改进位姿估计环节的ORB-SLAM稠密建图算法

为了提高ORB-SLAM2系统的位姿估计精度并解决仅能生成稀疏地图的问题,提出了一种融合ICP算法与曼哈顿世界假说的位姿估计策略并在ORB-SLAM2系统中加入稠密建图线程来实现稠密建图。首先通过ORB特征点法、LSD算法和AHC方法进行点、线、面特征的提取,其中点、线特征跟上一帧匹配,面特征在全局地图中匹配。然后采用基于surfel的稠密建图策略将图像划分为非平面与平面区域,非平面采用ICP算法计算位姿,平面则通过面与面的正交关系确定曼哈顿世界从而使用不同的位姿估计策略,其中曼哈顿世界场景通过位姿解耦实现基于曼哈顿帧观测的无漂移旋转估计,而曼哈顿世界场景下的平移以及非曼哈顿世界场景位姿采用追踪的点、线、面特征进行估计和优化;最后根据关键帧和相应位姿实现稠密建图。采用TUM数据集对所提建图方法进行验证,实验结果与ORB-SLAM2算法比较,最终均方根误差RMSE平均减少0.24cm,平均定位精度提高7.17%,验证了所提方法进行稠密建图的可行性和有效性。     

A continuous 200-ka palaeoclimatic record from stalagmite in Tangshan Cave, Nanjing

An oxygen isotope temperature record from 381 to 166 kaB. P. (²³⁰Th/²³⁴U dating and tuned ages) has been obtained by combining data on the isotopic composition of calcites with that of fluid inclusions trapped in a stalagmite from a limestone cave in which a fossil cranium deposited. Several laminae in microsequence of the stalagmite represent climatic events or shifts. The Nanjing man fossil was older than 381 kaB. P.     

On some tests-based projection pursuit for elliptical symmetry of a high-dimensional distribution

Some test statistics of Kolmogorov type and Cramér-von Mises type based on projection pursuit technique are proposed for the testing problem of sphericity of a high-dimensional distribution. The limiting distributions of the test statistics are derived under the null hypothesis and under any fixed alternative. The asymptotic properties of bootstrap approximation are investigated. Furthermore, for computational reasons, an approximation for the statistics, based on the number theoretic method, is suggested. An erratum to this article is available at .     

半平面多圆孔多裂纹反平面问题

运用复变函数及积分方程方法,求解了半平面域多圆孔多裂纹反平面问题．建立了两种类型的基本解．利用叠加原理和所得的基本解并沿圆孔和裂纹表面取待定的基本解密度函数,可得一组基本解密度函数为未知函数的Ｆｒｅｄｈｏｌｍ积分方程．通过该积分方程组的数值求解可以得到密度函数的离散值,进而得到裂纹尖端的应力强度因子．     

具有公共对称面的两个二次回转面的相贯线

本文论述了常见的两个二次回转面轴线相交和平等时,其相贯线在公共对称面（投影面）的投影分别为双曲线和抛物线,只有在特殊情况下是直线,椭圆和圆,并举例说明在计算机上绘图的方法。     

秦安大地湾高分辨率全新世植被演变与气候变迁初步研究

主要根据孢粉分析结果,并结合磁化率,碳酸钙恢复了陇西黄土高原地区全新世期间植被气候的变化过程。结果表明全新世气候存在３个大的阶段,全新世早期气候以寒冷为主要特点,中全新世气候温暖湿润,晚全新世气候以干旱为主要特征。     

枫杨（Pterocarya stenoptera）水浸液周年灭钉螺实验初报

用枫杨的新鲜叶、茎皮、根皮水浸液处理钉螺的周年实验表明;枫杨水浸液对钉的毒杀作用随处理液浓度的增加和处理时间的延长而增大;毒杀作用的大小具有的季节性差异,夏季毒杀效果最好,春,秋季次之,冬季毒杀效果差,枫杨各部位之间灭钉螺作用大小也随季节更替而变化。     

当量齿轮

介绍了当量齿轮的概念和当量齿轮的应用．     

平面药包的最佳间距

在矿山剥离、场地平整以及建(构)筑物基坑开挖等露天爆破中,为了充分利用炸药能量将岩石松动或抛掷到一定区域,并确保底板满足一定平整度要求,按照爆破技术设计和工程质量要求,需要设计平面布药结构.本文通过在施工现场进行的大量小型模拟实验,对平面药包间、排距与爆破漏斗的开口面积、可见深度、爆岩的抛掷距离和堆积形态等关系进行了系统分析与研究.实验结果表明,当平面药包间、排距满足一定范围时,爆破漏斗的可见深度较小,而开口面积和抛掷距离最大,爆堆形态较好.平面布药结构存在一个有利于抛掷堆积的最佳间、排距.     

Predicting returns and volatility with macroeconomic variables: evidence from tests of encompassing

Tests of forecast encompassing are used to evaluate one‐step‐ahead forecasts of S&P Composite index returns and volatility. It is found that forecasts over the 1990s made from models that include macroeconomic variables tend to be encompassed by those made from a benchmark model which does not include macroeconomic variables. However, macroeconomic variables are found to add significant information to forecasts of returns and volatility over the 1970s. Often in empirical research on forecasting stock index returns and volatility, in‐sample information criteria are used to rank potential forecasting models. Here, none of the forecasting models for the 1970s that include macroeconomic variables are, on the basis of information criteria, preferred to the relevant benchmark specification. Thus, had investors used information criteria to choose between the models used for forecasting over the 1970s considered in this paper, the predictability that tests of encompassing reveal would not have been exploited. Copyright © 2005 John Wiley & Sons, Ltd.