AIM:To evaluate the efficacy of the total computer vision syndrome questionnaire(CVS-Q)score as a predictive tool for identifying individuals with symptomatic binocular vision anomalies and refractive errors.METHODS:A...AIM:To evaluate the efficacy of the total computer vision syndrome questionnaire(CVS-Q)score as a predictive tool for identifying individuals with symptomatic binocular vision anomalies and refractive errors.METHODS:A total of 141 healthy computer users underwent comprehensive clinical visual function assessments,including evaluations of refractive errors,accommodation(amplitude of accommodation,positive relative accommodation,negative relative accommodation,accommodative accuracy,and accommodative facility),and vergence(phoria,positive and negative fusional vergence,near point of convergence,and vergence facility).Total CVS-Q scores were recorded to explore potential associations between symptom scores and the aforementioned clinical visual function parameters.RESULTS:The cohort included 54 males(38.3%)with a mean age of 23.9±0.58y and 87 age-matched females(61.7%)with a mean age of 23.9±0.53y.The multiple regression model was statistically significant[R²=0.60,F=13.28,degrees of freedom(DF=17122,P<0.001].This indicates that 60%of the variance in total CVS-Q scores(reflecting reported symptoms)could be explained by four clinical measurements:amplitude of accommodation,positive relative accommodation,exophoria at distance and near,and positive fusional vergence at near.CONCLUSION:The total CVS-Q score is a valid and reliable tool for predicting the presence of various nonstrabismic binocular vision anomalies and refractive errors in symptomatic computer users.展开更多
AIM:To evaluate the differences in near point of convergence(NPC),fusional vergence,saccadic eye movements,versional eye movements,and heterophoria between patients diagnosed with Parkinson’s disease(PD)and healthy s...AIM:To evaluate the differences in near point of convergence(NPC),fusional vergence,saccadic eye movements,versional eye movements,and heterophoria between patients diagnosed with Parkinson’s disease(PD)and healthy subjects.METHODS:A cross-sectional comparative study was conducted,enrolling two cohorts:a PD group and a healthy control group.The PD group was recruited via non-random convenience sampling,while the control group was selected randomly from individuals without PD.All participants were screened according to predefined inclusion and exclusion criteria before undergoing a comprehensive optometric assessment,which included measurements of uncorrected visual acuity,corrected visual acuity,and objective and subjective refraction.Subsequently,binocular vision function evaluations were performed,covering NPC measurement,fusional vergence reserve assessment at both distance and near,saccadic eye movement testing,and versional eye movement and heterophoria assessment.RESULTS:A total of 42 PD patients and 41 healthy controls were included in the final analysis.The two groups were well-matched in terms of sex distribution[29 males(69.0%)in the PD group vs 29 males(70.7%)in the control group,P=0.867]and mean age(55.3±9.6y in the PD group vs 54.9±9.8y in the control group,P=0.866).The prevalence of abnormal versional eye movements was significantly higher in the PD group than in the control group(23.81%,95%CI:12.05%-39.45%vs 7.32%,95%CI:1.54%-19.92%;P=0.025).Near exophoria was more prevalent in PD patients(61.90%,95%CI:45.64%-76.43%)than in controls(17.07%,95%CI:7.15%-32.06%),with a significant difference[odds ratio(OR)=7.99;95%CI:2.83-21.99;P<0.001].The mean NPC was significantly greater(more receded)in the PD group than in the control group(9.01±3.74 cm vs 7.20±2.15 cm;P=0.007).A statistically significant positive correlation was observed between PD severity and NPC values(Pearson’s correlation coefficient=0.309;P=0.046).Except for distance baseout break and distance base-out recovery values,all other fusional vergence parameters were significantly lower in the PD group than in the control group(P<0.05).The mean saccadic test score was significantly lower in PD patients than in controls(3.29±0.57 vs 3.78±0.42;P<0.001).Among all fusional vergence indices,near base-in blur yielded the highest area under the curve(AUC=0.877),with a sensitivity of 69%and specificity of 90%,followed by distance base-out blur(AUC=0.824,sensitivity=97.6%,specificity=66.7%),near base-out blur(AUC=0.814,sensitivity=76.2%,specificity=72.7%),near base-out break(AUC=0.749,sensitivity=78.6%,specificity=67.6%),and near base-out recovery(AUC=0.749,sensitivity=95.2%,specificity=50%).CONCLUSION:PD is associated with significant binocular vision function impairment,with receded NPC and reduced near fusional vergence reserves being the most prominent disorders.These findings highlight the potential value of binocular vision assessment as a non-invasive biomarker for the early detection and clinical monitoring of PD.展开更多
Two-dimensional endoscopic images are susceptible to interferences such as specular reflections and monotonous texture illumination,hindering accurate three-dimensional lesion reconstruction by surgical robots.This st...Two-dimensional endoscopic images are susceptible to interferences such as specular reflections and monotonous texture illumination,hindering accurate three-dimensional lesion reconstruction by surgical robots.This study proposes a novel end-to-end disparity estimation model to address these challenges.Our approach combines a Pseudo-Siamese neural network architecture with pyramid dilated convolutions,integrating multi-scale image information to enhance robustness against lighting interferences.This study introduces a Pseudo-Siamese structure-based disparity regression model that simplifies left-right image comparison,improving accuracy and efficiency.The model was evaluated using a dataset of stereo endoscopic videos captured by the Da Vinci surgical robot,comprising simulated silicone heart sequences and real heart video data.Experimental results demonstrate significant improvement in the network’s resistance to lighting interference without substantially increasing parameters.Moreover,the model exhibited faster convergence during training,contributing to overall performance enhancement.This study advances endoscopic image processing accuracy and has potential implications for surgical robot applications in complex environments.展开更多
AIM:To evaluate the effects of refractive errors and binocular vision anomalies on the quality of life(QOL)of university students.METHODS:This cross-sectional analytical study was conducted on university students usin...AIM:To evaluate the effects of refractive errors and binocular vision anomalies on the quality of life(QOL)of university students.METHODS:This cross-sectional analytical study was conducted on university students using simple random sampling.Objective refraction,ocular alignment,vergence and accommodative performance were measured and assessed in all participants.Data on QOL were collected using the College of Optometrists in Vision Development-Quality of Life(COVD-QOL)Questionnaire.The effect of mentioned parameters on the QOL were evaluated.RESULTS:Totally 726 students with mean age of 21.35±1.88y were evaluated in this study,51.5%of whom were female.Esophoria was caused significantly lower QOL in the domains of somatic symptoms and occupationalphysical symptoms(P<0.05);Besides,esotropia decreased QOL in domains of somatic symptoms P=0.002 and psychological factors(P=0.023).Students with accommodation insufficiency experienced more symptoms in all domains(P<0.05)except for psychological factors(P=0.07).Increasing in the near point of convergence and accommodation and decreases QOL and increasing accommodative facility increases QOL(all P<0.05).Myopia and astigmatism cause decrease in QOL(both P<0.05),but hyperopic students had better QOL in comparison with others(P<0.05).CONCLUSION:Screening programs and treatment of refractive errors and binocular vision anomalies,especially phoria and accommodative insufficiency,positively impact the QOL and academic achievements of university students.展开更多
Passive optical motion capture technology is an effective mean to conduct high-precision pose estimation of small scenes of mobile robots;nevertheless,in the case of complex background and stray light interference in ...Passive optical motion capture technology is an effective mean to conduct high-precision pose estimation of small scenes of mobile robots;nevertheless,in the case of complex background and stray light interference in the scene,due to the infuence of target adhesion and environmental reflection,this technology cannot estimate the pose accurately.A passive binocular optical motion capture technology under complex illumination based on binocular camera and fixed retroreflective marker balls has been proposed.By fixing multiple hemispherical retrorefective marker balls on a rigid base,it uses binocular camera for depth estimation to obtain the fixed position relationship between the feature points.After performing unsupervised state estimation without manual operation,it overcomes the infuence of refection spots in the background.Meanwhile,contour extraction and ellipse least square fitting are used to extract the marker balls with incomplete shape as the feature points,so as to solve the problem of target adhesion in the scene.A FANUC m10i-a robot moving with 6-DOF is used for verification using the above methods in a complex lighting environment of a welding laboratory.The result shows that the average of absolute position errors is 5.793mm,the average of absolute rotation errors is 1.997°the average of relative position errors is 0.972 mm,and the average of relative rotation errors is 0.002°.Therefore,this technology meets the requirements of high-precision measurement in a complex lighting environment when estimating the 6-DOF-motion mobile robot and has very significant application prospects in complex scenes.展开更多
AIM:To evaluate the effect of femtosecond laser small incision lenticule extraction(SMILE)on the binocular visual function in myopic patients with glasses-free threedimensional(3D)technique.METHODS:Totally 50 myopic p...AIM:To evaluate the effect of femtosecond laser small incision lenticule extraction(SMILE)on the binocular visual function in myopic patients with glasses-free threedimensional(3D)technique.METHODS:Totally 50 myopic patients(39 females and 11 males)with SMILE were enrolled in this prospective study.The glasses-free 3D technique was used to evaluate the binocular visual function in these subjects including static stereopsis,dynamic stereopsis,foveal suppression,and binocular balance point of signal to noise ratio(s/n ratio).All subjects received measurements in 1d before operation,and 1d,1wk,and 1mo postoperatively.RESULTS:Both static and dynamic stereopsis showed no significant difference after SMILE.The foveal suppression improved significantly 1wk and 1mo after SMILE(P=0.005 and P=0.007 respectively).The binocular balance point of signal to noise ratio showed a significant improvement 1d,1wk and 1mo after SMILE for both eyes(P<0.001 for each eye respectively).CONCLUSION:Glasses-free 3D technique can be used to evaluate the effect of SMILE on the binocular visual function in myopic patients perceptively,and SMILE can improve both foveal suppression and binocular imbalance in these patients.展开更多
Polarization imaging provides significant advantages in underwater environments.However,existing polarization underwater imaging methods primarily focus on leveraging polarization information to suppress the scatterin...Polarization imaging provides significant advantages in underwater environments.However,existing polarization underwater imaging methods primarily focus on leveraging polarization information to suppress the scattering effect to achieve the clear vision,while neglecting other valuable information contained in polarization images,such as the scene depth and the polarization characteristics of the objects.This paper proposes a self-supervised three-dimensional underwater imaging method based on a polarization binocular imager.In addition to improving image quality in turbid water based on polarization imaging,the proposed method merges features from both the enhanced binocular images recovered from polarization information and the feature-rich degree of polarization images into the self-supervised framework to estimate disparities of the scene,achieving high-quality reconstruction of underwater scene depth.We then design multiple self-supervised losses that effectively integrate depth information obtained from both binocular imaging and polarization imaging to guide the learning process.Meanwhile,the proposed method can recover the polarization information of the objects in turbid water,thus enhancing the perception of target properties such as the materials of the objects.Both the simulated experiment and the real-world experiments in the sea demonstrate the effectiveness and superiority of the proposed method.展开更多
针对弱纹理和变光照环境下基于点特征的视觉SLAM(simultaneous localization and mapping)算法轨迹漂移的问题,提出了一种基于改进自适应阈值ELSED算法(Adaptive-ELSED)的快速点线融合双目视觉SLAM算法。通过在ELSED算法中添加自适应阈...针对弱纹理和变光照环境下基于点特征的视觉SLAM(simultaneous localization and mapping)算法轨迹漂移的问题,提出了一种基于改进自适应阈值ELSED算法(Adaptive-ELSED)的快速点线融合双目视觉SLAM算法。通过在ELSED算法中添加自适应阈值矩阵,动态调整不同光照条件下梯度阈值,并使用长度抑制和短线合并策略,提高线特征的质量。利用基于双目几何约束和图像结构相似性(SSIM)进行快速线段特征三角化。基于历史位姿及误差分析获取初始位姿,通过自适应因子实现光束法平差过程中点线特征的更有效融合。实验结果表明,所提算法在提高线特征质量的同时,耗时仅为LSD算法的50%,线特征匹配速度较传统LBD算法提升67%,挑战性场景下轨迹误差较ORB-SLAM3降低62.2%,系统的平均跟踪帧率为27帧/s,在保证系统实时性的同时,显著提升了系统在弱纹理、变光照环境下的精度和鲁棒性。展开更多
Cluster warhead has become the main ammunition of gun,rocket projectile and missile and it has been widely equipped in almost every country.More and more attention is paid to the damage effect of cluster warhead.The s...Cluster warhead has become the main ammunition of gun,rocket projectile and missile and it has been widely equipped in almost every country.More and more attention is paid to the damage effect of cluster warhead.The size of the dispersion area of cluster warhead is the main standard by which the damage effect of cluster warhead is estimated.The practical method of measuring the dispersion area was developed based on binocular stereo vision measurement theory.The calibration principle of the binocular stereo vision cameras was studied.The matching algorithm that relies on the gradient fields of the neighborhood of a pixel has been used to obtain the spatial information of matched points by acquiring apair of corresponding points in the left and right images of binocular cameras.The 3Dpositions of the flying path of cluster warhead were calculated.The umbrella that is similar to the dispersion track of static explosive cluster warhead was applied in the experiment to get the projection area of the umbrella on the ground.Experiment results verify the feasibility of the proposed method.展开更多
基金Supported by Ongoing Research Funding Program(ORFFT-2025-054-1),King Saud University,Riyadh,Saudi Arabia.
文摘AIM:To evaluate the efficacy of the total computer vision syndrome questionnaire(CVS-Q)score as a predictive tool for identifying individuals with symptomatic binocular vision anomalies and refractive errors.METHODS:A total of 141 healthy computer users underwent comprehensive clinical visual function assessments,including evaluations of refractive errors,accommodation(amplitude of accommodation,positive relative accommodation,negative relative accommodation,accommodative accuracy,and accommodative facility),and vergence(phoria,positive and negative fusional vergence,near point of convergence,and vergence facility).Total CVS-Q scores were recorded to explore potential associations between symptom scores and the aforementioned clinical visual function parameters.RESULTS:The cohort included 54 males(38.3%)with a mean age of 23.9±0.58y and 87 age-matched females(61.7%)with a mean age of 23.9±0.53y.The multiple regression model was statistically significant[R²=0.60,F=13.28,degrees of freedom(DF=17122,P<0.001].This indicates that 60%of the variance in total CVS-Q scores(reflecting reported symptoms)could be explained by four clinical measurements:amplitude of accommodation,positive relative accommodation,exophoria at distance and near,and positive fusional vergence at near.CONCLUSION:The total CVS-Q score is a valid and reliable tool for predicting the presence of various nonstrabismic binocular vision anomalies and refractive errors in symptomatic computer users.
基金Supported by Mashhad University of Medical Sciences.
文摘AIM:To evaluate the differences in near point of convergence(NPC),fusional vergence,saccadic eye movements,versional eye movements,and heterophoria between patients diagnosed with Parkinson’s disease(PD)and healthy subjects.METHODS:A cross-sectional comparative study was conducted,enrolling two cohorts:a PD group and a healthy control group.The PD group was recruited via non-random convenience sampling,while the control group was selected randomly from individuals without PD.All participants were screened according to predefined inclusion and exclusion criteria before undergoing a comprehensive optometric assessment,which included measurements of uncorrected visual acuity,corrected visual acuity,and objective and subjective refraction.Subsequently,binocular vision function evaluations were performed,covering NPC measurement,fusional vergence reserve assessment at both distance and near,saccadic eye movement testing,and versional eye movement and heterophoria assessment.RESULTS:A total of 42 PD patients and 41 healthy controls were included in the final analysis.The two groups were well-matched in terms of sex distribution[29 males(69.0%)in the PD group vs 29 males(70.7%)in the control group,P=0.867]and mean age(55.3±9.6y in the PD group vs 54.9±9.8y in the control group,P=0.866).The prevalence of abnormal versional eye movements was significantly higher in the PD group than in the control group(23.81%,95%CI:12.05%-39.45%vs 7.32%,95%CI:1.54%-19.92%;P=0.025).Near exophoria was more prevalent in PD patients(61.90%,95%CI:45.64%-76.43%)than in controls(17.07%,95%CI:7.15%-32.06%),with a significant difference[odds ratio(OR)=7.99;95%CI:2.83-21.99;P<0.001].The mean NPC was significantly greater(more receded)in the PD group than in the control group(9.01±3.74 cm vs 7.20±2.15 cm;P=0.007).A statistically significant positive correlation was observed between PD severity and NPC values(Pearson’s correlation coefficient=0.309;P=0.046).Except for distance baseout break and distance base-out recovery values,all other fusional vergence parameters were significantly lower in the PD group than in the control group(P<0.05).The mean saccadic test score was significantly lower in PD patients than in controls(3.29±0.57 vs 3.78±0.42;P<0.001).Among all fusional vergence indices,near base-in blur yielded the highest area under the curve(AUC=0.877),with a sensitivity of 69%and specificity of 90%,followed by distance base-out blur(AUC=0.824,sensitivity=97.6%,specificity=66.7%),near base-out blur(AUC=0.814,sensitivity=76.2%,specificity=72.7%),near base-out break(AUC=0.749,sensitivity=78.6%,specificity=67.6%),and near base-out recovery(AUC=0.749,sensitivity=95.2%,specificity=50%).CONCLUSION:PD is associated with significant binocular vision function impairment,with receded NPC and reduced near fusional vergence reserves being the most prominent disorders.These findings highlight the potential value of binocular vision assessment as a non-invasive biomarker for the early detection and clinical monitoring of PD.
基金Supported by Sichuan Science and Technology Program(2023YFSY0026,2023YFH0004)Supported by the Institute of Information&Communications Technology Planning&Evaluation(IITP)grant funded by the Korean government(MSIT)(No.RS-2022-00155885,Artificial Intelligence Convergence Innovation Human Resources Development(Hanyang University ERICA)).
文摘Two-dimensional endoscopic images are susceptible to interferences such as specular reflections and monotonous texture illumination,hindering accurate three-dimensional lesion reconstruction by surgical robots.This study proposes a novel end-to-end disparity estimation model to address these challenges.Our approach combines a Pseudo-Siamese neural network architecture with pyramid dilated convolutions,integrating multi-scale image information to enhance robustness against lighting interferences.This study introduces a Pseudo-Siamese structure-based disparity regression model that simplifies left-right image comparison,improving accuracy and efficiency.The model was evaluated using a dataset of stereo endoscopic videos captured by the Da Vinci surgical robot,comprising simulated silicone heart sequences and real heart video data.Experimental results demonstrate significant improvement in the network’s resistance to lighting interference without substantially increasing parameters.Moreover,the model exhibited faster convergence during training,contributing to overall performance enhancement.This study advances endoscopic image processing accuracy and has potential implications for surgical robot applications in complex environments.
文摘AIM:To evaluate the effects of refractive errors and binocular vision anomalies on the quality of life(QOL)of university students.METHODS:This cross-sectional analytical study was conducted on university students using simple random sampling.Objective refraction,ocular alignment,vergence and accommodative performance were measured and assessed in all participants.Data on QOL were collected using the College of Optometrists in Vision Development-Quality of Life(COVD-QOL)Questionnaire.The effect of mentioned parameters on the QOL were evaluated.RESULTS:Totally 726 students with mean age of 21.35±1.88y were evaluated in this study,51.5%of whom were female.Esophoria was caused significantly lower QOL in the domains of somatic symptoms and occupationalphysical symptoms(P<0.05);Besides,esotropia decreased QOL in domains of somatic symptoms P=0.002 and psychological factors(P=0.023).Students with accommodation insufficiency experienced more symptoms in all domains(P<0.05)except for psychological factors(P=0.07).Increasing in the near point of convergence and accommodation and decreases QOL and increasing accommodative facility increases QOL(all P<0.05).Myopia and astigmatism cause decrease in QOL(both P<0.05),but hyperopic students had better QOL in comparison with others(P<0.05).CONCLUSION:Screening programs and treatment of refractive errors and binocular vision anomalies,especially phoria and accommodative insufficiency,positively impact the QOL and academic achievements of university students.
基金the National Key Research and Development Program of China(No.2018YFB1305005)。
文摘Passive optical motion capture technology is an effective mean to conduct high-precision pose estimation of small scenes of mobile robots;nevertheless,in the case of complex background and stray light interference in the scene,due to the infuence of target adhesion and environmental reflection,this technology cannot estimate the pose accurately.A passive binocular optical motion capture technology under complex illumination based on binocular camera and fixed retroreflective marker balls has been proposed.By fixing multiple hemispherical retrorefective marker balls on a rigid base,it uses binocular camera for depth estimation to obtain the fixed position relationship between the feature points.After performing unsupervised state estimation without manual operation,it overcomes the infuence of refection spots in the background.Meanwhile,contour extraction and ellipse least square fitting are used to extract the marker balls with incomplete shape as the feature points,so as to solve the problem of target adhesion in the scene.A FANUC m10i-a robot moving with 6-DOF is used for verification using the above methods in a complex lighting environment of a welding laboratory.The result shows that the average of absolute position errors is 5.793mm,the average of absolute rotation errors is 1.997°the average of relative position errors is 0.972 mm,and the average of relative rotation errors is 0.002°.Therefore,this technology meets the requirements of high-precision measurement in a complex lighting environment when estimating the 6-DOF-motion mobile robot and has very significant application prospects in complex scenes.
基金Supported by Sichuan Science and Technology Program(No.23NSFSC0856).
文摘AIM:To evaluate the effect of femtosecond laser small incision lenticule extraction(SMILE)on the binocular visual function in myopic patients with glasses-free threedimensional(3D)technique.METHODS:Totally 50 myopic patients(39 females and 11 males)with SMILE were enrolled in this prospective study.The glasses-free 3D technique was used to evaluate the binocular visual function in these subjects including static stereopsis,dynamic stereopsis,foveal suppression,and binocular balance point of signal to noise ratio(s/n ratio).All subjects received measurements in 1d before operation,and 1d,1wk,and 1mo postoperatively.RESULTS:Both static and dynamic stereopsis showed no significant difference after SMILE.The foveal suppression improved significantly 1wk and 1mo after SMILE(P=0.005 and P=0.007 respectively).The binocular balance point of signal to noise ratio showed a significant improvement 1d,1wk and 1mo after SMILE for both eyes(P<0.001 for each eye respectively).CONCLUSION:Glasses-free 3D technique can be used to evaluate the effect of SMILE on the binocular visual function in myopic patients perceptively,and SMILE can improve both foveal suppression and binocular imbalance in these patients.
基金National Key Research and Development Program of China(2023YFC3108500)National Natural Science Foundation of China(62475190)+1 种基金Tianjin Municipal Science and Technology Bureau(23YFZCSN00230)Special Project for Enterprise Research and Development in Tiankai Higher Education Innovation Park(23YFZXYC00012).
文摘Polarization imaging provides significant advantages in underwater environments.However,existing polarization underwater imaging methods primarily focus on leveraging polarization information to suppress the scattering effect to achieve the clear vision,while neglecting other valuable information contained in polarization images,such as the scene depth and the polarization characteristics of the objects.This paper proposes a self-supervised three-dimensional underwater imaging method based on a polarization binocular imager.In addition to improving image quality in turbid water based on polarization imaging,the proposed method merges features from both the enhanced binocular images recovered from polarization information and the feature-rich degree of polarization images into the self-supervised framework to estimate disparities of the scene,achieving high-quality reconstruction of underwater scene depth.We then design multiple self-supervised losses that effectively integrate depth information obtained from both binocular imaging and polarization imaging to guide the learning process.Meanwhile,the proposed method can recover the polarization information of the objects in turbid water,thus enhancing the perception of target properties such as the materials of the objects.Both the simulated experiment and the real-world experiments in the sea demonstrate the effectiveness and superiority of the proposed method.
文摘随着自动驾驶的发展,多传感器融合得到广泛应用。CLOCs是基于后融合的3D目标检测网络,但它对遮蔽物体的检测性能较差。针对此问题,提出一种融合双目测距和门控循环单元(Gated Recurrent Unit,GRU)的3D目标检测网络,其在CLOCs网络融合3D和2D的交并比(Intersection over Union,IoU)的基础上,在2D目标检测网络中引入双目测距来关联2D和3D的深度信息,在卷积之后加入GRU网络,用来捕捉时序数据的依赖关系。采用kitti数据集进行验证,实验结果表明检测精度得到了提升。
文摘针对弱纹理和变光照环境下基于点特征的视觉SLAM(simultaneous localization and mapping)算法轨迹漂移的问题,提出了一种基于改进自适应阈值ELSED算法(Adaptive-ELSED)的快速点线融合双目视觉SLAM算法。通过在ELSED算法中添加自适应阈值矩阵,动态调整不同光照条件下梯度阈值,并使用长度抑制和短线合并策略,提高线特征的质量。利用基于双目几何约束和图像结构相似性(SSIM)进行快速线段特征三角化。基于历史位姿及误差分析获取初始位姿,通过自适应因子实现光束法平差过程中点线特征的更有效融合。实验结果表明,所提算法在提高线特征质量的同时,耗时仅为LSD算法的50%,线特征匹配速度较传统LBD算法提升67%,挑战性场景下轨迹误差较ORB-SLAM3降低62.2%,系统的平均跟踪帧率为27帧/s,在保证系统实时性的同时,显著提升了系统在弱纹理、变光照环境下的精度和鲁棒性。
基金National Major Scientific Equipment Development Projects of China(No.2013YQ240803)Natural Science Foundation for Young Scientists of Shanxi Province(No.2012021011-1)Scientific and Technological Project in Shanxi Province(No.20140321010-02)
文摘Cluster warhead has become the main ammunition of gun,rocket projectile and missile and it has been widely equipped in almost every country.More and more attention is paid to the damage effect of cluster warhead.The size of the dispersion area of cluster warhead is the main standard by which the damage effect of cluster warhead is estimated.The practical method of measuring the dispersion area was developed based on binocular stereo vision measurement theory.The calibration principle of the binocular stereo vision cameras was studied.The matching algorithm that relies on the gradient fields of the neighborhood of a pixel has been used to obtain the spatial information of matched points by acquiring apair of corresponding points in the left and right images of binocular cameras.The 3Dpositions of the flying path of cluster warhead were calculated.The umbrella that is similar to the dispersion track of static explosive cluster warhead was applied in the experiment to get the projection area of the umbrella on the ground.Experiment results verify the feasibility of the proposed method.
