Visual Synchronization and Map Construction of Service Indoor Robot

Author(s):  
Mingyue Kong ◽  
Lanfeng Zhou
Keyword(s):  
2021 ◽  
Vol 11 (7) ◽  
pp. 2910
Author(s):  
Paweł Kaniewski ◽  
Janusz Romanik ◽  
Edward Golan ◽  
Krzysztof Zubel

In this paper, we present the concept of the Radio Environment Map (REM) designed to ensure electromagnetic situational awareness of cognitive radio networks. The map construction techniques based on spatial statistics are presented. The results of field tests done for Ultra High Frequency (UHF) range with different numbers of sensors are shown. Exemplary maps with selected interpolation techniques are presented. Control points where the signal from licensed users is correctly estimated are identified. Finally, the map quality is assessed, and the most promising interpolation techniques are selected.


2012 ◽  
Vol 37 (4) ◽  
pp. 168-171 ◽  
Author(s):  
Birutė Ruzgienė ◽  
Qian Yi Xiang ◽  
Silvija Gečytė

The rectification of high resolution digital aerial images or satellite imagery employed for large scale city mapping is modern technology that needs well distributed and accurately defined control points. Digital satellite imagery, obtained using widely known software Google Earth, can be applied for accurate city map construction. The method of five control points is suggested for imagery rectification introducing the algorithm offered by Prof. Ruan Wei (tong ji University, Shanghai). Image rectification software created on the basis of the above suggested algorithm can correct image deformation with required accuracy, is reliable and keeps advantages in flexibility. Experimental research on testing the applied technology has been executed using GeoEye imagery with Google Earth builder over the city of Vilnius. Orthophoto maps at the scales of 1:1000 and 1:500 are generated referring to the methodology of five control points. Reference data and rectification results are checked comparing with those received from processing digital aerial images using a digital photogrammetry approach. The image rectification process applying the investigated method takes a short period of time (about 4-5 minutes) and uses only five control points. The accuracy of the created models satisfies requirements for large scale mapping. Santrauka Didelės skiriamosios gebos skaitmeninių nuotraukų ir kosminių nuotraukų rektifikavimas miestams kartografuoti stambiuoju masteliu yra nauja technologija. Tai atliekant būtini tikslūs ir aiškiai matomi kontroliniai taškai. Skaitmeninės kosminės nuotraukos, gautos taikant plačiai žinomą programinį paketą Google Earth, gali būti naudojamos miestams kartografuoti dideliu tikslumu. Siūloma nuotraukas rektifikuoti Penkių kontrolinių taskų metodu pagal prof. Ruan Wei (Tong Ji universitetas, Šanchajus) algoritmą. Moksliniam eksperimentui pasirinkta Vilniaus GeoEye nuotrauka iš Google Earth. 1:1000 ir 1:500 mastelio ortofotografiniai žemėlapiai sudaromi Penkių kontrolinių taškų metodu. Rektifikavimo duomenys lyginami su skaitmeninių nuotraukų apdorojimo rezultatais, gautais skaitmeninės fotogrametrijos metodu. Nuotraukų rektifikavimas Penkių kontrolinių taskų metodu atitinka kartografavimo stambiuoju masteliu reikalavimus, sumažėja laiko sąnaudos. Резюме Ректификация цифровых и космических снимков высокой резолюции для крупномасштабного картографирования является новой технологией, требующей точных и четких контрольных точек. Цифровые космические снимки, полученные с использованием широкоизвестного программного пакета Google Earth, могут применяться для точного картографирования городов. Для ректификации снимков предложен метод пяти контрольных точек с применением алгоритма проф. Ruan Wei (Университет Tong Ji, Шанхай). Для научного эксперимента использован снимок города Вильнюса GeoEye из Google Earth. Ортофотографические карты в масштабе 1:1000 и 1:500 генерируются с применением метода пяти контрольных точек. Полученные результаты и данные ректификации сравниваются с результатами цифровых снимков, полученных с применением метода цифровой фотограмметрии. Ректификация снимков с применением метода пяти контрольных точек уменьшает временные расходы и удовлетворяет требования, предъявляемые к крупномасштабному картографированию.


BMC Genomics ◽  
2021 ◽  
Vol 22 (1) ◽  
Author(s):  
Junjie Cui ◽  
Jiazhu Peng ◽  
Jiaowen Cheng ◽  
Kailin Hu

Abstract Background The preferred choice for molecular marker development is identifying existing variation in populations through DNA sequencing. With the genome resources currently available for bitter gourd (Momordica charantia), it is now possible to detect genome-wide insertion-deletion (InDel) polymorphisms among bitter gourd populations, which guides the efficient development of InDel markers. Results Here, using bioinformatics technology, we detected 389,487 InDels from 61 Chinese bitter gourd accessions with an average density of approximately 1298 InDels/Mb. Then we developed a total of 2502 unique InDel primer pairs with a polymorphism information content (PIC) ≥0.6 distributed across the whole genome. Amplification of InDels in two bitter gourd lines ‘47–2–1-1-3’ and ‘04–17,’ indicated that the InDel markers were reliable and accurate. To highlight their utilization, the InDel markers were employed to construct a genetic map using 113 ‘47–2–1-1-3’ × ‘04–17’ F2 individuals. This InDel genetic map of bitter gourd consisted of 164 new InDel markers distributed on 15 linkage groups with a coverage of approximately half of the genome. Conclusions This is the first report on the development of genome-wide InDel markers for bitter gourd. The validation of the amplification and genetic map construction suggests that these unique InDel markers may enhance the efficiency of genetic studies and marker-assisted selection for bitter gourd.


Genetics ◽  
2003 ◽  
Vol 164 (4) ◽  
pp. 1561-1566
Author(s):  
Sharon Browning

AbstractWe propose a new method for calculating probabilities for pedigree genetic data that incorporates crossover interference using the chi-square models. Applications include relationship inference, genetic map construction, and linkage analysis. The method is based on importance sampling of unobserved inheritance patterns conditional on the observed genotype data and takes advantage of fast algorithms for no-interference models while using reweighting to allow for interference. We show that the method is effective for arbitrarily many markers with small pedigrees.


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