一种基于改进CoHOG的视觉SLAM算法

移动机器人在SLAM的闭环检测环节计算量大、运行时间长、匹配误差大,从而导致闭环检测精度较低。针对该问题,本文在CoHOG闭环检测算法的基础上进行改进,将算法中的HOG描述符改进为GDF-HOG描述符,以增强图像特征表现,提高图像特征提取效率;在匹配环节前添加GDF-HOG全局粗匹配,以减少视觉模板的数量,提高算法的计算效率;在匹配环节后添加感兴趣区域（ROI）位置匹配进行检验,以减少闭环检测的假阳性,提高准确率。将本文闭环检测算法与RatSLAM相结合,在公开数据集与真实环境中进行测试,测试结果表明,本文算法在闭环检测环节的准确率较高,且对环境的适应能力较强。     

p-mode Oscillations of α Cen A

Models of Cen A & B have been computed using the masses determinedby Pourbaix et al. (2002) and the data derived from the spectroscopicanalysis of Neuforge and Magain (1997). The seismological dataobtained by Bouchy and Carrier (2001, 2002) do help improveour knowledge of the evolutionary status of the system. All the constraintsare satisfied with a model which gives an age of about 6 Gyr for the binary.     

Orbit Determination of Binary Asteroids

In addition to the detection of an asteroid moon or a binary asteroid, the knowledge of the satellite’s true orbit is of high importance to derive fundamental physical parameters of the binary system such as its mass and to shed light on its possible formation history and dynamical evolution (prograde/retrograde orbit, large/small eccentricity or inclination, etc.). A new methodology for preliminary orbit determination of binary asteroids – and visual binaries in general – is proposed. It is based on Thiele–Innes method combined with a ‘trial and error’ Monte-Carlo technique. This method provides the full set of solutions (bundle of orbits, with the 7 orbital elements) even for a reduced number of observations. The mass is a direct by-product of this orbit determination, from which one can next infer the bulk-density and porosity. In addition to the bundle of orbits, the method provides the marginal probability densities of the foreseen parameters. Such error analysis – since it avoids linear approximation – can be of importance for the prediction of the satellite’s position in the plane-of-sky during future stellar occultations or subsequent observations, but also for the analysis of the orbit’s secular evolution. After briefly describing the method, we present the algorithm and its application to some practical cases, with particular emphasis on asteroids binaries and applications on orbital evolution.     

论提高环境水文地质图件制图工艺

近年来，地图制图理论有了较快的发展，如何将信息传输和视觉感受等方面的研究成果运用于环境水文地质图的编制，是制图工作者和专业人员共同关注的一个重要问题。本文以编制城市环境水文地质图为例，就制图过程中的一些原则和方法作一探讨。     

EXPLORING SPATIAL FAMILIARITY*

Spatial familiarity is a natural language concept that has no well-defined technical interpretation. We explore here some possible dimensions of the concept, provide subjective measurements of the dimensions, and evaluate their independence. The four dimensions examined are locational knowledge, visual recognition, name identification, and interaction frequency. We suggest that both cognitive and behavioral dimensions are embedded in the concept of spatial familiarity and must be part of the meaning of the concept and of any attempt to make it operational.     

面向服务的旅游资源管理系统实现

研究旅游资源管理系统的实现方法和关键技术,介绍了天地图公共服务平台,设计了旅游资源专题数据库,实现了数据存储管理机制和调用流程,基于天地图地理信息公共服务平台实现了旅游景区一体化查询、精品路线推荐和公交换乘等功能。面向服务的旅游资源管理系统的应用结果表明,该系统能够为社会公众提供可视化、网络化的出行旅游地理信息服务,并且为城市旅游的科学管理和决策提供有力的技术支持。     

视觉感受与Markov随机场相结合的高分辨率遥感影像分割法

鉴于视觉感受对外界强大的感知与识别能力,模拟视觉神经感知的工作机制,并结合Markov随机场模型,提出一种影像分割方法。首先,分析视觉感知系统的工作机制,将其特性归纳为等级层次性、学习能力、特征检测能力和稀疏编码特性,继而利用小波变换、非监督聚类、特征分析和Laplace分布模拟视觉工作机制,然后结合Markov随机场模型实现高分辨率遥感影像的分割。通过不同卫星的真实遥感影像进行了相关试验。试验结果表明本文提出的方法在高分辨率遥感影像分割任务中有非常良好的表现。     

A Differential Abundance Analysis of HD219175 A and B

The abundances of the wide binary pair HD 219175 A and B are determined and compared using a line-by-line differential analysis. No evidence for difference has been found in the abundances of Fe, O, Na, Mg, Al, Si, K, Ca, Sc, Ti, V, Cr, Mn, Ni, Cu and Ba. Our results support a physical relation between the two components of HD 219175.