动态场景下基于视觉同时定位与地图构建技术的多层次语义地图构建方法

为提高视觉同时定位与地图构建(SLAM)技术的环境适应性和语义信息理解能力,该文提出一种可以在动态场景下实现多层次语义地图构建的视觉SLAM方案。首先利用被迫移动物体与动态目标间的空间位置关系,并结合目标检测网络和光流约束判断真正的动态目标,从而剔除动态特征点;其次提出一种基于超体素的快速点云分割方案,将基于静态区域构建的3维地图进行优化,构建了物体级的点云语义地图;同时构建的语义地图可以提供更高精度的训练数据样本,进一步用来提升目标检测网络性能。在TUM和ICL-NUIM数据集上的实验结果表明,该方法在定位精度上远优于目前主流的动态场景下的视觉SLAM方案,证明了该方法在高动态场景中具有较好的稳定性和鲁棒性;在建图精度和质量上,经过将重建的不同种类地图与各个现有方法进行比较,验证了提出的多层次语义地图构建的方法在静态和高动态场景中的有效性与适用性。     

聚类分割的交互式遥感热红外图像模糊增强北大核心CSCD

交互式遥感热红外图像在边缘区域的像素呈现较强交互干扰,缺少必要区分过程,导致增强后的交互式遥感热红外图像视觉效果差、抗噪性能差、增强效率低。提出基于聚类分割的交互式遥感热红外图像模糊增强方法,采用模糊C均值聚类算法,对交互式遥感热红外图像聚类分割处理,对边缘区域特殊及弱小交互目标分割,进一步区分交互区域的干扰,缩短后期增强所用的时间。采用中值滤波方法去除交互式遥感热红外图像中存在的噪声,结合Sobel算子和二阶微分算子的拉普拉斯算子对去噪后的交互式遥感热红外图像进行锐化处理,通过图像去噪和图像锐化实现交互式遥感热红外图像的模糊增强。仿真实验可知,所提方法进行交互式遥感热红外图像模糊增强所获取的图像清晰度较高、抗噪性能较佳、增强效率较高。     

基于多元高斯混合模型的离线指纹数据库

针对室内环境下单次采样测量值的波动变化及信号间的相互干扰,该文提出一种基于分区多元高斯混合模型(MVGMM)的室内定位系统.根据信号接入点(AP)铺设位置与空间结构,系统采用一对多支持向量机算法对目标区域做分区操作,以精确信号变化的区域范围.利用狭小分区内信号间的耦合关系,建立基于信号间相互干扰的多元高斯混合模型,以改善信号波动所造成的定位精度下降.当室内环境发生变化时,基于分区多元高斯混合模型的自适应更新算法可对各分区指纹数据的可信度做出判断,并以自适应算法更新信号波动较大分区的模型参数,提高模型与现有环境间的耦合程度.实验结果表明,该文算法可利用相对少量样本数据,构建稳定可维护的室内信号分布模型,相较于其他算法,其定位精度也有一定程度提高.     

Distribution of δD in 25-cm Surface Snow Along Trans-Antarctic Route (Ⅱ)——The “1990 International Trans-Antarctic Expedition” Glaciological Research

On the way of the "1990 International Trans-Antarctic Expedition", the first author of this paper, the Chinese member of the expedition, collected 104 snow samples in 25-cm surface snow along a 5986-km route on Antarctic ice sheet from west to east. The geographical distribution of δD across the Antarctica by the longest route is obtained from stable isotope analysis for the first time. After discussing regional differences of physical geographic conditions, maritime-continental influence, altitudes and latitudes at sampling sites, the distribution of δD is considered to have a close relation to latitudes, but the topographic effect is prominent in some particular regions. The mean annual temperature at sampling site and its relationship with δD in surface snow covering Antarctica from west to east are discussed also. The δD-temperature gradient from the south end of Antarctic Peninsula to Vostok obtained in this paper is very close to that in Terre Adelie Land obtained by predecessors. The snow-dri     

Synthesis and In Vitro Antiviral Activities of Some New 2-Arylthiomethyl-4-tertiaryaminomethylsubstituted Derivatives of 6-Bromo-3-ethoxycarbonyl-5-hydroxyindoles

Some new derivatives of 3-ethoxycarbonyl-6-bromo-5-hydroxyindoles were designedand prepared, their antiviral activity were determined in cell culture with virus cytopathic effect assay. The results showed compound Ⅶ b, Ⅶ h exhibited potential antiviral activity.     

用高分辨质谱研究二茂铁类化合物

研究了八种N－二茂铁甲基苯胺衍生物的电子电离质谱（EI－MS），并与快原子轰击质谱（FAB－MS）作了比较，讨论了这些化合物的质谱特征。通过精确质量测量，确认了M^ -2 OH离子，并采用碰撞诱导裂解（CID）探讨了化合物质谱中主要离子间的关系。     

Dioxygen Affinities and Catalytic Oxidation Performance of Cobalt (II)Complexes with N-Aryl Hydroxamic Acid

It is well known that the study on biomimetic oxygen carriers not only has important theoretic significance to discover the mechanism of reversible bonding, activating oxygen as well as the oxidation reaction in organism, but also has potential application in separating oxygen from air and realizing the high efficiency and selectivity of catalytic oxidation reaction under a mild condition1. Metal- porphyrin and metal- phthalol- gaunine have been extensively used as biomimetic oxygen carriers u…     

脱色阴离子交换剂的再生研究

提出一种新的离子交换剂再生理论，即吸附物的脱附依靠离子交换和络合的协同效应完成．以二价钙离子为再生剂，对糖液脱色用的阴离子交换树脂和阴离子交换纤维进行再生，并与传统的碱性钠盐相比较，研究证明钙离子为再生剂的工艺，具有低成本、无污染的特点．     

具有特殊电子性能的有机固体

本文综述了具有特殊固体电子性能(导电性、铁磁性和非线性光学性质)的有机晶体和高分子化合物的合成、结构和性质,重点在于介绍结构与性能的关系以及这些研究领域的最新进展。