Environment map building and localization for robot navigation based on image sequences

SLAM is one of the most important components in robot navigation. A SLAM algorithm based on image sequences captured by a single digital camera is proposed in this paper. By this algorithm, SIFT feature points are selected and matched between image pairs sequentially. After three images have been captured, the environment＇s 3D map and the camera＇s positions are initialized based on matched feature points and intrinsic parameters of the camera. A robust method is applied to estimate the position and orientation of the camera in the forthcoming images. Finally, a robust adaptive bundle adjustment algorithm is adopted to optimize the environment＇s 3D map and the camera＇s positions simultaneously. Results of quantitative and qualitative experiments show that our algorithm can reconstruct the environment and localize the camera accurately and efficiently.     

小比例尺航片制作正射影像的方法研究

利用1：50000～1：60000航片制作1：10000正射影像的实验性方法正处于研究阶段．探讨了在实验中保证正射影像精度的实施方案,如DEM数据采集和影像镶嵌、匀色的关键技术的解决方法．对利用1：50000-1：60000航片制作1：10000正射影像的关键问题进行了分析。并提出了解决方案．     

从心理投射的观点看指示语的非常规用法

文章用心理学广义的心理投射观点分析指示语的一些语用反常现象,并指出有悖于常规的指示语用法,实际上反映了说话人的友好、亲近、疏远或冷漠,表达出一种心理上的移情效果,是由个人想法、愿望、动机和情感在客体上的心理投射产生的。     

Tomography

Tomography is traditionally associated with medical ‘CT’ scanners that have been in use for over 30 years now. This mathematical concept is now applied widely by scientists and engineers in a variety of measurements involving solids, fluid, gases and plasmas. Instrumentation based on X-rays, gammarays, lasers and acoustics have been used successfully in these applications. Inherent error in such measurements can be also be estimated thus making tomographic imaging a very powerful non-invasive technique for field measurements. Prabhat Munshi is a Professor of Mechanical Engineering at IIT Kanpur. His major areas of his interest are computerized tomography and nuclear reactor safety analysis.     

微积分在篮球投篮训练中的应用

数学是一门具有广泛应用性的学科,它在体育训练中也发挥着越来越明显的作用,所用到的数学知识也越来越深入,尤其是用现代数学方法研究体育运动取得了很好的成绩。介绍高等数学在篮球投篮训练中的应用,以提高投篮的命中率。     

地理空间的认识与表达

对空间认识和表达涉及多个学科并受制于多种因素,而多元化的空间理论和形式是科学发展之必然和需要。地理学建立和发展了多元化的地理空间表达形式,包括经纬线与地图投影、时空尺度、距离与区位、虚拟地理环境。对多种地理空间形式的认识和表达是地理学学科特征的重要体现,并促使地理学向更广、更深的方向发展。     

综采工作面斜长等长的控制方法

为克服传统综采工作面上下风巷平行布量时，因煤层倾角变化大而造成工作面倾斜长度不断变化给工作面回采带来的不利影响，通过对三维地震资料的分析，在顺槽掘进过程中运输顺槽按设计方位且超前轨道顺槽施工，并不断对两顺槽标高进行测量调整轨道顺槽的方位，使工作面斜长变化值控制在一定范围内；回采过程中不增减设备，实现综采工作面安全、高效的顺利回采。     

Fischer投影式在有机立体化学教学中的作用

通过Fischer投影式规则的教学，帮助学生建立、训练空间想像力；通过联系Fischer式和Newman式的教学，促进学生发展空间想象的能力。     

在矢量投影教学中贯彻创新教育思想的尝试

探讨了知识性教育、能力性教育和智慧性教育是矢量投影教学中贯彻创新教育思想的有序三步骤。     

The role of elevation in moral judgment

ABSTRACT

Elevation is the emotion elicited by witnessing acts of moral beauty and may be framed as the opposite of disgust. Two studies investigated the role of elevation in moral judgment and its relation to disgust. In Study 1 it was investigated whether elevation can attenuate the effects of disgust on moral transgression judgments. Participants were either induced to experience disgust (by giving them a bitter beverage), or to experience disgust and elevation simultaneously (by video induction). No effects of either emotion on moral transgression judgments were found. In Study 2 the nature of causal connectedness between elevation and moral virtue judgments was investigated by testing whether elevation amplifies moral virtue judgments. It was found that participants judged morally good acts as being more morally good when being elevated, suggesting that there is a bidirectional causal link between elevation and judgments of moral virtue.