为了提高图像拼接速度并满足高分辨率图像的实时拼接需求,提出了一种基于ORB(Oriented Fast and Rotated Brief)算法和MSAC(M-estimator Sample Consensus)算法的快速图像拼接方法。ORB算法特征匹配速度快,能够满足实时性要求。首先采用...为了提高图像拼接速度并满足高分辨率图像的实时拼接需求,提出了一种基于ORB(Oriented Fast and Rotated Brief)算法和MSAC(M-estimator Sample Consensus)算法的快速图像拼接方法。ORB算法特征匹配速度快,能够满足实时性要求。首先采用ORB算法进行图像特征点提取;然后,采用MSAC算法对匹配点对进行优化,剔除图像拼接中的伪匹配点对,通过正确的匹配点对求解图像变换矩阵;最后,采用双线性插值融合算法消除可见接缝并去除拼接痕迹。实验结果表明,本文方法在保证图像拼接质量的同时具有更快的拼接速度。展开更多
This paper considers the real-time estimation problem of vehicle mass,which has a significant impact on driving comfort and safety.A bilinear parameter identification algorithm is proposed for a type of nonlinear iden...This paper considers the real-time estimation problem of vehicle mass,which has a significant impact on driving comfort and safety.A bilinear parameter identification algorithm is proposed for a type of nonlinear identification problems,which encompass vehicle mass estimation.The feature of this nonlinear model is that two parameters to be estimated are multiplied together,which brings great difficulties to identification compared to linear models.The main idea proposed in the algorithm design is to transform the original nonlinear model into two mutually dependent linear models,which are identified by the recursive algorithms.By constructing a combined Lyapunov function,it is theoretically proved that the algorithm converges under the input excitation condition,and the convergence rate O(1/t)is achieved based on some extra mild conditions.Finally,the algorithm is verified through practical experiments,with the estimated vehicle mass error of 1.06%on average,which shows the feasibility of the algorithm.展开更多
This work describes how a control algorithm can be implemented in a small (8-bit) microcontroller for the main purpose of merging embedded systems and control theory in electrical engineering undergraduate classes. Tw...This work describes how a control algorithm can be implemented in a small (8-bit) microcontroller for the main purpose of merging embedded systems and control theory in electrical engineering undergraduate classes. Two different methods for discretizing the control expression are compared: Euler transformation and bilinear transformation. The sampling rate’s impact on the algorithm is discussed and theoretical results are verified by an application to a temperature control system in a heating plant. Four control algorithms are compared: PID and PI algorithms discretized with Euler and bilinear transformation, respectively. It is shown that for the heating plant used in this work, a bilinear PI algorithm implemented in a small 8-bit microcontroller outperforms a commercial controller from Panasonic. It is also demonstrated that all the derived algorithms can be implemented using integer calculations only, obviating the need for expensive and time-consuming floating-point calculations. This work bridges the gap between control theory equations and the implementation of control systems in small embedded systems with no inherent floating-point processing power.展开更多
文摘为了提高图像拼接速度并满足高分辨率图像的实时拼接需求,提出了一种基于ORB(Oriented Fast and Rotated Brief)算法和MSAC(M-estimator Sample Consensus)算法的快速图像拼接方法。ORB算法特征匹配速度快,能够满足实时性要求。首先采用ORB算法进行图像特征点提取;然后,采用MSAC算法对匹配点对进行优化,剔除图像拼接中的伪匹配点对,通过正确的匹配点对求解图像变换矩阵;最后,采用双线性插值融合算法消除可见接缝并去除拼接痕迹。实验结果表明,本文方法在保证图像拼接质量的同时具有更快的拼接速度。
基金supported by the National Natural Science Foundation of China under Grant No.62025306CAS Project for Young Scientists in Basic Research under Grant No.YSBR-008。
文摘This paper considers the real-time estimation problem of vehicle mass,which has a significant impact on driving comfort and safety.A bilinear parameter identification algorithm is proposed for a type of nonlinear identification problems,which encompass vehicle mass estimation.The feature of this nonlinear model is that two parameters to be estimated are multiplied together,which brings great difficulties to identification compared to linear models.The main idea proposed in the algorithm design is to transform the original nonlinear model into two mutually dependent linear models,which are identified by the recursive algorithms.By constructing a combined Lyapunov function,it is theoretically proved that the algorithm converges under the input excitation condition,and the convergence rate O(1/t)is achieved based on some extra mild conditions.Finally,the algorithm is verified through practical experiments,with the estimated vehicle mass error of 1.06%on average,which shows the feasibility of the algorithm.
文摘This work describes how a control algorithm can be implemented in a small (8-bit) microcontroller for the main purpose of merging embedded systems and control theory in electrical engineering undergraduate classes. Two different methods for discretizing the control expression are compared: Euler transformation and bilinear transformation. The sampling rate’s impact on the algorithm is discussed and theoretical results are verified by an application to a temperature control system in a heating plant. Four control algorithms are compared: PID and PI algorithms discretized with Euler and bilinear transformation, respectively. It is shown that for the heating plant used in this work, a bilinear PI algorithm implemented in a small 8-bit microcontroller outperforms a commercial controller from Panasonic. It is also demonstrated that all the derived algorithms can be implemented using integer calculations only, obviating the need for expensive and time-consuming floating-point calculations. This work bridges the gap between control theory equations and the implementation of control systems in small embedded systems with no inherent floating-point processing power.
