用于移动机器人自定位的视觉路标设计

为了实现室内移动机器人的自定位,提出了一种简易美观的新型视觉人工路标以及基于对数极坐标系投影直方图的路标识别方法,并用基于共面四点的位姿估计算法计算机器人位姿。实验结果说明,路标检测具有很高的鲁棒性;路标识别方法抗噪声和形变的能力强;位姿精度足够满足室内移动机器人自定位的需要。

一种基于视觉的移动机器人定位系统

具有自主的全局定位能力是自主式移动机器人传感器系统的一项重要功能 .为了实现这个目的 ,国内外均在不断地研究发展各种定位传感器系统 .这里介绍了一种采用光学原理的全方位位置传感器系统 .该传感器系统由主动式路标、视觉传感器、图象采集与数据处理系统组成 .其视觉传感器和数据处理系统可安装在移动机器人上 ,然后可通过观测路标和视角定位的方法 ,计算出机器人在世界坐标系中的位置和方向 .实验证明 ,该系统可以实现机器人的在线定位 ,其采样速率和精度能够满足实用要求 .

一个简单的机器人视觉引导装配实验系统

本文对视觉控制下的一个简单实验室装配系统作了介绍,讨论了系统组成、机器人控制、二维图象特征的提取、对物体自动识别、定位定向、系统标定、实现垒积木装配工作.本实验系统用的是我所研制的国内第一台示教再现机器人.

具有训练、学习和零件识别能力的计算机视觉系统

本文提出的系统主要为了在自动化传输带上进行零件的自动识别、定位、定向。曾用该系统对三十多种钟表零件进行反复验证,效果甚佳。

电离层胶片频高图数字化转换与分析研究

The ionogram acquired with the ionospheric vertical sounding method is the oldest data in the history of ionospheric research. Using of modern microelectronics and computer technology to digitalize, analyse and preserve the huge amount of historical film ionogram has become more and more important and urgent. This paper introduced the progress of the film ionogram digitalization by using digital image processing technologies to correct and repair film ionogram and convert them in an exchangeable format. An analysis and conversion software, basing on this method, has been developed for the film ionogram analysis, and then it introduces the application of this software by combining the SAO Explorer program for Wuhan film ionogram and pseudo-color ionogram in Yamagawa in Japan. It shows that our method is reliable，and the developed software is used friendly and provides a positive solution in digitalization and analysis of huge amount of historical film ionogram. Firstly, we briefly introduce the film ionogram and the process of its digitalization. By observing a amount of film ionogram, we obtain some common characteristics of the digitalized film ionogram following as: (1) the image rotation are caused by scanning; (2) the vertical axis of a large number of film ionogram exist more or less tilt and bending ; (3) coordinates of the film ionogram appear the non-uniformity phenomena result from the instability of driving motor rotation and the error of altitudinal cursor orientation. Moreover, based on the characteristics of the film ionogram and the SAO Explorer software which is widely used for the digital ionogram analysis in the world, a new method has been developed for film ionogram procession. The method contains the image geometric correction and film ionogram format conversion. The image geometric correction includes such as image rotation correction, vertical correction and coordinates scale correction. After geometric correction, the BMP file format images will be converted to the SBF file format images. Then, we also discuss the data format converting methods, which include two methods of the image data mapping basing on the normalization and logarithm, and the method of the preprocessing of the noise filtering and the threshold setting. Combining with SAO Explorer software, we successfully obtain ionospheric parameters and electron profile from the converted SBF file format digital ionograms. Based on the above method, we developed the software for the film ionogram to realize its correction analysis and conversion of the image format, and then give a introduction for its function and operation. Subsequently, the software are applied into the Wuhan film ionogram which separately observed in the high solar activity year and the low in 1980s last century. The results reveal the converted SBF digital ionogram almost preserve the all echo information of the film ionogram. Furthermore, we expressly discuss the application to the Wuhan film ionogram in 1958 in order to validate the applicability and credibility of the software. And it is showed that the important information of the film ionogram are maintained into the SBF digital ionogram. It is represented that there is credibility for conversion of the software when it applied in the older film ionogram. In sum, this software could apply to the digitalization and analysis of huge amount of historical film ionogram. Last, we extended the function of the software by bring some new conversion method and used it to apply to the pseudo-color ionogram of yamagawa in Japan. The results show that the converted ionogram information basically maintain the importantly ionogram information and the error of scaling of converted SBF file format image is almost acceptable, though there is no preprocessing for the original ionogram. Hence, we could extend the applicable range of the software and apply it to all kinds of simulative ionogram imaging by improving the method and software.

纵波方位属性裂缝检测技术综合研究

Fractured oil and gas reservoir is an important type of oil and gas reservoir, which is taking a growing part of current oil and gas production in the whole world. Thus these technologies targeted at exploration of fractured oil and gas reservoirs are drawing vast attentions. It is difficult to accurately predict the fracture development orientation and intensity in oil and gas exploration. Focused on this problem, this paper systematically conducted series study of seismic data processing and P-wave attributes fracture detection based on the structure of ZX buried mountain, and obtained good results. This paper firstly stimulated the propagation of P-wave in weak anisotropic media caused by vertical aligned cracks, and analyzed the rule of P-wave attributes’ variation associated with observed azimuth, such as travel-time, amplitude and AVO gradient and so on, and quantitatively described the sensitive degree of these attributes to anisotropy of fracture medium. In order to further study the sensitive degree of these attributes to anisotropy of fractures, meanwhile, this paper stimulated P-wave propagation through different types and different intensity anisotropic medium respectively and summarized the rule of these attributes’ variation associated with observed azimuth in different anisotropic medium. The results of these studies provided reliable references for predicting orientation, extensity and size of actual complicated cracked medium by P-wave azimuth attributes responses. In the paper, amounts of seismic data processing methods are used to keep and recover all kinds of attributes applied for fracture detection, which guarantee the high accurate of these attributes, thus then improve the accurate of fracture detection. During seismic data processing, the paper adopted the three dimensional F-Kx-Ky field cone filter technique to attenuate ground roll waves and multiple waves, then enhances the S/N ratio of pre-stack seismic data; comprehensively applying geometrical spread compensation, surface consistent amplitude compensation, residual amplitude compensation to recover amplitude; common azimuth processing method effectively preserves the azimuthal characteristics of P-wave attributes; the technique of bend ray adaptive aperture pre-stack time migration insures to obtain the best image in each azimuth. Application of these processing methods guaranteed these attributes’ accuracy, and then improved the accuracy of fracture detection. After comparing and analyzing a variety of attributes, relative wave impedance (relative amplitude) attribute is selected to inverse the orientation of fracture medium; attenuation gradient and corresponding frequency of 85% energy are selected to inverse the intensity of fracture medium; then obtained the fracture distribution characteristics of lower Paleozoic and Precambrian in ZX ancient buried mountains. The results are good accord with the characteristics of faults system and well information in this area.

塔里木盆地历史时期的自然环境演变

Exploit Tarim Basin Historical Physical Geographic Information System by linking historical documents and Geographic Information System, reconstruct the physical environmental evolution in Tarirn Basin during historical period (the last 2 Ka), special discuss riverhead of the Yellow River and Lop Nur. Based on analyzing Chinese historical documents (antiquity maps and texts), extract physical environmental information in Xiyu during historical period from Twenty-Five History and geographic books and records past dynasties, divide it into 4 period of time. Regarding digital topographical maps as base maps and looking on water bodies, vegetation and desert as central factors, quantify historical physical geographic data in Geographic Information System in terms of dynastic combination of Xianqin-Han, Jin-Wei-Nanbeichao, Tang-Wudai and Song-Yuan-Ming-Qing, execute physical environmental maps of Xiyu through the ages, in order to image the changes of water system, oasis and desert in Xiyu during the last 2 Ka. Compare cross orientation the relation of environmental factors all historical period of time from the influence of climate to oasis and desert, deem that climate condition decided ecological structure in direct and restrict the extent of desertification, especially climate corresponded the style of oasis and the spread of desert in the period of Jin-Wei-Nanbeichao and Tang-Wudai. Compare portrait direction the physical environmental characters in Xiyu during different period of time from 5 aspects of water bodies, oasis, desert, products and climate, deem that physical environment in Xiyu changed in all aspects during historical period. The origin of Lysenkoism about the Yellow River Undercurrent is agelong, whose ascending and descending at times due to investigating the riverhead of the Yellow River time after time during historical period and researching and disputing about the geographic location of Jishishan Mountain. It could consider the faultage in northeastern Qinghai-Xizang Plateau as the channels of undercurrent according to the research of modern geoscience field in the riverhead region.

Theoretical study of determining orientation and alignment of symmetric top molecule using laser-induced fluorescence

General expressions used for extracting the orientation and alignment parameters of a symmetric top molecule from laser-induced fluorescence (LIF) intensity are derived by employing the density matrix approach. The molecular orientation and alignment are described by molecular state multipoles. Excitation and detection are circularly and linearly polarized lights, respectively. In general cases, the LIF intensity is a complex function of the initial molecular state multipoles, the dynamic factors and the excitation-detection geometrical factors. It contains a population, ten orientation and fourteen alignment multipoles. The problem of how to extract the initial molecular state multipoles from the resolved LIF intensity is discussed.

心理旋转中的整体优先效应及其机制

In the history of psychology research, more attention had been focused on the relation between local processing and global processing. For the global information and the local information, which is processed earlier? And which is processed faster? Precedence of the global over the local level in visual perception has been well established by Navon with compound stimuli, and Navon’s original study gave rise to many publications, including replications, generalization to other kinds of stimuli (nonverbal material, digits), populations (infants, children, brain-damaged subjects), and tasks (lateral visual hemifield presentation, copy drawing, memory recognition, and recall), and triggered some debate about the conditions in which global precedence is and is not observed (number, size, sparsity, and goodness of the stimuli, exposure duration, etc.). However, whether there is a global advantage or precedence in other cognitive processes was less tested. Most researches had suggested that there was a functional equivalency between visual perception and visual image processing. However, it’s still unknown whether there will be a global advantage on mental rotation. In the present study, we combined the mental rotation task with the compound stimuli to explore whether the global or local advantage also existed at the mental imagery transformation stages. In two pilot studies, the perceptual global precedence was found to be present in a normal/mirror-image judgment task when the stimuli exposure time was short; while the stimuli exposure time was prolonged (stimuli kept available till subjects’ response) the perceptual global precedence was showed to be eliminated. In all of the subsequent experiments, stimili would be presented till subjects’ response. Then mental rotation was added in normal/mirror-image judgment (some of the stimuli were rotated to certain angles from upright) in normal experiments, experiment 1 and 2 observed a global advantage on mental rotation both with a focused-attention design (Experiment 1) and divided-attention design (Experiment 2). Subjects’ reaction times were increased with rotation angles, and the accuracy was decreased with rotation angles, suggesting that subject need a mental rotation to make a normal/mirror judgment. The most important results were that subjects’ response to global rotation was faster than that to local rotation. The analysis of slope of rotation further indicated that, to some extend, the speed of global rotation was faster than that of local rotation. These results suggest a global advantage on mental rotation. Experiment 3 took advantage of the high temporal resolution of event-related potentials to explore the temporal pattern of global advantage on mental rotation. Event-related potential results indicated the parietal P300 amplitude was inversely related to the character orientation, and the local rotation task delayed the onset of the mental-rotation-related negativity at parietal electrodes. None clear effect was found for occipital N150. All these results suggested that the global rotation was not only processed faster than local rotation, but also occurred earlier than local rotation. Experiments 4 and 5 took the effect size of global advantage as the main dependent variable, and visual angle and exposure duration of the stimuli as independent variables, to examine the relationship between perceptual global precedence and global advantage on mental rotation. Results indicated that visual angle and exposure duration did not influence the effect size of global advantage on mental rotation. The global advantage on mental rotation and the perceptual global advantage seemed to be independent but their effects could be accumulated at some condition. These findings not only contribute to revealing a new processing property of mental rotation, but also deepen our understanding of the problem of global/local processing and shed light on the debate on locus of global precedence.

品牌形象的消费行为学分析

Brand image is the attributes set and the related associations of a brand in consumers mind, and it is the subjective reflections of brands. The paper explored the factors of brand image system and their weight. As the traditional means to evaluate weight coefficients are not perfect, a new method, conjoint analysis, was attempted. The factors of brand image were explored through questionnaire. Sports sneaker, toothpaste, and personal stereo were chosen as product sample, and four hundred and twenty university students from Tangshan city and Beijing as subjects(each person evaluated two kinds of products). The first two kinds of products were requisites of students, and sports sneaker belonged to High conspicuous products and toothpaste was low conspicuous product. On the other hand, personal stereo was the sample of development and entertainment products. Several factors of three products brand were taken out with factor analysis. In order to explore the weight of the brand image factors, a contrast of factor contribution ratio method, holistic quartation method and conjoint analysis is made here. Twenty university students evaluated the weight of the image factors of three kinds of brand with holistic quartation method, then they gave the weight of personal stereo with conjoint analysis method. Product function, advertising and propaganda, symbolic meaning, market orientation, brand appetency, consuming experience are the factors of sports sneaker brand image. Product function, advertising and propaganda, market orientation, product grade, corporation image are the factors of toothpaste brand image. Corporation image and product function, advertising and propaganda, consuming experience, symbolic meaning, price and function ratio are the factors of personal stereo brand image. So the hypothesis was proved that brand image is an ordinal and organical system, "ordinal" means the weight of factors are different, "organical" means that brand image can be deposed into several factors and the factors belonged to function components and meaning components (function components are the factors about physical characteristics and function, which are called "hard factors"); meaning factors are those that can show the personality、value and lifestyle of consumers, which are called "soft factors". The research also gave evidence of the hypothesis below: the factor structures of brand image of different product category have commonness and individuality; the function components of low conspicuous products are more important than the high conspicuous products. The exploration of conjoint analysis is what the paper seeks to be some creative in some degree.

Distance Metric Between 3D Models and 3D Images for Recognition and Classification

Similarity measurements between 3D objects and 2D images are useful for the tasks of object recognition and classification. We distinguish between two types of similarity metrics: metrics computed in image-space (image metrics) and metrics computed in transformation-space (transformation metrics). Existing methods typically use image and the nearest view of the object. Example for such a measure is the Euclidean distance between feature points in the image and corresponding points in the nearest view. (Computing this measure is equivalent to solving the exterior orientation calibration problem.) In this paper we introduce a different type of metrics: transformation metrics. These metrics penalize for the deformatoins applied to the object to produce the observed image. We present a transformation metric that optimally penalizes for "affine deformations" under weak-perspective. A closed-form solution, together with the nearest view according to this metric, are derived. The metric is shown to be equivalent to the Euclidean image metric, in the sense that they bound each other from both above and below. For Euclidean image metric we offier a sub-optimal closed-form solution and an iterative scheme to compute the exact solution.

Some Extensions of the K-Means Algorithm for Image Segmentation and Pattern Classification

In this paper we present some extensions to the k-means algorithm for vector quantization that permit its efficient use in image segmentation and pattern classification tasks. It is shown that by introducing state variables that correspond to certain statistics of the dynamic behavior of the algorithm, it is possible to find the representative centers fo the lower dimensional maniforlds that define the boundaries between classes, for clouds of multi-dimensional, mult-class data; this permits one, for example, to find class boundaries directly from sparse data (e.g., in image segmentation tasks) or to efficiently place centers for pattern classification (e.g., with local Gaussian classifiers). The same state variables can be used to define algorithms for determining adaptively the optimal number of centers for clouds of data with space-varying density. Some examples of the applicatin of these extensions are also given.

Towards an Example-Based Image Compression Architecture for Video-Conferencing

This paper consists of two major parts. First, we present the outline of a simple approach to very-low bandwidth video-conferencing system relying on an example-based hierarchical image compression scheme. In particular, we discuss the use of example images as a model, the number of required examples, faces as a class of semi-rigid objects, a hierarchical model based on decomposition into different time-scales, and the decomposition of face images into patches of interest. In the second part, we present several algorithms for image processing and animation as well as experimental evaluations. Among the original contributions of this paper is an automatic algorithm for pose estimation and normalization. We also review and compare different algorithms for finding the nearest neighbors in a database for a new input as well as a generalized algorithm for blending patches of interest in order to synthesize new images. Finally, we outline the possible integration of several algorithms to illustrate a simple model-based video-conference system.

Linear Object Classes and Image Synthesis from a Single Example Image

The need to generate new views of a 3D object from a single real image arises in several fields, including graphics and object recognition. While the traditional approach relies on the use of 3D models, we have recently introduced techniques that are applicable under restricted conditions but simpler. The approach exploits image transformations that are specific to the relevant object class and learnable from example views of other "prototypical" objects of the same class. In this paper, we introduce such a new technique by extending the notion of linear class first proposed by Poggio and Vetter. For linear object classes it is shown that linear transformations can be learned exactly from a basis set of 2D prototypical views. We demonstrate the approach on artificial objects and then show preliminary evidence that the technique can effectively "rotate" high- resolution face images from a single 2D view.