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.     

FORMOSAT-3/COSMIC science mission update

The FORMOSAT-3/COSMIC mission is a microsatellite mission for weather forecast, climate monitoring, and atmospheric, ionospheric and geodesy research. This mission is a collaborative Taiwan-USA science experiment to deploy a constellation of six microsatellites in low Earth orbits. The mission life is 2 years with a goal of 5 years. The final mission orbit has an altitude of 750–800 km. Each satellite consists of three science payloads: global positioning system (GPS) occultation experiment (GOX) payload, tiny ionospheric photometer (TIP) and tri-band beacon (TBB). The GOX will collect the GPS signals for the study on atmosphere, ionosphere, and geodesy. The TIP and TBB can provide the electron distribution information for ionospheric research. The deployment of the FORMOSAT-3 constellation and the resulting influence on the occultation sounding distributions are reported. Details are also given on GOX, TIP, and TBB payload operations and the contributions of the Taiwan Science Team.     

Interannual variability of low-degree gravitational change, 1980–2002

Time variations in the Earths gravity field at periods longer than 1 year, for degree-two spherical harmonics, C₂₁, S₂₁, and C₂₀, are estimated from accurately measured Earth rotational variations. These are compared with predictions of atmospheric, oceanic, and hydrologic models, and with independent satellite laser ranging (SLR) results. There is remarkably good agreement between Earth rotation and model predictions of C₂₁ and S₂₁ over a 22-year period. After decadal signals are removed, Earth-rotation-derived interannual C₂₀ variations are dominated by a strong oscillation of period about 5.6 years, probably due to uncertainties in wind and ocean current estimates. The model-predicted C₂₀ agrees reasonably well with SLR observations during the 22-year period, with the exception of the recent anomaly since 1997/1998.     

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。     

网点印刷颜色再现物理模型

本文在讨论网点印刷呈色机理的基础上，提出四色版印刷时，用概率统计中的回归分析方法，修正Ｎｅｕｇｅｂａｕｅｒ方程，建立颜色再现物理模型。     

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.