Least-square Matching for Mobile Robot SLAM Based on Line-segment Model

2019 ◽  
Vol 17 (11) ◽  
pp. 2961-2968 ◽  
Author(s):  
Sang-Hyung Park ◽  
Soo-Yeong Yi
1981 ◽  
Vol 20 (06) ◽  
pp. 274-278
Author(s):  
J. Liniecki ◽  
J. Bialobrzeski ◽  
Ewa Mlodkowska ◽  
M. J. Surma

A concept of a kidney uptake coefficient (UC) of 131I-o-hippurate was developed by analogy from the corresponding kidney clearance of blood plasma in the early period after injection of the hippurate. The UC for each kidney was defined as the count-rate over its ROI at a time shorter than the peak in the renoscintigraphic curve divided by the integral of the count-rate curve over the "blood"-ROI. A procedure for normalization of both curves against each other was also developed. The total kidney clearance of the hippurate was determined from the function of plasma activity concentration vs. time after a single injection; the determinations were made at 5, 10, 15, 20, 30, 45, 60, 75 and 90 min after intravenous administration of 131I-o-hippurate and the best-fit curve was obtained by means of the least-square method. When the UC was related to the absolute value of the clearance a positive linear correlation was found (r = 0.922, ρ > 0.99). Using this regression equation the clearance could be estimated in reverse from the uptake coefficient calculated solely on the basis of the renoscintigraphic curves without blood sampling. The errors of the estimate are compatible with the requirement of a fast appraisal of renal function for purposes of clinical diagknosis.


2019 ◽  
pp. 582-608
Author(s):  
Diego Alexander Tibaduiza Burgos ◽  
Maribel Anaya Vejar

This chapter presents the development and implementation of three approaches that contribute to solving the mobile robot path planning problems in dynamic and static environments. The algorithms include some items regarding the implementation of on-line and off-line situations in an environment with static and mobile obstacles. A first technique involves the use of genetic algorithms where a fitness function and the emulation of the natural evolution are used to find a free-collision path. The second and third techniques consider the use of potential fields for path planning using two different ways. Brief descriptions of the techniques and experimental setup used to test the algorithms are also included. Finally, the results applying the algorithms using different obstacle configurations are presented and discussed.


Author(s):  
Yung-Kuan Chan ◽  
Tung-Shou Chen ◽  
Yu-An Ho

With the rapid progress of digital image technology, the management of duplicate document images is also emphasized widely. As a result, this paper suggests a duplicate Chinese document image retrieval (DCDIR) system, which uses the ratio of the number of black pixels to that of white pixels on the scanned line segments in a character image block as the feature of the character image block. Experimental results indicate that the system can indeed effectively and quickly retrieve the desired duplicate Chinese document image from a database.


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