A new scene recognition system was presented based on fuzzy logic and hidden Markov model(HMM)that can be applied in mine rescue robot localization during emergencies.The system uses monocular camera to acquire omni-d...A new scene recognition system was presented based on fuzzy logic and hidden Markov model(HMM)that can be applied in mine rescue robot localization during emergencies.The system uses monocular camera to acquire omni-directional images of the mine environment where the robot locates.By adopting center-surround difference method,the salient local image regions are extracted from the images as natural landmarks.These landmarks are organized by using HMM to represent the scene where the robot is,and fuzzy logic strategy is used to match the scene and landmark.By this way,the localization problem,which is the scene recognition problem in the system,can be converted into the evaluation problem of HMM.The contributions of these skills make the system have the ability to deal with changes in scale,2D rotation and viewpoint.The results of experiments also prove that the system has higher ratio of recognition and localization in both static and dynamic mine environments.展开更多
为探究不同绿地调控方式对降雨径流的削减作用,以武汉市南湖汇水分区为研究对象,基于暴雨洪水管理模型(storm water management model,SWMM)模拟分析海绵绿地改造措施下的年径流总量控制率、峰值流量及峰现时间的变化规律,揭示蓝绿协同...为探究不同绿地调控方式对降雨径流的削减作用,以武汉市南湖汇水分区为研究对象,基于暴雨洪水管理模型(storm water management model,SWMM)模拟分析海绵绿地改造措施下的年径流总量控制率、峰值流量及峰现时间的变化规律,揭示蓝绿协同视角下城市汇水分区绿地削减雨水径流效应特征。结果显示:城市汇水分区尺度20%~30%的下凹式绿地改造,可实现年径流控制率65%的海绵城市建设目标;不同的海绵绿地改造措施中,复杂下凹绿地(具备蓄水层和下排管)和简单下凹绿地(无蓄水层和下排管)对于单场降雨事件的作用差异不明显,但长历时多场次降雨情况复杂下凹绿地的效果会更加显著。展开更多
基金Project(60234030)supported by the National Natural Science Foundation of ChinaProject(A1420060159)supported by the BasicResearch Program of the 11th Five-Year-Plan of China
文摘A new scene recognition system was presented based on fuzzy logic and hidden Markov model(HMM)that can be applied in mine rescue robot localization during emergencies.The system uses monocular camera to acquire omni-directional images of the mine environment where the robot locates.By adopting center-surround difference method,the salient local image regions are extracted from the images as natural landmarks.These landmarks are organized by using HMM to represent the scene where the robot is,and fuzzy logic strategy is used to match the scene and landmark.By this way,the localization problem,which is the scene recognition problem in the system,can be converted into the evaluation problem of HMM.The contributions of these skills make the system have the ability to deal with changes in scale,2D rotation and viewpoint.The results of experiments also prove that the system has higher ratio of recognition and localization in both static and dynamic mine environments.
文摘为探究不同绿地调控方式对降雨径流的削减作用,以武汉市南湖汇水分区为研究对象,基于暴雨洪水管理模型(storm water management model,SWMM)模拟分析海绵绿地改造措施下的年径流总量控制率、峰值流量及峰现时间的变化规律,揭示蓝绿协同视角下城市汇水分区绿地削减雨水径流效应特征。结果显示:城市汇水分区尺度20%~30%的下凹式绿地改造,可实现年径流控制率65%的海绵城市建设目标;不同的海绵绿地改造措施中,复杂下凹绿地(具备蓄水层和下排管)和简单下凹绿地(无蓄水层和下排管)对于单场降雨事件的作用差异不明显,但长历时多场次降雨情况复杂下凹绿地的效果会更加显著。
