语素关联约束的动态环境视觉定位优化

在自动驾驶场景中,视觉相机能够实现低成本的定位与环境感知,但是场景中的动态目标会影响视觉定位的轨迹。对此,本文提出了语素关联约束的动态环境视觉定位优化方法。首先,利用目标检测和语义分割提取环境中的语义实体;然后,通过语素关联模型识别出动态语素;最后,建立动态语素的特征掩膜,用于特征匹配过程中的动态目标特征点过滤,从而提高视觉定位效果。本文基于视觉机器人平台在校园道路开展了试验,发现了动态目标通过关键点影响视觉定位结果的规律——在转弯时或者目标在视野中横向移动时影响较大。试验结果表明,本文方法的动态语义要素识别的平均精度F₁约为87%,并且在语素关联优化前后,局部区域最大轨迹距离差为2.463 m,与真值对比RMSE降低了38%。     

双目视觉与惯导融合的移动机器人定位方法

为了提高移动机器人的定位精度,提出一种双目视觉与惯导融合的视觉SLAM算法.在视觉SLAM前端部分,为了保持直接法计算速度快及特征法精度高的特点,提出一种融合直接法和特征法的半直接法双目视觉里程计.在后端优化阶段,将视觉数据与IMU数据相互融合,在滑动窗口中以非线性优化的方式构建误差函数,优化位姿计算精度.在EuRoc数据集中对本文提出的算法进行试验验证.结果表明,与开源的视觉惯导融合的SLAM系统OKVIS、ROVIO和VINS-Mono相比,本文系统在Machine Hal l与Vi con Room两个场景中的定位精度均得到了明显的提升,同时可以保持较高的运行效率.     

当前国家电子政务建设的思路

各位来宾,女士们、先生们:上午好!国土资源信息化建设研讨会今天在昆明隆重召开,我谨代表国务院信息化工作办公室王旭东主任,对此表示热烈祝贺!土地资源管理是国家非常重要的一项工作。土地审批,是宏观调控的重要闸门之一。搞好国土资源信息化建设,有利于合理利用土地资源,有利于国家宏观调控,有利于可持续发展,有利于构建和谐社会。国土资源信息化是国家电子政务和信息化建设的重要组成部分。在这里,我主要介绍一下国家整体上推进电子政务建设的一些想法和做法,供大家参考。     

Implementation of OGC web map service based on web service

OGC Web Map Service is one kind of OGC Portrayal Services belongs to OGC Web Service model and it provides multi-platform interoperability of spatial data set. This paper presents a method for implementing OGC Web Map Service based on Web Service technique and introduces the detailed process.     

用Voronoi方法为MapInfo扩展拓扑功能

分析了Voronoi图在表达邻近关系方面的特性,提出了用Voronoi方法为MapInfo建立动态邻近关系并扩展拓扑功能的方法。     

地图出版系统在地图复制中的应用

针对常规地图复制存在的问题，现在有一种新的地图复制技术和设备－地图出版系统。本文着重介绍该系统应用于地图复制过程的原理、方法和特点。     

An update on the IEM surface backscattering model

The integral equation approach to modeling scattering from rough surfaces was introduced in 1992. At that time, it was noted that there was a need to find a transition reflection coefficient that could change its argument from the incident angle to the specular angle as frequency or roughness scale got large. One such reflection coefficient was published in 2001. In this letter, we would like to include this reflection coefficient in the integral equation model to interpret several multifrequency backscattering measurements from surfaces with surface parameters defined by the investigators who acquired the data.     

Tile‐based polygon overlay of vector data in a virtual globe

The demand for analysis of large‐scale data has increased with increased access to spatial vector data. Polygon overlay of vector data in a virtual globe requires proprietary data structures and proprietary analysis algorithms. A vector data structure is designed for rapid polygon overlay in a virtual globe by recording the metadata of the triangles (TriMeta) that constitute polygons. A polygon overlay algorithm is proposed based on this data structure. The overlay of two complex GIS polygons is transformed into the intersection computation of their 3D triangular presentations. The intersection computation of two sets of triangles is reduced considerably by utilizing TriMeta to filter out the disjoint triangle pairs and rapidly identify the contained triangle. The new method improves the overlay efficiency in a virtual globe because the amount of computation required to calculate the intersections of two large polygons and drape the intersections onto a terrain surface is reduced.