Simultaneous localization and mapping(SLAM)is widely used in many robot applications to acquire the unknown environment's map and the robots location.Graph-based SLAM is demonstrated to be effective in large-scale...Simultaneous localization and mapping(SLAM)is widely used in many robot applications to acquire the unknown environment's map and the robots location.Graph-based SLAM is demonstrated to be effective in large-scale scenarios,and it intuitively performs the SLAM as a pose graph.But because of the high data overlap rate,traditional graph-based SLAM is not efficient in some respects,such as real time performance and memory usage.To reduce1 data overlap rate,a graph-based SLAM with distributed submap strategy(DSS)is presented.In its front-end,submap based scan matching is processed and loop closing detection is conducted.Moreover in its back-end,pose graph is updated for global optimization and submap merging.From a series of experiments,it is demonstrated that graph-based SLAM with DSS reduces 51.79%data overlap rate,decreases 39.70%runtime and 24.60%memory usage.The advantages over other low overlap rate method is also proved in runtime,memory usage,accuracy and robustness performance.展开更多
已有研究表明,在由企业发起、缺乏经济奖励的创意众包社区中,企业反馈是激励贡献者持续贡献创意的重要因素,但是没有关注企业直接表达感谢的影响。本文使用国内某创意众包社区的二手数据,借助动机和激励理论,运用PWP-GT(the prentice,wi...已有研究表明,在由企业发起、缺乏经济奖励的创意众包社区中,企业反馈是激励贡献者持续贡献创意的重要因素,但是没有关注企业直接表达感谢的影响。本文使用国内某创意众包社区的二手数据,借助动机和激励理论,运用PWP-GT(the prentice,william,peterson gap time)模型,分析企业直接表达感谢对贡献者持续贡献创意行为的影响,以及企业反馈效价、评论者正向评价量和贡献者积分的调节作用。结果表明,企业向贡献者直接表达感谢会激励其持续贡献创意。在创意得到企业负向反馈(相比较正向反馈)和评论者正向评价量多时(相比较少时),企业直接表达感谢的激励作用增强。在贡献者积分多时(相比较少时),企业直接表达感谢的激励作用减弱。本文拓展了感谢激励的应用场景,探索了感谢激励的边界条件,深化了网络环境中多源激励的研究,对于理解创意众包社区中企业现有的感谢策略也有参考价值。展开更多
基金the Project Fund for Key Discipline of the Shanghai Municipal Education Commission(No.J50104)the Major State Basic Research Development Program of China(No.2017YFB0403500)。
文摘Simultaneous localization and mapping(SLAM)is widely used in many robot applications to acquire the unknown environment's map and the robots location.Graph-based SLAM is demonstrated to be effective in large-scale scenarios,and it intuitively performs the SLAM as a pose graph.But because of the high data overlap rate,traditional graph-based SLAM is not efficient in some respects,such as real time performance and memory usage.To reduce1 data overlap rate,a graph-based SLAM with distributed submap strategy(DSS)is presented.In its front-end,submap based scan matching is processed and loop closing detection is conducted.Moreover in its back-end,pose graph is updated for global optimization and submap merging.From a series of experiments,it is demonstrated that graph-based SLAM with DSS reduces 51.79%data overlap rate,decreases 39.70%runtime and 24.60%memory usage.The advantages over other low overlap rate method is also proved in runtime,memory usage,accuracy and robustness performance.
文摘已有研究表明,在由企业发起、缺乏经济奖励的创意众包社区中,企业反馈是激励贡献者持续贡献创意的重要因素,但是没有关注企业直接表达感谢的影响。本文使用国内某创意众包社区的二手数据,借助动机和激励理论,运用PWP-GT(the prentice,william,peterson gap time)模型,分析企业直接表达感谢对贡献者持续贡献创意行为的影响,以及企业反馈效价、评论者正向评价量和贡献者积分的调节作用。结果表明,企业向贡献者直接表达感谢会激励其持续贡献创意。在创意得到企业负向反馈(相比较正向反馈)和评论者正向评价量多时(相比较少时),企业直接表达感谢的激励作用增强。在贡献者积分多时(相比较少时),企业直接表达感谢的激励作用减弱。本文拓展了感谢激励的应用场景,探索了感谢激励的边界条件,深化了网络环境中多源激励的研究,对于理解创意众包社区中企业现有的感谢策略也有参考价值。
