A topological map with the spatial relationship is an inescapable object in the research of map fusion,as it is a priori knowledge for planning path.However,there are some difficulties in topological map fusion in a d...A topological map with the spatial relationship is an inescapable object in the research of map fusion,as it is a priori knowledge for planning path.However,there are some difficulties in topological map fusion in a dynamic environment.Therefore,this paper proposes a fusion method for the hybrid topological map based on the memory sphere.A hybrid topological map is composed of occupancy grid maps and the topological structure.The hybrid map fusion can rely on rich features in occupancy grid maps.By analyzing the process of recalling scene,a memory sphere is designed to store the features and the semantic label extracted from occupancy grid maps.Then the core is the matching of the memory sphere,which is divided into two parts,fast retrieval and fine matching.We verify the effectiveness of our method in simulation and real environments,demonstrating that our method has a great performance in the dynamic environment.展开更多
城市温室气体排放的量化分析是实现全球温控目标、优化减排策略的关键之一。本研究以德国慕尼黑为案例,基于复杂天气与预测模型(weather research and forecasting model,WRF),构建了城市尺度的温室气体量化模型框架,并结合高精度温室...城市温室气体排放的量化分析是实现全球温控目标、优化减排策略的关键之一。本研究以德国慕尼黑为案例,基于复杂天气与预测模型(weather research and forecasting model,WRF),构建了城市尺度的温室气体量化模型框架,并结合高精度温室气体测量网络进行模拟对比。该模型通过改进示踪气体初始化、优化生物源和人为排放参数设置,以及增强气象驱动数据的精度,提高了对城市温室气体排放的模拟能力。研究表明,模型能够较好地再现城区温室气体浓度的时空分布,并准确解析不同排放源的贡献。其中,道路交通是二氧化碳的主要排放源,贡献了37.4%,而农业和废物处理分别贡献了甲烷排放的50%和25%。此外,研究发现模型在夜间和早晨对生物源通量的模拟存在一定偏差,主要由于植被呼吸通量的低估。未来研究可通过优化植被光合呼吸作用模块,提高生物源排放估算精度,并结合高分辨率遥感数据和传输模型优化城市排放清单。本研究为城市碳排放监测和建模提供了科学依据,并可推广至其他城市,为政策制定和碳中和目标的实现提供支持。展开更多
基金the Intelligent Agricultural Machinery Innovation Research and Development Project of Hunan Province(No.202301)the National Natural Science Foundation of China(No.62373376)。
文摘A topological map with the spatial relationship is an inescapable object in the research of map fusion,as it is a priori knowledge for planning path.However,there are some difficulties in topological map fusion in a dynamic environment.Therefore,this paper proposes a fusion method for the hybrid topological map based on the memory sphere.A hybrid topological map is composed of occupancy grid maps and the topological structure.The hybrid map fusion can rely on rich features in occupancy grid maps.By analyzing the process of recalling scene,a memory sphere is designed to store the features and the semantic label extracted from occupancy grid maps.Then the core is the matching of the memory sphere,which is divided into two parts,fast retrieval and fine matching.We verify the effectiveness of our method in simulation and real environments,demonstrating that our method has a great performance in the dynamic environment.
文摘城市温室气体排放的量化分析是实现全球温控目标、优化减排策略的关键之一。本研究以德国慕尼黑为案例,基于复杂天气与预测模型(weather research and forecasting model,WRF),构建了城市尺度的温室气体量化模型框架,并结合高精度温室气体测量网络进行模拟对比。该模型通过改进示踪气体初始化、优化生物源和人为排放参数设置,以及增强气象驱动数据的精度,提高了对城市温室气体排放的模拟能力。研究表明,模型能够较好地再现城区温室气体浓度的时空分布,并准确解析不同排放源的贡献。其中,道路交通是二氧化碳的主要排放源,贡献了37.4%,而农业和废物处理分别贡献了甲烷排放的50%和25%。此外,研究发现模型在夜间和早晨对生物源通量的模拟存在一定偏差,主要由于植被呼吸通量的低估。未来研究可通过优化植被光合呼吸作用模块,提高生物源排放估算精度,并结合高分辨率遥感数据和传输模型优化城市排放清单。本研究为城市碳排放监测和建模提供了科学依据,并可推广至其他城市,为政策制定和碳中和目标的实现提供支持。
