检索结果-内蒙古大学图书馆

您好，读者！请登录

内蒙古大学图书馆

首页
概况
党建
资源
服务
科研支持
- 论文收录引用证明
- 科技查新
知识产权
档案馆
帮助

咨询与建议

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

您的常用邮箱：*

您的手机号码：*

问题描述：

当前已输入0个字，您还可以输入200个字

全部搜索
期刊论文
图书
学位论文
标准
纸本馆藏
外文资源发现
数据库导航
超星发现

高级检索

时间限定

出版年份：

文献类型

图书期刊文献学位论文多媒体

馆藏选择

电子馆藏纸本馆藏

核心期刊

全部期刊 SCI 收录期刊 SSCI 收录期刊 EI 收录期刊 CSCD 收录期刊 CSSCI 收录期刊

语言

中文英文

文献类型

期刊文献图书学位论文标准纸本馆藏

帮助

文字说明：

T=题名（书名、题名），A=作者（责任者），K=主题词，P=出版物名称，PU=出版社名称，O=机构（作者单位、学位授予单位、专利申请人），L=中图分类号，C=学科分类号，U=全部字段，Y=年（出版发行年、学位年度、标准发布年）

检索规则说明：

AND代表“并且”；OR代表“或者”；NOT代表“不包含”；(注意必须大写,运算符两边需空一格)

检索范例：

范例一：(K=图书馆学 OR K=情报学) AND A=范并思 AND Y=1982-2016
范例二：P=计算机应用与软件 AND (U=C++ OR U=Basic) NOT K=Visual AND Y=2011-2016

分类表

所选分类

>> <<

限定检索结果

文献类型

102 篇 会议
85 篇 期刊文献

馆藏范围

187 篇 电子文献
0 种 纸本馆藏

日期分布

学科分类号

187 篇 工学
- 186 篇 控制科学与工程
- 77 篇 计算机科学与技术...
- 64 篇 土木工程
- 61 篇 建筑学
- 61 篇 软件工程
- 27 篇 光学工程
- 18 篇 信息与通信工程
- 15 篇 电气工程
- 10 篇 机械工程
- 9 篇 仪器科学与技术
- 8 篇 电子科学与技术（可...
- 7 篇 交通运输工程
- 6 篇 安全科学与工程
- 5 篇 测绘科学与技术
- 3 篇 动力工程及工程热...
- 3 篇 环境科学与工程（可...
- 3 篇 生物医学工程（可授...
- 2 篇 材料科学与工程（可...
- 2 篇 船舶与海洋工程
- 2 篇 城乡规划学
34 篇 理学
- 17 篇 数学
- 12 篇 物理学
- 7 篇 统计学（可授理学、...
- 4 篇 大气科学
25 篇 管理学
- 20 篇 管理科学与工程(可...
- 5 篇 图书情报与档案管...
- 4 篇 工商管理
3 篇 医学
- 3 篇 临床医学
- 2 篇 基础医学(可授医学...
- 2 篇 公共卫生与预防医...
1 篇 法学
1 篇 教育学

主题

187 篇 slam robotics

机构

4 篇 the hong kong un...
3 篇 sun yat-sen univ...
2 篇 beijing inst tec...
2 篇 harbin engineeri...
2 篇 nanjing xiaozhua...
2 篇 fudan university
2 篇 the university o...
2 篇 school of mechan...
2 篇 wuhan university...
2 篇 college of elect...
2 篇 nanjing universi...
2 篇 university of mi...
2 篇 southern univers...
1 篇 college of compu...
1 篇 department of co...
1 篇 shanghai intco i...
1 篇 csiro robotics d...
1 篇 epfl
1 篇 university of sc...
1 篇 school of automa...

作者

5 篇 wu jin
4 篇 chen hongbo
4 篇 qi yuhua
4 篇 chen zhiqiang
4 篇 feng dapeng
3 篇 wang yingyu
3 篇 wang yiduo
3 篇 cho younggun
3 篇 zhong shipeng
3 篇 hu xiangcheng
3 篇 zhao liang
3 篇 ila viorela
3 篇 huang shoudong
3 篇 zhang jun
3 篇 chen weinan
3 篇 morris jesse
2 篇 cao hanwen
2 篇 du yanwei
2 篇 he wei
2 篇 wang hui

语言

132 篇 英文
54 篇 其他
1 篇 朝鲜文

检索条件"主题词=SLAM robotics"

共 187 条记录，以下是111-120 订阅

全选清除本页清除全部题录导出标记到"检索档案"

详细简洁

排序：

Research on Human-Robot Collaborative Mapping System Based on Visual slam 3

Research on Human-Robot Collaborative Mapping System Based o...

引用

3rd International Conference on Service robotics, ICoSR 2024

作者： Zhang, Zikang Ji, Qiang Zheng, Enhui China Jiliang University Department of Electromechanical Engineering Hangzhou China

ISBN: (纸本)9798350367119

Nowadays, with the widespread application of slam technology, mapping has become one of the important application directions. However, traditional single machine slam (Simultaneous Localization and Mapping) systems typically only use a single ground or aerial device for mapping. Ground robots have limited perspectives and data collection ranges, resulting in low efficiency. In contrast, aerial robots have the advantage of a wide perspective, enabling them to quickly perceive the environment over large areas. To address this issue, this study proposes a human-machine collaborative mapping system. In this system, an innovative approach is proposed to use ground end human handheld smartphones as mapping devices to collaborate with ground mobile robots. At the same time, aerial drones can compensate for the shortcomings of ground devices by collaborating with handheld devices and ground mobile robots for mapping. Each device extracts image information from the spatial environment through monocular vision sensors, estimates pose through feature point matching, and creates local maps separately. In addition, the system effectively improves the problem of map fusion failure between multiple devices by constructing a keyframe database for multi map matching. The authenticity of the system has been verified in actual campus environments. The experimental results show that the method can not only fuse local maps from different devices, but also improve the pose accuracy after fusion, effectively improving map coverage and trajectory accuracy. © 2024 IEEE.

关键词： slam robotics

来源：评论

学校读者我要写书评

暂无评论

Visual slam-based fire extinguishing robot for energy storage power plants 3

Visual SLAM-based fire extinguishing robot for energy storag...

引用

3rd International Conference on Energy, Power and Electrical Technology, ICEPET 2024

作者： Long, Xiang Liu, Zheng Changsha University of Science and Technology School of Electrical and Information Engineering Changsha China

ISBN: (纸本)9798350352658

With the increase of energy storage stations, fire accidents in lithium battery energy storage compartments occur frequently, seriously threatening the stable operation of the power system and the safety of personnel. To solve the danger of manual fire extinguishing, a visual slam based fire extinguishing robot for energy storage stations has been designed. In response to the environment of the energy storage station, the main structure and firefighting operation mechanism of the robot have been designed to ensure that the robot can smoothly carry out firefighting operations at the energy storage station. Explored the characteristics of lithium-ion battery fires and the laws of thermal runaway, analyzed the fire extinguishing mechanism of liquid nitrogen, and found that using liquid nitrogen as a fire extinguishing agent has a good inhibitory effect on lithium-ion battery fires. In order to achieve efficient fire extinguishing, and due to the limited liquid nitrogen capacity that robots can carry, a fast autonomous positioning and mapping (slam) fire extinguishing strategy for energy storage power plant fire extinguishing robots in unknown environments was designed to ensure maximum utilization of liquid nitrogen. Simulation experiments were conducted on this fire extinguishing strategy, and the results showed that it can extinguish open flames within 10 seconds, effectively suppress the spread of battery thermal runaway, and control the concentration of combustible gases in the cabin beyond the explosion limit. The fire extinguishing robot and extinguishing strategy have a significant inhibitory effect on lithium battery fires in energy storage stations. © 2024 IEEE.

关键词： slam robotics

来源：评论

学校读者我要写书评

暂无评论

Stereo Vision slam Based on Feature Extraction Network

Stereo Vision SLAM Based on Feature Extraction Network

引用

2024 Photonics and Electromagnetics Research Symposium, PIERS 2024

作者： Zhang, Lei Na, Wenjie Yao, Chenpeng Liu, Chengju Chen, Qijun Tongji University Department of Electronic Science and Technology China

ISBN: (纸本)9798350375909

With the popularization of consumer-grade low-cost robots, visual slam technology has been widely used for robot localization and navigation in indoor and outdoor environments. However, most current visual slam systems suffer from poor accuracy and robustness of pose estimation due to their vulnerability to feature extraction challenges, mismatching, and tracking loss in illumination changes and low-texture environments. Aiming to reduce the localization error of the robot and improve its operational stability, this paper proposes a novel stereo vision slam system based on deep neural networks. Firstly, in view of the fact that the handcrafted visual features have problems such as unstable feature extraction and inaccurate feature matching in environments with illumination changes and low texture, we designed a visual feature extraction module based on feature extraction network to overcome these issues, which contains a differentiable keypoint detection module, as well as reprojection and dispersed peak losses for accurate and repeatable keypoint training. Secondly, since the feature similarity measure of the bag-of-word algorithm uses Hamming distance, it cannot support the query and matching of visual features of deep neural networks. We improved it and generated a new visual feature dictionary based on deep neural network extraction to ensure the correctness of visual feature query and matching. Finally, in order to further optimize the pose of slam system, based on the original vision odometry, we use the redundant pose information of Lidar to complementary fuse the pose information of the visual front end and the laser front end. We apply the algorithm to the KITTI dataset and an actual mobile robot platform. Experimental results show that compared with other methods, the approach proposed in this article effectively enhances the accuracy and robustness of the slam system, and also proves the practicability and effectiveness of the method. © 2024 IEEE.

关键词： slam robotics

来源：评论

学校读者我要写书评

暂无评论

Visual slam based on Collaborative Optimization of Points, Lines, and Planes

Visual SLAM based on Collaborative Optimization of Points, L...

引用

2024 IEEE International Conference on Unmanned Systems, ICUS 2024

作者： Zhu, Junrui Yang, Biao Yu, Zhitao Hu, Hongyu National Key Laboratory of Automotive Chassis Integration and Bionics Jilin University Changchun China Wang Zheng Institute of Microelectronics Changzhou University Changzhou China National Key Laboratory of Automotive Chassis Integration and Bionics Jilin University Jilin China

ISBN: (纸本)9798350384185

A crucial step in implementing adaptive navigation for mobile robots is simultaneous localization and mapping (slam). While visual slam based on point features excels in pose estimation, its positioning accuracy can significantly decrease or even fail in indoor environments with sparse textures and significant lighting changes. To address this issue, this paper proposes a visual slam algorithm that combines point, line, and plane features for collaborative optimization under the constraints of the Manhattan world coordinate system. The algorithm begins by extracting point, line, and plane features, utilizing the orthogonal and parallel relationships of planar features in indoor environments to establish the dominant direction of the Manhattan coordinate system. Constrained by the Manhattan World Hypothesis, a pose decoupling approach is then employed to optimize and gradually minimize drift errors. Experimental results demonstrate that the visual slam system can achieve more accurate positioning in low-texture indoor environments. © 2024 IEEE.

关键词： slam robotics

来源：评论

学校读者我要写书评

暂无评论

MRM-LOOP:A Dynamic Visual Loop Closure Detection Algorithm Based on Motion Region Matching 24

MRM-LOOP:A Dynamic Visual Loop Closure Detection Algorithm B...

引用

24th IEEE International Conference on Software Quality, Reliability and Security Companion, QRS-C 2024

作者： Zhang, Zhiming Zhang, Jun Liu, Yuansheng Beijing Union University Beijing Key Laboratory of Information Service Engineering Beijing100101 China College of Robotics Beijing Union University Beijing100101 China

ISBN: (纸本)9798350365658

Aiming at the problem of false negatives and false positives in loop closure detection for visual slam algorithms in dynamic environments, a dynamic visual slam loop closure detection algorithm based on motion region matching named MRM-LOOP is proposed. Firstly, the VLAD local feature descriptor algorithm is used to extract the feature vectors of image feature points to ensure the stable correspondence between different images;Secondly, it uses the inter-frame motion vectors extracted from IMU data to enhance the robustness of feature matching and avoid false positive detection caused by camera pose mismatching;Finally, a region-weighted matching strategy is introduced to achieve more accurate loop closure detection by comparing the vector matching degree between the current frame and the historical frame and calculating the matching weight. The experimental results show that the proposed method can significantly improve the recall rate of loop detection in the open data set while maintaining the same accuracy, and the true positive detection probability is increased by 27.29% compared with the DBOW bag method when facing camera rotation. Correct loop detection can be realized in real dynamic environment data set. This paper provides a new solution for visual slam technology in dynamic environment. © 2024 IEEE.

关键词： slam robotics

来源：评论

学校读者我要写书评

暂无评论

Dynamic slam with Multiple Information Constraint 43

Dynamic SLAM with Multiple Information Constraint

引用

43rd Chinese Control Conference, CCC 2024

作者： Li, Xingyuan Guan, Shengxiao University of Science and Technology of China Automation Department Anhui China

ISBN: (纸本)9789887581581

Visual Simultaneous Localization and Mapping(vslam) has become increasingly important in various fields, including robot localization, autonomous driving, AR/VR and so on. However, conventional slam algorithms operate under the assumption that the surrounding environment remains static. This can lead to poor performance when dynamic objects are present. Most of current existing dynamic slam algorithms primarily keep their eyes on filtering dynamic feature points, yet they overlook the environmental structure information and semantic objects information which are also beneficial for enhancing localization accuracy. In this paper, we introduce a real-time dynamic slam system based on ORB-slam2, simultaneously consider dynamic feature point filtering and multiple information constraint. A new effective method for utilizing plane structure information and semantic objects constraint is proposed to enhance the accuracy of localization. The evaluation of our system within the public data set TUM demonstrates that our proposed method offers competitive accuracy compared to other state-of-the-art algorithms, while maintaining excellent real-time performance. © 2024 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： slam robotics

来源：评论

学校读者我要写书评

暂无评论

Robot Vacuum Cleaner Using slam and ROS

Robot Vacuum Cleaner Using SLAM and ROS

引用

2024 International Conference on Knowledge Engineering and Communication Systems, ICKECS 2024

作者： Arjun, M. Oliver, Cliff Andrew Joseph, Anju Mary Adi Shanakara Institute of Engineering and Technology Dept. of Robotics and Automation Ernakulam Kalady India

ISBN: (纸本)9798350359688

For the past few years, robot vacuum cleaners have made a huge impact on society. There are different types of robot vacuum cleaners, differentiated based on their method of operation. In this paper, we present a comprehensive framework for enhancing the autonomous capabilities of robot vacuum cleaners by integrating the Robot Operating System (ROS) and Simultaneous Localization and Mapping (slam) techniques. Our robot uses laser mapping to map the entire environment and is faster than other robot vacuum cleaners. Our approach not only enhances the performance of robot vacuum cleaners but also provides a foundation for future research and development in the field of domestic service robots. The ROS and slam integration framework presented in this paper can be extended to other robotic applications, advancing the state of the art in autonomous navigation and perception for household robotics. © 2024 IEEE.

关键词： slam robotics

来源：评论

学校读者我要写书评

暂无评论

Goal Decision-making in Active slam Using 2D Lidar Based on DRL Driven by Intrinsic Rewards

Goal Decision-making in Active SLAM Using 2D Lidar Based on ...

引用

2024 Photonics and Electromagnetics Research Symposium, PIERS 2024

作者： Na, Wenjie Liu, Zhihao He, Mengqi Li, Chao Liu, Chengju Chen, Qijun Tongji University China

ISBN: (纸本)9798350375909

Utilizing LiDAR as a sensor and collecting point cloud data for simultaneous localization and mapping (slam) remains the predominant mapping approach, widely applied in various industrial and service scenarios. In laser slam, the algorithm estimates the front-end odometer through raw LiDAR data, facilitating the construction of a map environment. Active slam is an essential technique in mobile robotics that enables autonomous robot operation, with its primary objective being to autonomously construct a map of an unknown environment without human intervention. Given the absence of human guidance, active slam relies on actively perceiving environmental information through LiDAR sensors. After sensing environmental information through LiDAR sensors, active slam also needs to implement slam, decision-making, and navigation, where the decision-making module typically determines the next goal to facilitate map construction using deep reinforcement learning(DRL). Despite offering greater flexibility than traditional methods, most DRL-based decision-making approaches suffer from low efficiency or slow convergence due to inadequate consideration of action space or sparse rewards. Hence, to address these challenges, we propose employing 2D LiDAR as the environmental perception sensor and introducing a goal decision-making model based on DRL driven by intrinsic reward. Specifically, we consider all cells on the occupancy grid map as potential goals to overcome limitations caused by solely relying on frontiers in previous studies. Additionally, we utilize Shannon entropy reduction within a fixed range centered around each goal as an intrinsic reward mechanism to motivate the robot's navigation towards areas with higher information entropy. We validate our proposed method across different environments and demonstrate superior performance in terms of achieving higher rewards within shorter distances and time consumption. © 2024 IEEE.

关键词： slam robotics

来源：评论

学校读者我要写书评

暂无评论

Monocular Centralized Edge-Cloud Collaborative slam Combining Direct and Feature Methods

Monocular Centralized Edge-Cloud Collaborative SLAM Combinin...

引用

International Conference on Biomimetic Intelligence and robotics & Medical robotics Forum, ICBIR+MRF 2024

作者： Chen, Hongjia Chen, Shilang Wen, Xiangyu Li, Mingjun Wu, Junjun Guan, Yisheng Chen, Weinan Guangdong University of Technology Guangzhou510006 China Southern University of Science and Technology Shenzhen518055 China Shenzhen Institute of Modern Agricultural Equipment Shenzhen518022 China Foshan University Foshan528225 China

With the expanding application of Simultaneous Localization and Mapping (slam) in real-world scenarios, collaborative slam is increasingly valued for its efficiency over traditional single-agent slam. However, the current collaborative slam, largely feature-based, has limitations like sparse map construction and poor performance in texture-scarce environments. This paper introduces a novel monocular centralized edge-cloud collaborative slam system that integrates the strengths of direct and feature-based slam methodologies. The system architecture includes a module for real-time tracking using direct method and another module for feature matching and map construction using feature method. The cloud server plays a pivotal role in maintaining a global map and merging overlapping areas when multiple robots operate in the same environment. Experiments conducted on the EuRoc and TUM datasets demonstrate the system's high tracking rate and superior Absolute Pose Error (APE) performance, showcasing its robustness and reliability across various scenarios. © 2024 The Authors.

关键词： slam robotics

来源：评论

学校读者我要写书评

暂无评论

Review of Multi-Sensor Fusion slam for Mobile Robot 11

Review of Multi-Sensor Fusion SLAM for Mobile Robot

引用

11th International Symposium on Precision Mechanical Measurements

作者： Dai, Jun Lei, Yingying Zhao, Junwei Mei, Yundong School of Mechanical and Power Engineering Henan Polytechnic University Jiaozuo454003 China Henan International Joint Laboratory of Advanced Electronic Packaging Materials Precision Forming Henan Polytechnic University Jiaozuo454003 China School of Mechanical and Electrical Engineering Huanghe Jiaotong University Jiaozuo454950 China

ISBN: (纸本)9781510680296

Simultaneous localization and mapping (slam) is a significant challenge for autonomous mobile robotics, as it necessitates the reconstruction of an unfamiliar environment while simultaneously determining the robot's position using a map. The mobile robot employed a diverse range of sensors in the slam process to gather and interpret a map representation. Geometric model-based strategies have historically been employed for addressing slam problems. However, these techniques are prone to errors in tough environments, and single-sensor slam systems have degradation and adverse effects on localization and mapping outcomes in extreme environments characterized by high dynamics or coefficient characteristics. Recently, there has been a significant increase in the development of multi-sensor fusion slam techniques aimed at achieving more stable and resilient systems. This paper focuses on the development process and contemporary research conducted on multi-sensor fusion slam. This paper initially presents the overall structure of slam. It then provides a detailed explanation of the functions of front-end odometry, back-end optimization, loopback detection, and map building modules. Additionally, it provides a summary of the algorithms employed in slam. Furthermore, it describes and summarizes the classical representative open source algorithms based on the types of sensors to be combined. It also introduces commonly utilized public datasets, along with accuracy evaluation indexes and measurement tools. In conclusion, this paper presents a comprehensive examination of the development process, along with a summary of prominent research studies on the fusion of many sensors in slam. © 2024 SPIE.

关键词： slam robotics

来源：评论

学校读者我要写书评

暂无评论

没有更多数据了...

全选清除本页清除全部题录导出标记到“检索档案”

共19页 << < 8 9 10 11 12 13 14 15 16 17 > >>

检索报告对象比较合并检索0

隐藏清空

合并搜索

回到顶部

执行限定条件

内容：

评分：

请选择保存的检索档案：

请选择收藏分类：

订阅名称：

通借通还

温馨提示：

图书名称：

借书校区：

取书校区：

手机号码：

邮箱地址：

一卡通帐号：

电话和邮箱必须正确填写，我们会与您联系确认。

联系人：

所在院系：

联系邮箱：

联系电话：

内蒙古自治区呼和浩特市赛罕区大学西街235号邮编: 010021

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：