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Articles 1 - 6 of 6
Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering
Application Of Improved Path Tracking Algorithm In Robot Slam, Qian Li, Ye Tao, Hui Li
Application Of Improved Path Tracking Algorithm In Robot Slam, Qian Li, Ye Tao, Hui Li
Journal of System Simulation
Abstract: Mapping is an important part of automated logistics. At present, SLAM is widely used. However, in large-scale scenes, errors are accumulated because robots often repeatedly measure and scan the region edge, which makes it impossible to quickly build a high-precision and complete map. An autonomous mapping method based on auxiliary path tracking is proposed, in which the given initial sketch is grid denoised and the auxiliary path is fitted and improved by multi segment cubic polynomial. The improved pure pursuit algorithm is used to guide the robot to build the map and improve the total distance and time of …
Adaptive Optimization In Feature-Based Slam Visual Odometry, Yanan Yu, Dunhuang Shi, Chunjie Hua
Adaptive Optimization In Feature-Based Slam Visual Odometry, Yanan Yu, Dunhuang Shi, Chunjie Hua
Journal of System Simulation
Abstract: Aiming to reduce the impact of dynamic environments on simultaneous localization and mapping (SLAM) of mobile robots, an adaptive optimization method in a feature-based visual odometry is proposed. The method helps to improve the invariance of image feature in illumination changing situation and to extract features effectively in areas where the texture information is not sufficient to make contributions to feature matching. Meanwhile, down sampling is applied to establish image pyramids and each scaled image is divided into cells based on a defined rule. Illumination adaptive nonlinear adjustments for each cell are applied to increase the image details, and …
3d Simultaneous Localization And Mapping Based On Rgb-D Images, Lingyan Hu, Cao Lu, Pengwen Xiong, Xin Yong, Zekun Xie
3d Simultaneous Localization And Mapping Based On Rgb-D Images, Lingyan Hu, Cao Lu, Pengwen Xiong, Xin Yong, Zekun Xie
Journal of System Simulation
Abstract: To reduce the accumulated pose error of robots during the three-dimensional simultaneous localization and mapping, a global optimization method is proposed to improve the positioning accuracy and the quality of the map. This method, which is based on the visual odometry of the frame and frame registration model, adds the pose-constraints by closed-loop detection based on image matching. Local loop is combined with random loop to improve the optimization efficiency. The general graph optimization algorithm is used to globally optimize the robot poses. A key-frame selection strategy is also proposed to decrease the consumption of the …
Research On 3d Scene Modeling Based On Uav And Lidar, Zhang Hang, Bin Chen, Hanzhang Xue, Zhengqiu Zhu, Rongxiao Wang
Research On 3d Scene Modeling Based On Uav And Lidar, Zhang Hang, Bin Chen, Hanzhang Xue, Zhengqiu Zhu, Rongxiao Wang
Journal of System Simulation
Abstract: Simulation is a significant method of emergency management research which demands the digital data of real scenes. Hardware was integrated to design the air borne point cloud data acquisition platform by using UAV as carrier, picking up the laser radar, IMU, etc. Furthermore, the platform was used to collect point cloud data and SLAM algorithm was used to establish real-time point cloud map. Moreover, point cloud map was utilized to establish 3D model. The problem of real scene 3D model construction was solved, designing and realizing point cloud processing and 3D modeling software, and a lot …
Key Frame Extraction For Slam Based On Spatio-Temporal Slices, Xinliang Zhang, Li Yang, Yunji Zhao
Key Frame Extraction For Slam Based On Spatio-Temporal Slices, Xinliang Zhang, Li Yang, Yunji Zhao
Journal of System Simulation
Abstract: To deal with the data redundancy and computational complexity of the mobile robot 3D visual SLAM (simultaneous localization and mapping), a key frame extraction technique based on spatio-temporal slices is proposed. Based on the analysis of the texture characteristics of the spatio-temporal slices, it yields that the motion state of the image acquisition device can be represented by the slope change of the texture. The similarity degree between two adjacent slices is measured to find out the key frame by use of the nearest neighbor pixel-matching algorithm, which can accurately describe the motion state of the device …
Simulation Project Characteristics In Industrial Settings, Paul Savory
Simulation Project Characteristics In Industrial Settings, Paul Savory
Department of Industrial and Management Systems Engineering: Faculty Publications
In a survey of practitioners of discrete-event simulation from industry and research institutes who "build models for money," we asked about project goals, user backgrounds and training, organizational types and activities, software and hardware choices, modeling team composition, and effort allocation within a modeling project. We found that (1) only about half of the practitioners have three or more years experience, (2) many academics feel strongly affiliated with their industry clients rather than with their university employers, (3) shop-floor supervisors rarely lead simulation projects, even though their knowledge of the system may be unparalleled, (4)simulation models are generally described as …