weak texture
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2022 ◽  
Vol 22 (1) ◽  
pp. 1-23
Author(s):  
Nan Jiang ◽  
Debin Huang ◽  
Jing Chen ◽  
Jie Wen ◽  
Heng Zhang ◽  
...  

The precise measuring of vehicle location has been a critical task in enhancing the autonomous driving in terms of intelligent decision making and safe transportation. Internet of Vehicles ( IoV ) is an important infrastructure in support of autonomous driving, allowing real-time road information exchanging and sharing for localizing vehicles. Global positioning System ( GPS ) is widely used in the traditional IoV system. GPS is unable to meet the key application requirements of autonomous driving due to meter level error and signal deterioration. In this article, we propose a novel solution, named Semi-Direct Monocular Visual-Inertial Odometry using Point and Line Features ( SDMPL-VIO ) for precise vehicle localization. Our SDMPL-VIO model takes advantage of a low-cost Inertial Measurement Unit ( IMU ) and monocular camera, using them as the sensor to acquire the surrounding environmental information. Visual-Inertial Odometry ( VIO ), taking into account both point and line features, is proposed, which is able to deal with both weak texture and dynamic environment. We use a semi-direct method to deal with keyframes and non-keyframes, respectively. Dual sliding window mechanisms can effectively fuse point-line and IMU information. To evaluate our SDMPL-VIO system model, we conduct extensive experiments on both an indoor dataset (i.e., EuRoC) and an outdoor dataset (i.e., KITTI) from the real-world applications, respectively. The experimental results show that the accuracy of SDMPL-VIO proposed by us is better than the mainstream VIO system at present. Especially in the weak texture of the datasets, fast-moving datasets, and other challenging datasets, SDMPL-VIO has a relatively high robustness.


Drones ◽  
2022 ◽  
Vol 6 (1) ◽  
pp. 23
Author(s):  
Tong Zhang ◽  
Chunjiang Liu ◽  
Jiaqi Li ◽  
Minghui Pang ◽  
Mingang Wang

In view of traditional point-line feature visual inertial simultaneous localization and mapping (SLAM) system, which has weak performance in accuracy so that it cannot be processed in real time under the condition of weak indoor texture and light and shade change, this paper proposes an inertial SLAM method based on point-line vision for indoor weak texture and illumination. Firstly, based on Bilateral Filtering, we apply the Speeded Up Robust Features (SURF) point feature extraction and Fast Nearest neighbor (FLANN) algorithms to improve the robustness of point feature extraction result. Secondly, we establish a minimum density threshold and length suppression parameter selection strategy of line feature, and take the geometric constraint line feature matching into consideration to improve the efficiency of processing line feature. And the parameters and biases of visual inertia are initialized based on maximum posterior estimation method. Finally, the simulation experiments are compared with the traditional tightly-coupled monocular visual–inertial odometry using point and line features (PL-VIO) algorithm. The simulation results demonstrate that the proposed an inertial SLAM method based on point-line vision for indoor weak texture and illumination can be effectively operated in real time, and its positioning accuracy is 22% higher on average and 40% higher in the scenario that illumination changes and blurred image.


2022 ◽  
Author(s):  
Qian Xu ◽  
Xiaobing Chen ◽  
Shaozhang Xiao ◽  
ShengBiao Wang

Author(s):  
Jing Xu ◽  
Bo Guan ◽  
Yunchang Xin ◽  
Xuedong Wei ◽  
Guangjie Huang ◽  
...  

IEEE Access ◽  
2021 ◽  
pp. 1-1
Author(s):  
Yunting Gu ◽  
Jinguang Lv ◽  
Jian Bo ◽  
Baixuan Zhao ◽  
Yupeng Chen ◽  
...  

2020 ◽  
Vol 25 ◽  
pp. 101299
Author(s):  
Jianguang Zhao ◽  
Juan Hou ◽  
Liang Chen ◽  
Binbin Dai ◽  
Xiaojing Xiong ◽  
...  

2020 ◽  
Vol 10 (1) ◽  
Author(s):  
Sumi Jo ◽  
Lawrence Whitmore ◽  
Sangkyu Woo ◽  
Ainhoa Urrutia Aramburu ◽  
Dietmar Letzig ◽  
...  

AbstractAge-hardenability and corresponding improvement of the mechanical properties of Mg–1Al–0.7Ca and Mg–1Al–0.7Ca–0.7Y alloy sheets are addressed with respect to the microstructure and texture evolution during thermomechanical treatments. A fine grain structure and weak texture with the basal pole split into the sheet transverse direction are retained in the Mg–1Al–0.7Ca–0.7Y sheet even after the homogenization at 500 °C, due to the grain boundary pinning by Y-containing precipitates possessing a high thermal stability. Contrarily, the Mg–1Al–0.7Ca sheet shows a coarse microstructure and basal-type texture after the homogenization. The peak-aged condition is attained after the aging at 250 °C for 1800 s of both homogenized sheets, while the Y-containing sheet shows a higher hardness than the Mg–1Al–0.7Ca sheet. TEM analysis and thermodynamic calculation show the formation of metastable precipitates composed of Al, Ca, Y and Mg in the Mg–1Al–0.7Ca–0.7Y sheet at the homogenized and peak-aged conditions. A significant increase in the yield strength is obtained in the peak-aged condition from 162 MPa after the homogenization to 244 MPa, which arises from the increased size and number density of the precipitates. The high age-hardenability of the Mg–1Al–0.7Ca–0.7Y sheet attributes to the superior mechanical properties with an improved ductility promoted by the weak texture.


2020 ◽  
Vol 57 (18) ◽  
pp. 181511
Author(s):  
雷经发 Lei Jingfa ◽  
韦旺 Wei Wang ◽  
李永玲 Li Yongling ◽  
张淼 Zhang Miao ◽  
何玉 He Yu

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