continuously abundant map,the robot did no longer need to rely on the artificial label,and it could plan path and navigate freely.Experimental results show that the artificial label designed in this work can improve the cognitive ability of the robot,navigate the robot in the case of semi-unknown environment,and build the cognizing semantic map favorably.
