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Yong-bao Ai Ting Rui Xiao-qiang Yang Jia-lin He Lei Fu Jian-bin Li Ming Lu 《防务技术》2021,17(5):1712-1721
A great number of visual simultaneous localization and mapping (VSLAM) systems need to assume static features in the environment. However, moving objects can vastly impair the performance of a VSLAM system which relies on the static-world assumption. To cope with this challenging topic, a real-time and robust VSLAM system based on ORB-SLAM2 for dynamic environments was proposed. To reduce the influence of dynamic content, we incorporate the deep-learning-based object detection method in the visual odometry, then the dynamic object probability model is added to raise the efficiency of object detection deep neural network and enhance the real-time performance of our system. Experiment with both on the TUM and KITTI benchmark dataset, as well as in a real-world environment, the results clarify that our method can significantly reduce the tracking error or drift, enhance the robustness, accuracy and stability of the VSLAM system in dynamic scenes. 相似文献
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深基坑预应力锚索支护对临近既有建筑影响的数值分析 总被引:1,自引:0,他引:1
通过利用Ansys有限元软件对某基坑的开挖过程进行数值模拟,对预应力锚索桩支护体系对既有建筑物基础的影响进行了分析,并且与锚索不施加预应力的情况进行了对比,得出了锚索施加预应力可以减小既有建筑物的地基两侧的变形差。但是锚索倾角太小或锚固段完全位于建筑下方,会降低锚索的预期效果,有可能导致建筑物开裂。所以应考虑锚索的倾角和锚固段的位置对建筑的影响。 相似文献
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运用物理-事理-人理(WuLi-ShiLi-RenLi,WSR)系统方法论与精益六西格玛(Lean Six Sigma,LSS)管理思想,分析了装甲装备维修质量管理体系的构建过程.分析了WSR与LSS的宏观与微观集成,构建了基于WSR 与LSS的装甲装备维修质量管理模型;运用WSR详细剖析了维修质量管理体系构建过程中的物理、事理、人理;运用系统工程的思想分析了维修质量管理体系的基本功能与组成要素. 相似文献
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对抗条件下炮兵指挥自动化系统作战效能分析 总被引:3,自引:2,他引:1
本文从炮兵作战过程出发,依据指挥自动化系统的组成,分析了对抗条件下炮兵指挥自动化系统的作战能力指标体系;并结合人的因素对炮兵指挥自动化系统作战效能的影响,建立了对抗条件下炮兵指挥自动化系统作战效能的数学模型。 相似文献
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