基于菱形模板的摄像机标定方法

在传统的基于平面模板的摄像机标定算法和基于3个非线性点在特定运动下的标定算法的基础上,提出了一种基于菱形模板的摄像机标定算法,本算法只需要知道菱形的一个夹角就能标定出摄像机的内参数矩阵。弥补了传统算法在标定时需要知道特征点世界坐标的不足,减少了制定模板世界坐标带来的误差;同时本算法不需要菱形特征点做任何运动,避免了旋转特征点带来的人为误差。该算法的标定精度仅取决于特征点检测的精度,实验结果验证了该文算法的有效性。     

SEAD场景异构无人机配置与任务规划联合优化方法

对敌防空压制(suppression of enemy air defenses, SEAD)场景是多无人机协同的典型应用,针对该场景特点,在任务规划问题基础上将各类型无人机数量也作为决策变量,充分表征目标、任务和无人机的多种约束,建立异构无人机编队路径问题模型。设计了双层联合优化方法求解该模型：上层设计了任务衔接参数指标,精确评估各类型无人机需求,指导无人机配置调整;下层设计了改进遗传算法,高效处理多类型约束并能结合无人机数量变化对任务方案进行精细调整;双层相互协调获得满足需求的无人机配置和执行方案。仿真结果表明,该方法可以在避免遍历无人机配置组合的前提下获得合理的无人机配置方案和高效可行的执行方案。     

Institutional parameters that condition farmer–herder conflicts in Tivland of Benue State,Nigeria

ABSTRACT

This conceptual review examines institutional parameters that underpin farmer–herder conflicts in Tivland of Benue State, Nigeria. Anchored on the theory of New Institutionalism, it argues that tensions and conflicts between Tiv-farmers and the Fulani-herdsmen is occasioned largely by the disarticulation of the traditional institutional norms/rules of interaction by formal political institutions expressed in land use laws, West African sub-regional protocol, human rights provision of the Nigerian constitution and the Benue State law on anti-grazing. In these contrasting institutional forms, the formal political institution is prioritised by the state while farmers and herders are divided about the institutional basis of their coexistence. Farmers who host the herdsmen demonstrate preference for traditional norms of land ownership and control while the herdsmen incline towards new political/legal instruments which they interpret, purports to give them access to grazing lands and hence an alibi for rejecting institutions that contradict their claim to access spaces for pastoralism. Thus, persisting claims to the exercise of rights to freedom of movement and access to grazing land as opposed to claims to traditional rights of ownership and control of ancestral lands explain the origin and continuity of the farmer–herder conflicts in Benue state, Nigeria.