ORB-SLAM算法通过ORB(oriented FAST and rotated BRIEF)描述子匹配特征点,其光照强度鲁棒性不足,难以在光照条件较差时应用。对此,利用HSV空间中色调(Hue)光照强度鲁棒性较强的特点,提出通过高斯混合模型于前端匹配时将色调加入ORB特...ORB-SLAM算法通过ORB(oriented FAST and rotated BRIEF)描述子匹配特征点,其光照强度鲁棒性不足,难以在光照条件较差时应用。对此,利用HSV空间中色调(Hue)光照强度鲁棒性较强的特点,提出通过高斯混合模型于前端匹配时将色调加入ORB特征匹配的方法,以解决特征匹配时光照强度鲁棒性不足的问题。通过光束平差法(bundle adjustment)进行位姿优化后,基于贝叶斯滤波模型,根据当前场景构建视觉字典以完成回环检测,提高SLAM算法精度。实验结果表明,相比ORB-SLAM算法,在保证实时性不变的情况下,本文算法精度与光照强度鲁棒性有明显提升。展开更多
A machine learning based speech enhancement method is proposed to improve the intelligibility of whispered speech. A binary mask estimated by a two-class support vector machine （SVM） classifier is used to synthesize...A machine learning based speech enhancement method is proposed to improve the intelligibility of whispered speech. A binary mask estimated by a two-class support vector machine （SVM） classifier is used to synthesize the enhanced whisper. A novel noise robust feature called Gammatone feature cosine coefficients （GFCCs） extracted by an auditory periphery model is derived and used for the binary mask estimation. The intelligibility performance of the proposed method is evaluated and compared with the traditional speech enhancement methods. Objective and subjective evaluation results indicate that the proposed method can effectively improve the intelligibility of whispered speech which is contaminated by noise. Compared with the power subtract algorithm and the log-MMSE algorithm, both of which do not improve the intelligibility in lower signal-to-noise ratio （SNR） environments, the proposed method has good performance in improving the intelligibility of noisy whisper. Additionally, the intelligibility of the enhanced whispered speech using the proposed method also outperforms that of the corresponding unprocessed noisy whispered speech.展开更多
In this paper,a reinforced gradient-type iterative learning control pro file is proposed by making use of system matrices and a proper learning step to improve the tracking performance of batch processes disturbed by ...In this paper,a reinforced gradient-type iterative learning control pro file is proposed by making use of system matrices and a proper learning step to improve the tracking performance of batch processes disturbed by external Gaussian white noise.The robustness is analyzed and the range of the step is speci fied by means of statistical technique and matrix theory.Compared with the conventional one,the proposed algorithm is more ef ficient to resist external noise.Numerical simulations of an injection molding process illustrate that the proposed scheme is feasible and effective.展开更多
文摘ORB-SLAM算法通过ORB(oriented FAST and rotated BRIEF)描述子匹配特征点,其光照强度鲁棒性不足,难以在光照条件较差时应用。对此,利用HSV空间中色调(Hue)光照强度鲁棒性较强的特点,提出通过高斯混合模型于前端匹配时将色调加入ORB特征匹配的方法,以解决特征匹配时光照强度鲁棒性不足的问题。通过光束平差法(bundle adjustment)进行位姿优化后,基于贝叶斯滤波模型,根据当前场景构建视觉字典以完成回环检测,提高SLAM算法精度。实验结果表明,相比ORB-SLAM算法,在保证实时性不变的情况下,本文算法精度与光照强度鲁棒性有明显提升。
基金The National Natural Science Foundation of China (No.61231002,61273266,51075068,60872073,60975017, 61003131)the Ph.D.Programs Foundation of the Ministry of Education of China(No.20110092130004)+1 种基金the Science Foundation for Young Talents in the Educational Committee of Anhui Province(No. 2010SQRL018)the 211 Project of Anhui University(No.2009QN027B)
文摘A machine learning based speech enhancement method is proposed to improve the intelligibility of whispered speech. A binary mask estimated by a two-class support vector machine （SVM） classifier is used to synthesize the enhanced whisper. A novel noise robust feature called Gammatone feature cosine coefficients （GFCCs） extracted by an auditory periphery model is derived and used for the binary mask estimation. The intelligibility performance of the proposed method is evaluated and compared with the traditional speech enhancement methods. Objective and subjective evaluation results indicate that the proposed method can effectively improve the intelligibility of whispered speech which is contaminated by noise. Compared with the power subtract algorithm and the log-MMSE algorithm, both of which do not improve the intelligibility in lower signal-to-noise ratio （SNR） environments, the proposed method has good performance in improving the intelligibility of noisy whisper. Additionally, the intelligibility of the enhanced whispered speech using the proposed method also outperforms that of the corresponding unprocessed noisy whispered speech.
基金Supported by National Natural Science Foundation of China(F010114-6097414061273135)
文摘In this paper,a reinforced gradient-type iterative learning control pro file is proposed by making use of system matrices and a proper learning step to improve the tracking performance of batch processes disturbed by external Gaussian white noise.The robustness is analyzed and the range of the step is speci fied by means of statistical technique and matrix theory.Compared with the conventional one,the proposed algorithm is more ef ficient to resist external noise.Numerical simulations of an injection molding process illustrate that the proposed scheme is feasible and effective.
