How a wave interacts with heterogeneous media has been pursued by many geophysicists.The complexity of subsurface heterogeneities is seismologically a relative concept to wavelengths of seismic waves.A growing percept...How a wave interacts with heterogeneous media has been pursued by many geophysicists.The complexity of subsurface heterogeneities is seismologically a relative concept to wavelengths of seismic waves.A growing perception is that velocity variations,propagation angles,and computational accuracies are closely related at a variety of scales.A tentative strategy to quantitatively evaluate the complexity of subsurface heterogeneous media is presented in this article to see what scales of geological heterogeneities to be captured by waves.We express complex subsurface structures as the slowness-and angularheterogeneity spectra to quantify velocity contrasts and dipping-angle distributions of complex geological structures.On the other hand,the scaling characteristics of a propagator are measured through dispersion analysis by its angular spectra plotted against refractive indexes and propagation angles,respectively.A parameter termed as imaging efficiency is introduced by associating the geological heterogeneity spectra with the propagator's angular spectra to understand the coherent interference between the medium's heterogeneity and the propagator's scaling characteristics.Furthermore,a complexity coefficient can be defined to evaluate geological complexities in terms of propagators.The application of this strategy is demonstrated to the SEG/EAEG salt model.展开更多
The extraction and description of image features are very important for visual simultaneous localization and mapping(V-SLAM).A rotated boosted efficient binary local image descriptor(BEBLID)SLAM(RB-SLAM)algorithm base...The extraction and description of image features are very important for visual simultaneous localization and mapping(V-SLAM).A rotated boosted efficient binary local image descriptor(BEBLID)SLAM(RB-SLAM)algorithm based on improved oriented fast and rotated brief(ORB)feature description is proposed in this paper,which can solve the problems of low localization accuracy and time efficiency of the current ORB-SLAM3 algorithm.Firstly,it uses the BEBLID to replace the feature point description algorithm of the original ORB to enhance the expressiveness and description efficiency of the image.Secondly,it adds rotational invariance to the BEBLID using the orientation information of the feature points.It also selects the rotationally stable bits in the BEBLID to further enhance the rotational invariance of the BEBLID.Finally,it retrains the binary visual dictionary based on the BEBLID to reduce the cumulative error of V-SLAM and improve the loading speed of the visual dictionary.Experiments show that the dictionary loading efficiency is improved by more than 10 times.The RB-SLAM algorithm improves the trajectory accuracy by 24.75%on the TUM dataset and 26.25%on the EuRoC dataset compared to the ORB-SLAM3 algorithm.展开更多
基金supported by National Basic Research Program(Grant No.2006CB202306)Knowledge Innovation Program of the Chinese Academy of Sciences(Grant No.KZCX2-YW-101)
文摘How a wave interacts with heterogeneous media has been pursued by many geophysicists.The complexity of subsurface heterogeneities is seismologically a relative concept to wavelengths of seismic waves.A growing perception is that velocity variations,propagation angles,and computational accuracies are closely related at a variety of scales.A tentative strategy to quantitatively evaluate the complexity of subsurface heterogeneous media is presented in this article to see what scales of geological heterogeneities to be captured by waves.We express complex subsurface structures as the slowness-and angularheterogeneity spectra to quantify velocity contrasts and dipping-angle distributions of complex geological structures.On the other hand,the scaling characteristics of a propagator are measured through dispersion analysis by its angular spectra plotted against refractive indexes and propagation angles,respectively.A parameter termed as imaging efficiency is introduced by associating the geological heterogeneity spectra with the propagator's angular spectra to understand the coherent interference between the medium's heterogeneity and the propagator's scaling characteristics.Furthermore,a complexity coefficient can be defined to evaluate geological complexities in terms of propagators.The application of this strategy is demonstrated to the SEG/EAEG salt model.
文摘The extraction and description of image features are very important for visual simultaneous localization and mapping(V-SLAM).A rotated boosted efficient binary local image descriptor(BEBLID)SLAM(RB-SLAM)algorithm based on improved oriented fast and rotated brief(ORB)feature description is proposed in this paper,which can solve the problems of low localization accuracy and time efficiency of the current ORB-SLAM3 algorithm.Firstly,it uses the BEBLID to replace the feature point description algorithm of the original ORB to enhance the expressiveness and description efficiency of the image.Secondly,it adds rotational invariance to the BEBLID using the orientation information of the feature points.It also selects the rotationally stable bits in the BEBLID to further enhance the rotational invariance of the BEBLID.Finally,it retrains the binary visual dictionary based on the BEBLID to reduce the cumulative error of V-SLAM and improve the loading speed of the visual dictionary.Experiments show that the dictionary loading efficiency is improved by more than 10 times.The RB-SLAM algorithm improves the trajectory accuracy by 24.75%on the TUM dataset and 26.25%on the EuRoC dataset compared to the ORB-SLAM3 algorithm.
