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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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根据舰载雷达保障火炮射击任务的要求,结合火炮自身使用特点,提出舰载雷达发现目标的效能概率计算问题。应用概率分析方法,对多种距离上舰载雷达发现目标保障火炮系统有效射击的概率进行了推导,得出舰载雷达保障火炮系统有效射击的概率计算公式,并进行了实例分析。实际作战运用中,可以应用此算法对火炮系统的射击概率计算,可以较好地保障火炮系统的射击准备时间,但影响实际火炮射击的因素很多,表征雷达发现目标的效能指标也很多,应综合考虑。 相似文献
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AbstractThis study applies the Sequential Panel Selection Method (SPSM), to investigate the convergence properties of the military expenditure of the North Atlantic Treaty Organization (NATO) during the period of 1990–2015. Compared to the traditional methods, SPSM considers fundamentally general spatial homogeneous and heterogeneous relationships with countries and examines the evolution of military expenditure. We find that four-fifths of NATO member countries have been convergent with the UK, but no country’s military expenditure is convergent with the US. This means that there is no significant linkage effect in the US for NATO military expenditure. While they are allies of the US, the majority of NATO member countries’ military expenditures are consistent with UK military expenditure. The main reasons are due to the geographical space layout and the international relationship convergence. The results indicate that more than four-fifths of NATO member countries have been coordinated with convergence theory and spillover effect. 相似文献
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为合理有效地评估雷达在战场上的生存能力,选取截获概率作为定量评估指标,分析了侦察截获的判断条件,根据截获条件对雷达对抗侦察系统进行功能仿真,建立了基于HLA的评估系统.通过仿真得到了对应时间的截获概率,并以此作为评估雷达生存能力的定量指标.仿真结果表明,采用这种方法得到的截获概率合理,对提高雷达生存能力有一定参考意义. 相似文献
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