立体视觉中误匹配滤波方法的研究

从二维空间和三维空间2种角度研究误匹配滤波算法,提出在匹配前用于降低误匹配的灰度预处理算法和一种基于真实控制点的视差滤波算法。前者只针对2幅图像的重叠区域进行灰度均衡,可以减少计算量,后者在传统视差均值滤波的基础上可进一步提高误匹配的滤波效率。基于真实图像的实验结果表明,新算法可以有效滤除误匹配,提高三维重建精度,保证重建效果。

基于立体视觉的移动机器人楼梯识别

本文提出了一种结构化环境下,基于立体视觉的机器人楼梯识别算法,并将算法该应到自主移动机器人上。该算法首先利用二维图像分析的方法搜索楼梯的疑似区域;进而利用立体视觉对各个疑似区域进行精确三维重建,结合三维信息重构楼梯平面,排除虚假疑似楼梯区域;最后判定机器人和楼梯的相对位姿关系,引导机器人爬楼梯。最终我们将该算法应用到了自主移动机器人上,通过在各种光照条件下的实验,进一步验证了该算法的准确性和快速性。

f-x-y域去除随机噪音方法研究

The seismic survey is the most effective prospecting geophysical method during exploration and development of oil/gas. The structure and the lithology of the geological body become increasingly complex now. So it must assure that the seismic section own upper resolution if we need accurately describe the targets. High signal/noise ratio is the precondition of high-resolution. For the sake of improving signal/noise ratio, we put forward four methods for eliminating random noise on the basis of detailed analysis of the technique for noise elimination using prediction filtering in f-x-y domain. The four methods are put forward for settling different problems, which are in the technique for noise elimination using prediction filtering in f-x-y domain. For weak noise and large filters, the response of the noise to the filter is little. For strong noise and short filters, the response of the noise to the filter is important. For the response of the noise, the predicting operators are inaccurate. The inaccurate operators result in incorrect results. So we put forward the method using prediction filtering by inversion in f-x-y domain. The method makes the assumption that the seismic signal comprises predictable proportion and unpredictable proportion. The transcendental information about predicting operator is introduced in the function. The method eliminates the response of the noise to filtering operator, and assures that the filtering operators are accurate. The filtering results are effectively improved by the method. When the dip of the stratum is very complex, we generally divide the data into rectangular patches in order to obtain the predicting operators using prediction filtering in f-x-y domain. These patches usually need to have significant overlap in order to get a good result. The overlap causes that the data is repeatedly used. It effectively increases the size of the data. The computational cost increases with the size of the data. The computational efficiency is depressed. The predicting operators, which are obtained by general prediction filtering in f-x-y domain, can not describe the change of the dip when the dip of the stratum is very complex. It causes that the filtering results are aliased. And each patch is an independent problem. In order to settle these problems, we put forward the method for eliminating noise using space varying prediction filtering in f-x-y domain. The predicting operators accordingly change with space varying in this method. Therefore it eliminates the false event in the result. The transcendental information about predicting operator is introduced into the function. To obtain the predicting operators of each patch is no longer independent problem, but related problem. Thus it avoids that the data is repeatedly used, and improves computational efficiency. The random noise that is eliminated by prediction filtering in f-x-y domain is Gaussian noise. The general method can't effectively eliminate non-Gaussian noise. The prediction filtering method using lp norm (especially p=l) can effectively eliminate non-Gaussian noise in f-x-y domain. The method is described in this paper. Considering the dip of stratum can be accurately obtained, we put forward the method for eliminating noise using prediction filtering under the restriction of the dip in f-x-y domain. The method can effectively increase computational efficiency and improve the result. Through calculating in the theoretic model and applying it to the field data, it is proved that the four methods in this paper can effectively solve these different problems in the general method. Their practicability is very better. And the effect is very obvious.

左侧梭状回内文字的字形加工：中文正常阅读者，中文文盲、非中文母语被试的对比研究

Reading is an important human-specific skill obtained through extensive learning experience and is reliance on the ability to rapidly recognize single words. According to the behavioral studies, the most important stage of reading is the representation of “visual word form”, which is independent on surface visual features of the reading materials. The prelexical visual word form representation is characterized by the abstractive and highly effective and precise processing. Neuroimaging and neuropsychological studies have investigated the neural basis underlying the visual word form processing. On the basis of summary of the existing literature, the current thesis aimed to address three fundamental questions involving neural basis of word recognition. First, is there a dedicated neural network that is specialized for word recognition? Second, is the orthographic information represented in the putative word/character selective region (VWFA)? Third, what is the role of reading experience in the genesis of the VWFA, is experience a main driver to shape VWFA instead of evolutionary selectivity? Nineteen Chinese literate volunteers, 5 Chinese illiterates and 4 native English speakers participated in this study, and performed perceptual tasks during fMRI scanning. To address the first question, we compared the differential responses to three categories of visual objects, i.e., faces, line drawings of objects and Chinese characters, and defined the region of interesting (ROI) for the next experiment. To address the second question, Chinese character orthography was manipulated to reveal possible differential responses to real characters, false characters, radical combinations, and stroke combinations in the regions defined by the first experiment. To examine the role of reading experience in genesis of specialization for character, the responses for unfamiliar Chinese characters in Chinese illiterates and native English speakers were compared with that in the Chinese literates, and tracked the change in cortical activation after a short-term reading training in the illiterates. Data were analyzed in two dimensions. Both BOLD signal amplitude and spatial distribution pattern among multi-voxels were used to systematically investigate the responsiveness of the left fusiform gyrus to Chinese characters. Our results provide strong and clear evidence for the existence of functionally specialized regions in the human ventral occipital-temporal cortex. In the skilled readers a region specialized for written words could be consistently found in the lateral part of the left fusiform gyrus, line drawings in the median part and faces in the middle. Our results further show that spatial distribution analysis, a method that was not commonly used in neuroimaging of reading, appears to be a more effective measurement for category specialization for visual objects processing. Although we failed to provide evidence that VWFA processes orthographic information in terms of signal intensitiy, we do show that response pattern of real characters and radical collections in this area is different from that of false characters and random stroke combinations. Our last set of experiments suggests that the selective bias to reading material is clearly experience dependent. The response to unknown characters in both English speakers/readers and Chinese illiterates is fundamentally different from that of the skilled Chinese readers. The response pattern for unknown characters is more similar to that for line drawings rather as a weak version of character in skilled Chinese readers. Short-term training is not sufficient to produce VWFA bias even when tested with learned characters, rather the learned characters generated a overall upward shift of the activation of the left fusiform region. Formation of a dedicated region specialized for visual word/character might depend on long-term extensive reading experience, or there might be a critical period for reading acquisition.

3-7岁儿童对情景化习俗道义情境中社会行为的认知发展

Children’s understanding of deontic rules and theory of mind (ToM) were the two research domains for children’s social cognition. It was significant for understanding children’s social cognition to combine the researches in the two domains. Children at 3, 5 and 7years were required to answer three questions according to the stories which happened in children’s familiar context. The three questions were designed to address the three problems:⑴Development of 3-7-Year-old children’s understanding about how the deontic rules were enacted or changed.⑵ Development of 3-7-Year-old children’s understanding about that the deontic rules and the actor’s mental states could impact on his behaviors.⑶ Development of 3-7-Year-old children’s capacity to integrate the deontic rules and mental state to evaluate the actor’s behavior. The results showed that: ① The 3-7-Year-old children had known that deontic rules were established by the authority’s speech act. But there were still some irrelevant factors which influenced the children’s judgments, such as the authority’s desire. ② The children gradually recognized the relationship between actors should do something and they will do the same thing. 3-year-old children could recognize such relationship in a way, but their predictions were usually influenced by some irrelevant factors. The children at 5 and 7 years old understood this relationship more steady. ③ In deontic context, more and more children predicted the actors’ behaviors according to the actors’ mental states as they grown up. The ratio that the 3-7-Year-old children predicted the actors’ behavior according to their false belief about the deontic rules was smaller in deontic context compared with the children’s performance in traditional false belief task. This maybe indicated that the deontic context influenced the children’s inference stronger than the physical context. ④ When they could get the actors’ desires and the deontic rules, all the children could predict the actors’ behaviors according to their desires, but not the deontic rules. It meant that all the children could understand that the actors’ desire mediated between the deontic rules and their behaviors. But when the actors wanted to transgress the deontic rules, all the children’s predications became less accurate. ⑤ When they assigned criticism, more and more children could discriminate different behaviors as a result of diverse mental states although they all transgressed the deontic rules. But the most part of children overweighed the deontic rules but overlooked the actors’ mental state about the deontic rules; their criticism to behaviors which transgressed the deontic rules just differ in quantity according to diverse mental states, that is: if the actors known the rules or want to transgress the rules, then punished more, and if the actors didn’t know the rules or transgress the rules accidentally, then punished a little.