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基于多传感融合的巷道三维空间映射
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作者 刘峰 王宏伟 刘宇 《煤炭学报》 EI CAS CSCD 北大核心 2024年第9期4019-4026,共8页
针对我国煤矿掘进工作面智能感知能力不足的问题,提出了一种基于多传感融合的煤矿巷道三维空间映射方法。该方法利用激光雷达等3D传感器预览煤矿巷道环境信息,并构建实时自主映射模型,为大型煤机装备提供空间感知信息。基于姿态感知理... 针对我国煤矿掘进工作面智能感知能力不足的问题,提出了一种基于多传感融合的煤矿巷道三维空间映射方法。该方法利用激光雷达等3D传感器预览煤矿巷道环境信息,并构建实时自主映射模型,为大型煤机装备提供空间感知信息。基于姿态感知理论的多传感融合技术,对扩展卡尔曼滤波器算法进行优化,通过局部误差状态滤波估计和全局状态迭代估计,提出了一种基于距离残差的空间映射方法,实现了在几何退化的巷道环境下全局地图的快速更新和映射的高精度。其主要贡献在于将多传感器数据进行融合,构建出高精度的地下三维地图,并提高了巷道环境的智能感知能力和自主操作水平。首先,采用先进的激光雷达(LiDAR)传感器获取巷道内部的点云数据,提取点云特征,并建立帧间特征映射模型,从而构建出厘米级别的地下三维地图。同时,通过迭代误差状态的卡尔曼滤波器实现激光雷达与惯性导航的数据融合,提高了系统的鲁棒性,确保了地下三维地图的准确性和稳定性。此外,还考虑了井下粉尘和水雾等因素对巷道三维空间映射精度的影响,优化卡尔曼滤波增益调节激光雷达里程计权重,增强了低质量浓度粉尘条件下三维空间映射的环境适应性。实验结果表明,相较于LeGO-LOAM和LINS,笔者提出的三维空间映射方法在轨迹估计准确度、映射地图的点云数量以及点云密度等方面均表现更优。笔者所提出的方法可用于高精度、快速更新三维地图的自主掘进装备,提高煤矿掘进工作面的智能化水平,为巷道环境的智能化感知和自主作业提供了数据支持。 展开更多
关键词 三维空间映射 巷道智能感知 扩展卡尔曼滤波 点云地图
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Science Letters:Dynamic concision for three-dimensional reconstruction of human organ built with virtual reality modelling language (VRML) 被引量:3
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作者 禹正杨 郑树森 +2 位作者 陈雷霆 何晓乾 王建军 《Journal of Zhejiang University-Science B(Biomedicine & Biotechnology)》 SCIE CAS CSCD 2005年第7期611-616,共6页
This research studies the process of 3D reconstruction and dynamic concision based on 2D medical digital images using virtual reality modelling language (VRML) and JavaScript language, with a focus on how to realize t... This research studies the process of 3D reconstruction and dynamic concision based on 2D medical digital images using virtual reality modelling language (VRML) and JavaScript language, with a focus on how to realize the dynamic concision of 3D medical model with script node and sensor node in VRML. The 3D reconstruction and concision of body internal organs can be built with such high quality that they are better than those obtained from the traditional methods. With the function of dynamic concision, the VRML browser can offer better windows for man-computer interaction in real-time environment than ever before. 3D reconstruction and dynamic concision with VRML can be used to meet the requirement for the medical observation of 3D reconstruction and have a promising prospect in the fields of medical imaging. 展开更多
关键词 Virtual Reality Modelling Language (VRML) Direct texture mapping Three-dimensional reconstruction Dynamic concision
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Surfaces of Revolution in Minkowski 3-Space Satisfying F (G) = k(G + C)
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作者 Ahmet Kazan Bayram Karadag 《Journal of Mathematics and System Science》 2013年第11期567-572,共6页
In this paper, we investigate the surfaces of revolution under the condition FIl(G) = k(G + C), where r11 is one of the Christoffel-like operators, G is the Gauss map of the surface, k is a non-constant function ... In this paper, we investigate the surfaces of revolution under the condition FIl(G) = k(G + C), where r11 is one of the Christoffel-like operators, G is the Gauss map of the surface, k is a non-constant function and C is a constant vector in Minkowski 3-space. 展开更多
关键词 Surface of revolution Gauss map Gaussian curvature Christoffel symbols.
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