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基于ROS和ORB-SLAM3算法的智能行车系统研究 认领 引用
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作者 涂福泉 肖雪亭 +2 位作者 黄煜 刘祥 闾丰翼 《现代制造工程》 北大核心 2026年第4期129-136,共8页
针对现有智能行车系统在工业场景中面临的部署复杂度高、可移植性差的技术瓶颈,提出了一种基于机器人操作系统(Robot Operating System,ROS)和ORB-SLAM3算法的智能行车系统。通过功能分析,构建了智能行车系统总体架构,首先,使用深度相... 针对现有智能行车系统在工业场景中面临的部署复杂度高、可移植性差的技术瓶颈,提出了一种基于机器人操作系统(Robot Operating System,ROS)和ORB-SLAM3算法的智能行车系统。通过功能分析,构建了智能行车系统总体架构,首先,使用深度相机实时采集料堆的环境信息;然后,对ORB-SLAM3算法进行改进,增加了稠密建图线程与安全取料线程,实现行车实时定位、料库区三维重建及目标取料点规划;最后,基于ROS的标准化运动控制接口,确保行车稳定可靠运行。模拟实验表明,智能行车系统定位与三维重建精度高,可实时生成安全高效的取料策略;ROS分布式架构与深度相机的快速部署,降低了部署复杂度,提升了智能行车系统的可移植性。研究结果有望为解决行业现存的部署复杂度高和可移植性差的问题提供切实可行的技术路径。 展开更多
关键词 智能行车系统 机器人操作系统 ORB-SLAM3算法 深度相机
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复杂病房环境下改进ORB-SLAM3的机器人定位导航研究 认领 引用 被引量：1
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作者 刘欣达 王家俊 周涛 《传感器与微系统》 北大核心 2026年第1期62-66,共5页
针对医院病房巡视机器人在复杂光照、频繁遮挡、低纹理和动态干扰等条件下自主定位精度下降的问题,提出一种改进型视觉惯导融合ORB-SLAM3的定位与导航方法。该方法在传统ORB-SLAM3框架的基础上,引入了视觉-惯性测量单元(IMU)紧耦合残差... 针对医院病房巡视机器人在复杂光照、频繁遮挡、低纹理和动态干扰等条件下自主定位精度下降的问题,提出一种改进型视觉惯导融合ORB-SLAM3的定位与导航方法。该方法在传统ORB-SLAM3框架的基础上,引入了视觉-惯性测量单元(IMU)紧耦合残差优化模型,通过改进预积分提高了在弱光和遮挡环境下的鲁棒性与建图精度。针对病房布局紧凑、人员与设备频繁移动的特点,结合Navigation2(Nav2)框架,设计了基于A*的全局路径规划与动态窗口法(DWA)的局部避障策略,并引入速度平滑约束的纯跟踪算法,确保机器人在医疗场景中的安全与舒适运行。实验验证表明,该方法在复杂病房环境中有效提升了病房巡视机器人的任务执行的稳定性与精度。 展开更多
关键词 病房巡视机器人 ORB-SLAM3 自主导航 视觉惯导融合
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动态场景下融合YOLOv11n目标检测的优化ORB-SLAM3算法 认领 引用
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作者 谢章郁 杨杰 +1 位作者 欧阳嗣源 曾阳剑 《浙江大学学报（工学版）》 EI CAS CSCD 北大核心 2026年第2期313-321,340,共9页
针对传统视觉同步定位与建图(SLAM)技术在动态环境中定位精度低、鲁棒性差的问题,提出融合YOLOv11n目标检测的优化ORB-SLAM3算法.在传统系统中融入基于开放式神经网络交换格式(ONNX)推理的YOLOv11n网络,增加语义信息;利用静态区域特征... 针对传统视觉同步定位与建图(SLAM)技术在动态环境中定位精度低、鲁棒性差的问题,提出融合YOLOv11n目标检测的优化ORB-SLAM3算法.在传统系统中融入基于开放式神经网络交换格式(ONNX)推理的YOLOv11n网络,增加语义信息;利用静态区域特征点生成初始位姿,投影地图点至动态区域;结合双阶段位姿优化算法,在动态区域内筛选静态特征点及剔除动态特征点,提升位姿估计精度与增加优质特征点数量.在原有3个线程外新增线程,利用关键帧区域像素点构建稠密地图,为后续的人机交互场景提供丰富的环境感知与理解.在公开数据集TUM上的实验结果表明,在位姿估计精度方面,所提算法与基准模型相比最高提升98.3%.所提算法能够有效消除动态物体对位姿估计的影响,满足稠密地图的构建需求. 展开更多
关键词 ORB-SLAM3 开放式神经网络交换格式(ONNX) YOLOv11n 双阶段位姿优化算法 稠密地图重建
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基于改进双目ORB-SLAM3的特征匹配算法 认领 引用 被引量：1
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作者 伞红军 冯金祥 +2 位作者 陈久朋 彭真 赵龙云 《农业机械学报》 EI CAS CSCD 北大核心 2025年第5期625-634,共10页
针对传统ORB算法在双目特征匹配阶段误匹配率高而导致无法满足高精度定位要求的问题,提出了一种基于改进双目ORB-SLAM3的特征匹配算法。在特征点匹配阶段引入最近邻匹配算法(FLANN),通过设定比率阈值筛选出更为精确的匹配对,在双目ORB-S... 针对传统ORB算法在双目特征匹配阶段误匹配率高而导致无法满足高精度定位要求的问题,提出了一种基于改进双目ORB-SLAM3的特征匹配算法。在特征点匹配阶段引入最近邻匹配算法(FLANN),通过设定比率阈值筛选出更为精确的匹配对,在双目ORB-SLAM3立体匹配中引入自适应加权SAD-Census算法,通过考虑像素之间的几何距离,重新计算SAD值并与Census算法相融合来提高特征匹配稳定性和精度,同时加入自适应的SAD窗口滑动范围进一步扩大搜索距离,进而筛选出正确的匹配来提高系统精度。在EuRoC数据集和真实室内场景中进行实验,结果表明与改进前ORB-SLAM3算法相比,在数据集下改进算法定位精度提高23.32%,真实环境中提高近50%,从而验证了改进算法可行性和有效性。 展开更多
关键词 改进双目ORB-SLAM3 特征匹配 最近邻匹配算法 自适应加权SAD-Census算法
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Rock discontinuity extraction from 3D point clouds using pointwise clustering algorithm 认领 引用 被引量：1
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作者 Xiaoyu Yi Wenxuan Wu +2 位作者 Wenkai Feng Yongjian Zhou Jiachen Zhao 《Journal of Rock Mechanics and Geotechnical Engineering》 SCIE CSCD 2025年第7期4429-4444,共16页
Recognizing discontinuities within rock masses is a critical aspect of rock engineering.The development of remote sensing technologies has significantly enhanced the quality and quantity of the point clouds collected ... Recognizing discontinuities within rock masses is a critical aspect of rock engineering.The development of remote sensing technologies has significantly enhanced the quality and quantity of the point clouds collected from rock outcrops.In response,we propose a workflow that balances accuracy and efficiency to extract discontinuities from massive point clouds.The proposed method employs voxel filtering to downsample point clouds,constructs a point cloud topology using K-d trees,utilizes principal component analysis to calculate the point cloud normals,and employs the pointwise clustering(PWC)algorithm to extract discontinuities from rock outcrop point clouds.This method provides information on the location and orientation(dip direction and dip angle)of the discontinuities,and the modified whale optimization algorithm(MWOA)is utilized to identify major discontinuity sets and their average orientations.Performance evaluations based on three real cases demonstrate that the proposed method significantly reduces computational time costs without sacrificing accuracy.In particular,the method yields more reasonable extraction results for discontinuities with certain undulations.The presented approach offers a novel tool for efficiently extracting discontinuities from large-scale point clouds. 展开更多
关键词 Rock mass discontinuity 3D point clouds Pointwise clustering(PWC)algorithm Modified whale optimization algorithm(MWOA)
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A novel heuristic pathfinding algorithm for 3D security modeling and vulnerability assessment 认领 引用 被引量：1
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作者 Jun Yang Yue-Ming Hong +2 位作者 Yu-Ming Lv Hao-Ming Ma Wen-Lin Wang 《Nuclear Science and Techniques》 SCIE EI CAS CSCD 2025年第5期152-166,共15页
Vulnerability assessment is a systematic process to identify security gaps in the design and evaluation of physical protection systems.Adversarial path planning is a widely used method for identifying potential vulner... Vulnerability assessment is a systematic process to identify security gaps in the design and evaluation of physical protection systems.Adversarial path planning is a widely used method for identifying potential vulnerabilities and threats to the security and resilience of critical infrastructures.However,achieving efficient path optimization in complex large-scale three-dimensional(3D)scenes remains a significant challenge for vulnerability assessment.This paper introduces a novel A*-algorithmic framework for 3D security modeling and vulnerability assessment.Within this framework,the 3D facility models were first developed in 3ds Max and then incorporated into Unity for A*heuristic pathfinding.The A*-heuristic pathfinding algorithm was implemented with a geometric probability model to refine the detection and distance fields and achieve a rational approximation of the cost to reach the goal.An admissible heuristic is ensured by incorporating the minimum probability of detection(PDmin)and diagonal distance to estimate the heuristic function.The 3D A*heuristic search was demonstrated using a hypothetical laboratory facility,where a comparison was also carried out between the A*and Dijkstra algorithms for optimal path identification.Comparative results indicate that the proposed A*-heuristic algorithm effectively identifies the most vulnerable adversarial pathfinding with high efficiency.Finally,the paper discusses hidden phenomena and open issues in efficient 3D pathfinding for security applications. 展开更多
关键词 Physical protection system 3D modeling and simulation Vulnerability assessment A*Heuristic Pathfinding Dijkstra algorithm
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3D numerical manifold method for crack propagation in rock materials using a local tracking algorithm 认领 引用
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作者 Boyi Su Tao Xu +3 位作者 Genhua Shi Michael J.Heap Xianyang Yu Guanglei Zhou 《Journal of Rock Mechanics and Geotechnical Engineering》 SCIE CSCD 2025年第6期3449-3463,共15页
The modeling of crack growth in three-dimensional(3D)space poses significant challenges in rock mechanics due to the complex numerical computation involved in simulating crack propagation and interaction in rock mater... The modeling of crack growth in three-dimensional(3D)space poses significant challenges in rock mechanics due to the complex numerical computation involved in simulating crack propagation and interaction in rock materials.In this study,we present a novel approach that introduces a 3D numerical manifold method(3D-NMM)with a geometric kernel to enhance computational efficiency.Specifically,the maximum tensile stress criterion is adopted as a crack growth criterion to achieve strong discontinuous crack growth,and a local crack tracking algorithm and an angle correction technique are incorporated to address minor limitations of the algorithm in a 3D model.The implementation of the program is carried out in Python,using object-oriented programming in two independent modules:a calculation module and a crack module.Furthermore,we propose feasible improvements to enhance the performance of the algorithm.Finally,we demonstrate the feasibility and effectiveness of the enhanced algorithm in the 3D-NMM using four numerical examples.This study establishes the potential of the 3DNMM,combined with the local tracking algorithm,for accurately modeling 3D crack propagation in brittle rock materials. 展开更多
关键词 3D numerical manifold method(3D NMM) Crack propagation Local tracking algorithm Brittle materials
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Advanced 3D Wind Farm Layout Optimization Framework via Power-Law Perturbation-Based Genetic Algorithm 认领 引用
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作者 Jiaru Yang Yaotong Song +3 位作者 Jun Tang Weiping Ding Zhenyu Lei Shangce Gao 《IEEE/CAA Journal of Automatica Sinica》 SCIE EI CSCD 2025年第11期2314-2328,共15页
The modeling and optimization of wind farm layouts can effectively reduce the wake effect between turbine units,thereby enhancing the expected output power and avoiding negative influence.Traditional wind farm optimiz... The modeling and optimization of wind farm layouts can effectively reduce the wake effect between turbine units,thereby enhancing the expected output power and avoiding negative influence.Traditional wind farm optimization often uses idealized wake models,neglecting the influence of wind shear at different elevations,which leads to a lack of precision in estimating wake effects and fails to meet the accuracy and reliability requirements of practical engineering.To address this,we have constructed a three-dimensional 3D wind farm optimization model that incorporates elevation,utilizing a 3D wake model to better reflect real-world conditions.We aim to assess the optimization state of the algorithm and provide strong incentives at the right moments to ensure continuous evolution of the population.To this end,we propose an evolutionary adaptation degreeguided genetic algorithm based on power-law perturbation(PPGA)to adapt multidimensional conditions.We select the offshore wind power project in Nantong,Jiangsu,China,as a study example and compare PPGA with other well-performing algorithms under this practical project.Based on the actual wind condition data,the experimental results demonstrate that PPGA can effectively tackle this complex problem and achieve the best power efficiency. 展开更多
关键词 3D wake model China’s southeastern coast metaheuristic offshore wind farm power-law perturbation-based genetic algorithm(PPGA)
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基于ORB-SLAM3的水下机器人定位方法研究 认领 引用 被引量：1
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作者 颜金龙 《机电技术》 2025年第3期1-6,共6页
针对恶劣的水下环境(光照、水流、浑浊度)可能导致机器人难以获得高质量的图像信息用于视觉SLAM,从而影响定位精度的问题,文章采用图像增强算法来改善图像的对比度和清晰度,再导入ORB-SLAM3算法进行位姿估计。试验结果表明:CLAHE算法比H... 针对恶劣的水下环境(光照、水流、浑浊度)可能导致机器人难以获得高质量的图像信息用于视觉SLAM,从而影响定位精度的问题,文章采用图像增强算法来改善图像的对比度和清晰度,再导入ORB-SLAM3算法进行位姿估计。试验结果表明:CLAHE算法比HE、gamma修正和MSR能够更有效地提高水下图像的对比度、增加图像信息,并有助于特征点匹配;ORB-SLAM3在水下SLAM中表现良好,ORB-SLAM3+CLAHE的改进算法能够有效提高系统的定位精度和鲁棒性;当CLAHE的参数ClipLimit设置在0.01~0.03范围内时,改进算法在Harbor场景中表现较好。 展开更多
关键词 水下机器人 图像增强 ORB-SLAM3 CLAHE
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3D finite-difference numerical simulation of the gravitational field using a preconditioned GMRES iterative solver 认领 引用
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作者 TONG Xiao-zhong XIE Wei +3 位作者 MA Hui-ying WEN Xin-yue ZHU Wen-di ZHANG Chen 《Journal of Central South University》 SCIE EI CAS CSCD 2026年第2期847-860,共14页
With the evolution of geophysical surveys from traditional two-dimensional(2 D)to three-dimensional(3 D)models,the resulting large data volumes pose significant challenges to inversion,particularly when resolving larg... With the evolution of geophysical surveys from traditional two-dimensional(2 D)to three-dimensional(3 D)models,the resulting large data volumes pose significant challenges to inversion,particularly when resolving large-scale 3 D structures.A direct solver for solving an ill-conditioned linear system resulting from the finite-difference approximation of a boundary value problem requires more memory and time than iterative solvers.To overcome this limitation,an efficient iterative solver for 3 D finite-difference approach is introduced to calculate the 3 D gravitational potential and the associated gravitational field.Firstly,the boundary value problem associated with 3 D gravitational potential is discretized using central finite-difference technique based on right rectangular prismatic grids.The resulting large unsymmetric sparse systems are then solved using the generalized minimal residual algorithm(GMRES)iterative solver in combination with incomplete LU factorization.Secondly,to obtain high-accuracy partial derivatives of gravitational potential,a high-degree Lagrange interpolation scheme is employed.Finally,three density models are applied to test the accuracy,reliability,and flexibility of our 3 D finite-difference algorithm.All computational results demonstrate that our method provides an accurate approximation of the gravitational field and is applicable to 3 D forward modeling. 展开更多
关键词 3 D gravitational potential boundary value problem numerical simulation finite-difference algorithm GMRES iterative solver
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Path Planning for Substation UAV Inspection Based on 3D Point Cloud Mapping 认领 引用
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作者 Yanping Chen Zhengxin Zhan +3 位作者 Xiaohui Yan Le Zou Yucheng Zhong Hailei Wang 《Computers, Materials & Continua》 SCIE EI 2026年第5期2138-2159,共22页
With the increasing complexity of substation inspection tasks,achieving efficient and safe path planning for Unmanned Aerial Vehicles in densely populated and structurally complex three-dimensional(3D)environments rem... With the increasing complexity of substation inspection tasks,achieving efficient and safe path planning for Unmanned Aerial Vehicles in densely populated and structurally complex three-dimensional(3D)environments remains a critical challenge.To address this problem,this paper proposes an improved path planning algorithm—Random Geometric Graph(RGG)-guided Rapidly-exploring Random Tree(R-RRT)—based on the classical Rapidly-exploring Random Tree(RRT)framework.First,a refined 3D occupancy grid map is constructed from Light Detection and Ranging point cloud data through ground filtering,noise removal,coordinate transformation,and obstacle inflation using spherical structuring elements.During the planning stage,a dynamic goal-biasing strategy is introduced to adaptively adjust the sampling direction,the sampling distribution is optimized using a pre-generated RGG,and collision detection is accelerated via a K-Dimensional Tree structure.After initial trajectory generation,redundant nodes are eliminated via greedy pruning,and a curvature-minimizing gradient-based optimizationmethod is applied to smooth the trajectory.Experimental results conducted in a simulated substation environment demonstrate that,compared with mainstream path planning algorithms,the proposed R-RRT achieves superior performance in terms of path length,planning time,and trajectory smoothness.Comprehensive analysis shows that the proposed method significantly enhances trajectory quality,planning efficiency,and operational safety,validating its applicability and advantages for high-precision 3D path planning in complex substation inspection scenarios. 展开更多
关键词 R-RRT algorithm unmanned aerial vehicles path planning random geometric graph 3D occupancy grid map substation inspection
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Three-degree-of-freedom motion posture stabilization control of platform based on DTW-LSTM-MATD3 under high and low frequency disturbances of ships 认领 引用
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作者 Qin ZHANG Jingyi ZHOU +1 位作者 Bangping GU Xiong HU 《Journal of Zhejiang University-SCIENCE A》 SCIE EI CAS CSCD 2026年第3期246-261,共16页
In the complex and variable deep-sea environment,the compensation control of ship motion ensures the safety and efficiency of equipment installation and transportation in offshore wind farms.However,the ship motion po... In the complex and variable deep-sea environment,the compensation control of ship motion ensures the safety and efficiency of equipment installation and transportation in offshore wind farms.However,the ship motion posture compensation control system is severely affected by uncertainties,which significantly impact the accuracy of compensation control.In this paper,we propose a ship three-degree-of-freedom(3-DoF)motion posture stabilization control method based on the DTW-LSTM-MATD3 algorithm.We use the multi-agent twin delayed deep deterministic policy gradient(MATD3)to control a platform with six electric cylinders to achieve stable control.However,owing to random noise affecting the ship’s motion posture,we use a dynamic time warping(DTW)algorithm to distinguish between high-frequency noise and low-frequency tracking signals.Further,we embed a long short-term memory(LSTM)network into the MATD3 network to better align the Critic network’s training with the true Q-value.We use a combined reward function to enhance the agent’s exploration capability in complex dynamic environments.Finally,verification was conducted under sixth-level,abrupt sea conditions with high-frequency noise,as well as under real abrupt sea conditions,and a generalization test was also carried out.Simulation results show that the proposed DTW-LSTM-MATD3 method has great compensation control ability. 展开更多
关键词 Compensation control Multi-agent twin delayed deep deterministic policy gradient(MATD3)algorithm Dynamic time warping(DTW)algorithm Long short-term memory(LSTM)network
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Non-Neural 3D Nasal Reconstruction:A Sparse Landmark Algorithmic Approach for Medical Applications 认领 引用 被引量：1
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作者 Nguyen Khac Toan Ho Nguyen Anh Tuan Nguyen Truong Thinh 《Computer Modeling in Engineering & Sciences》 SCIE EI 2025年第5期1273-1295,共23页
This paper presents a novel method for reconstructing a highly accurate 3D nose model of the human from 2D images and pre-marked landmarks based on algorithmic methods.The study focuses on the reconstruction of a 3D n... This paper presents a novel method for reconstructing a highly accurate 3D nose model of the human from 2D images and pre-marked landmarks based on algorithmic methods.The study focuses on the reconstruction of a 3D nose model tailored for applications in healthcare and cosmetic surgery.The approach leverages advanced image processing techniques,3D Morphable Models(3DMM),and deformation techniques to overcome the limita-tions of deep learning models,particularly addressing the interpretability issues commonly encountered in medical applications.The proposed method estimates the 3D coordinates of landmark points using a 3D structure estimation algorithm.Sub-landmarks are extracted through image processing techniques and interpolation.The initial surface is generated using a 3DMM,though its accuracy remains limited.To enhance precision,deformation techniques are applied,utilizing the coordinates of 76 identified landmarks and sub-landmarks.The resulting 3D nose model is constructed based on algorithmic methods and pre-marked landmarks.Evaluation of the 3D model is conducted by comparing landmark distances and shape similarity with expert-determined ground truth on 30 Vietnamese volunteers aged 18 to 47,all of whom were either preparing for or required nasal surgery.Experimental results demonstrate a strong agreement between the reconstructed 3D model and the ground truth.The method achieved a mean landmark distance error of 0.631 mm and a shape error of 1.738 mm,demonstrating its potential for medical applications. 展开更多
关键词 Nose reconstruction 3D reconstruction medical applications algorithmic reconstruction enhanced 3D model
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激光雷达3维成像回波数据压缩与重建改进算法 认领 引用
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作者 袁鎏 孔繁林 +4 位作者 李潇 刘晓春 黄海华 路小龙 呙长冬 《激光技术》 CAS CSCD 北大核心 2026年第3期457-464,共8页
在激光雷达3维成像的过程中,为了节省大量飞行时间回波数据的存储空间,基于激光雷达3维成像回波数据的统计分布特征,采用一种激光雷达3维成像回波数据压缩与重建改进算法,在数据压缩过程中,根据用户提供的成像参数,对激光雷达3维成像回... 在激光雷达3维成像的过程中,为了节省大量飞行时间回波数据的存储空间,基于激光雷达3维成像回波数据的统计分布特征,采用一种激光雷达3维成像回波数据压缩与重建改进算法,在数据压缩过程中,根据用户提供的成像参数,对激光雷达3维成像回波数据统计分布进行多项式拟合,并根据用户提供的压缩判定阈值区分光计数和暗计数,生成精确记录光计数信息和记录统计分布多项式拟合系数的字节流,完成数据压缩;在数据重建过程中,对压缩文件进行解析,提取字节流之后,用多项式系数重建暗计数,并重建光计数信息。设计了小型化数据采集系统,取得了激光雷达3维成像回波数据,验证了算法的效果。结果表明,该算法实现了激光雷达3维成像回波数据的压缩和重建功能,在固定目标成像条件下实现了1.02%~38.86%的压缩率和0.1238~0.6326的均方误差,在室内目标成像条件下实现了0.93%~2.06%的压缩率和0.0000~0.4250的均方误差。该算法简化了激光雷达3维成像回波数据获取的过程,扩大了数据压缩算法的适用条件,实现了用户可控的数据压缩与重建。 展开更多
关键词 成像系统 激光雷达3维成像 压缩算法 统计分布 多项式拟合 小型化数据采集系统
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Flexible Monolithic 3D-Integrated Self-Powered Tactile Sensing Array Based on Holey MXene Paste 认领 引用 被引量：2
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作者 Mengjie Wang Chen Chen +9 位作者 Yuhang Zhang Yanan Ma Li Xu Dan‑Dan Wu Bowen Gao Aoyun Song Li Wen Yongfa Cheng Siliang Wang Yang Yue 《Nano-Micro Letters》 SCIE EI CAS CSCD 2026年第2期772-785,共14页
Flexible electronics face critical challenges in achieving monolithic three-dimensional(3D)integration,including material compatibility,structural stability,and scalable fabrication methods.Inspired by the tactile sen... Flexible electronics face critical challenges in achieving monolithic three-dimensional(3D)integration,including material compatibility,structural stability,and scalable fabrication methods.Inspired by the tactile sensing mechanism of the human skin,we have developed a flexible monolithic 3D-integrated tactile sensing system based on a holey MXene paste,where each vertical one-body unit simultaneously functions as a microsupercapacitor and pressure sensor.The in-plane mesopores of MXene significantly improve ion accessibility,mitigate the self-stacking of nanosheets,and allow the holey MXene to multifunctionally act as a sensing material,an active electrode,and a conductive interconnect,thus drastically reducing the interface mismatch and enhancing the mechanical robustness.Furthermore,we fabricate a large-scale device using a blade-coating and stamping method,which demonstrates excellent mechanical flexibility,low-power consumption,rapid response,and stable long-term operation.As a proof-of-concept application,we integrate our sensing array into a smart access control system,leveraging deep learning to accurately identify users based on their unique pressing behaviors.This study provides a promising approach for designing highly integrated,intelligent,and flexible electronic systems for advanced human-computer interactions and personalized electronics. 展开更多
关键词 Holey MXene Microsupercapacitor Tactile sensor Monolithic 3D integration Deep learning algorithm
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基于ORB-SLAM 3的实时跟踪与稠密建图 认领 引用 被引量：1
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作者 丁健 唐泽安 +2 位作者 吕奕新 孙晓雨 谢丽 《中国高新科技》 2025年第13期121-123,共3页
ORB-SLAM3作为一种高性能的开源VSLAM解决方案,能够有效地估计摄像机的精确位置和姿态,并生成3D稀疏点云地图。然而,该算法在创建的地图密度上存在局限性,难以满足机器人进行避障、路径规划和导航等复杂任务的需求。为增强ORB-SLAM3地... ORB-SLAM3作为一种高性能的开源VSLAM解决方案,能够有效地估计摄像机的精确位置和姿态,并生成3D稀疏点云地图。然而,该算法在创建的地图密度上存在局限性,难以满足机器人进行避障、路径规划和导航等复杂任务的需求。为增强ORB-SLAM3地图的实用性,文章致力于提升点云密度,通过扩展ORB-SLAM3算法,利用RGB-D图像和相机姿态数据,实现了3D场景的密集点云重建。文章在TUM RGB-D数据集上进行了系统测试,并采用RealSense D435i深度相机进行了实时密集测绘实验,验证了改进算法的有效性和实用性。 展开更多
关键词 ORB-SLAM3 实时跟踪 稠密建图
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A 3-Dimensional Cargo Loading Algorithm for the Conveyor-Type Loading System 认领 引用
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作者 Hyeonbin Jeong Young Tae Ryu +1 位作者 Byung Duk Song Sang-Duck Lee 《Computer Modeling in Engineering & Sciences》 SCIE EI 2025年第3期2739-2769,共31页
This paper proposes a novel cargo loading algorithm applicable to automated conveyor-type loading systems.The algorithm offers improvements in computational efficiency and robustness by utilizing the concept of discre... This paper proposes a novel cargo loading algorithm applicable to automated conveyor-type loading systems.The algorithm offers improvements in computational efficiency and robustness by utilizing the concept of discrete derivatives and introducing logistics-related constraints.Optional consideration of the rotation of the cargoes was made to further enhance the optimality of the solutions,if possible to be physically implemented.Evaluation metrics were developed for accurate evaluation and enhancement of the algorithm’s ability to efficiently utilize the loading space and provide a high level of dynamic stability.Experimental results demonstrate the extensive robustness of the proposed algorithm to the diversity of cargoes present in Business-to-Consumer environments.This study contributes practical advancements in both cargo loading optimization and automation of the logistics industry,with potential applications in last-mile delivery services,warehousing,and supply chain management. 展开更多
关键词 3-dimensional loading automated loading system B2C logistics cargo loading algorithm conveyortype loading
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基于YOLOv5与ORB-SLAM融合的变电站动态场景特征点筛选算法改进 认领 引用
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作者 何龙庆 李小勇 +4 位作者 石鑫 姜寒 李玉强 王永君 王凯 《综合智慧能源》 CAS 2026年第2期47-58,共12页
针对变电站复杂动态工况下智能巡检机器人定位建图精度衰减问题,提出一种融合改进CA-YOLOv5目标检测的增强型定位与地图构建架构。采用多模态注意力机制优化CA-YOLOv5网络,构建动态目标实时识别框架;通过语义-几何联合约束策略,在特征... 针对变电站复杂动态工况下智能巡检机器人定位建图精度衰减问题,提出一种融合改进CA-YOLOv5目标检测的增强型定位与地图构建架构。采用多模态注意力机制优化CA-YOLOv5网络,构建动态目标实时识别框架;通过语义-几何联合约束策略,在特征匹配阶段建立动态区域掩膜与运动概率模型;设计基于时空一致性的动态特征过滤算法,在捆绑调整优化环节实现动态干扰源的精准剔除与静态场景结构的有效保留。在公开数据集与真实动态场景中的对比试验表明,改进系统将动态环境下的定位误差降低43.7%,地图重建完整度提升41.5%,同时维持良好的实时处理性能。融合框架解决动态元素导致的误匹配与地图污染问题,有效克服了变电站典型动态干扰。 展开更多
关键词 ORB-SLAM3 YOLO 智能巡检 传感器识别 动态剔除 变电站 注意力机制
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基于ORB-SLAM2算法的改进关键帧选择与稠密地图 认领 引用
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作者 陈伟 高寒 《计算机与数字工程》 2026年第2期333-337,360,共5页
针对原ORB-SLAM2算法的关键帧选取方法实时性、准确性较差的问题,提出在ORB-SLAM2算法的基础上改进了关键帧选择方法,同时传统的ORB-SLAM2算法没有构建稠密地图,不能满足机器人的三维路径规划,因此提出在原算法的基础上加入稠密点云地图... 针对原ORB-SLAM2算法的关键帧选取方法实时性、准确性较差的问题,提出在ORB-SLAM2算法的基础上改进了关键帧选择方法,同时传统的ORB-SLAM2算法没有构建稠密地图,不能满足机器人的三维路径规划,因此提出在原算法的基础上加入稠密点云地图和3D Octomap构建线程。改进算法首先在原有算法的基础上对帧间相对变化量进行限制,确保相邻关键帧之间的匹配精确性,然后利用inliers进行比较,最后设定最小特征变化阈值进一步处理关键帧,并在剔除冗余关键帧后构建稠密点云地图和3D Octomap。实验结果表明,改进关键帧选择的ORB-SLAM2算法在TUM数据集上的定位精度比原ORB-SLAM2算法平均提高了约24%,且可实时有效地构建稠密点云地图与3D Octomap,满足机器人的三维路径规划。 展开更多
关键词 ORB-SLAM2 关键帧选择方法 稠密点云地图 3D Octomap 三维路径规划
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6 m3铲运车防碰撞预警系统设计与实现 认领 引用
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作者 温庚林 邓欢 +3 位作者 王明成 张凯 狄长春 高泽虎 《建筑机械》 2026年第6期226-231,共6页
为解决6 m3铲运车在矿山等复杂作业场景下的碰撞事故多发问题,提升作业效率与安全性,金川集团联合南京青铜建服科技有限公司共同开发了1种视觉人工智能算法融合多传感器的前沿技术。该技术结合激光雷达和异构摄像头等硬件,设计了1套... 为解决6 m3铲运车在矿山等复杂作业场景下的碰撞事故多发问题,提升作业效率与安全性,金川集团联合南京青铜建服科技有限公司共同开发了1种视觉人工智能算法融合多传感器的前沿技术。该技术结合激光雷达和异构摄像头等硬件,设计了1套全新的防碰撞预警系统,致力于降低铲运车作业时周围人员的安全风险。首先分析6 m3铲运车的作业特性及碰撞风险源,确定系统核心需求,随后构建由激光雷达、视觉传感器组成的感知层。基于改进的距离加权K近邻算法,实现人员识别与定位,结合铲运车模型构建碰撞风险评估模型,通过分级预警策略输出声光报警及制动辅助信号,可有效规避碰撞风险,为大型铲运车作业安全提供可靠保障。 展开更多
关键词 6 m3铲运车 防碰撞预警 多传感器特征算法 AI视觉算法 自动刹车
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