Gaussian mixture algorithm （GMA） is an effective approach for off-road terrain estimation, but still suffers from some difficulties in practical applications, such as complex calculation and object abstraction. In t...Gaussian mixture algorithm （GMA） is an effective approach for off-road terrain estimation, but still suffers from some difficulties in practical applications, such as complex calculation and object abstraction. In this paper, GMA is modified to improve its real-time performance and to provide it with a potential ability of obstacle detection. First, a selection window is designed based on the dominant-ellipse-principle to limit the probability distribution area of each measurement point, therefore avoiding the calculation on the cells outside the dominant ellipse. Second, a clustering approach is proposed in order to distinguish objects efficiently and decrease the operation area of one laser scan. Third, a virtual point vector is introduced to further reduce the computational load of the mean square error matrix. The modified GMA is experimented on a tracked mobile robot, and its improved performance is shown in comparison to the original GMA.展开更多
This paper demonstrates an experiment on the generation of 3D virtual geographic environment on the basis of experimental flight laser scanning data by a set of algorithms and methods that were developed to automatica...This paper demonstrates an experiment on the generation of 3D virtual geographic environment on the basis of experimental flight laser scanning data by a set of algorithms and methods that were developed to automatically interpret range images for extracting geo-spatial features and then to reconstruct geo-objects. The algorithms and methods for the interpretation and modeling of laser scanner data include triangulated-irregular-network (TIN)-based range image interpolation; mathematical-morphology (MM)-based range image filtering, feature extraction and range image segmentation, feature generalization and optimization, 3D objects reconstruction and modeling; computer-graphics (CG)-based visualization and animation of geographic virtual reality environment.展开更多
As an important station of International Laser Ranging Service(ILRS),Shanghai Astronomical Observatory(SHAO)has upgraded Satellite Laser Ranging(SLR)system with high repetition rate and achieved some technological pro...As an important station of International Laser Ranging Service(ILRS),Shanghai Astronomical Observatory(SHAO)has upgraded Satellite Laser Ranging(SLR)system with high repetition rate and achieved some technological progress,There are a lot of improvements for overall system performance,such as annual observation passes,measurement precision and quality of observation data.SLR technology with repetition rate of 10 kHz is accomplished firstly in China,and space debris laser ranging technology with200 Hz laser is promoted and proved to be more detective for weak echo,which lead to successful measurement for 40,000 km satellites and space debris within 3000 km.At the same time,SLR based on multi-telescopes and 1064 nm wavelength are planned to make a breakthrough of detection capabilities,and also to expand its application fields.These progresses will be introduced in this paper in detail.展开更多
Leaf normal distribution is an important structural characteristic of the forest canopy. Although terrestrial laser scanners（TLS） have potential for estimating canopy structural parameters, distinguishing between le...Leaf normal distribution is an important structural characteristic of the forest canopy. Although terrestrial laser scanners（TLS） have potential for estimating canopy structural parameters, distinguishing between leaves and nonphotosynthetic structures to retrieve the leaf normal has been challenging. We used here an approach to accurately retrieve the leaf normals of camphorwood（Cinnamomum camphora） using TLS point cloud data.First, nonphotosynthetic structures were filtered by using the curvature threshold of each point. Then, the point cloud data were segmented by a voxel method and clustered by a Gaussian mixture model in each voxel. Finally, the normal vector of each cluster was computed by principal component analysis to obtain the leaf normal distribution. We collected leaf inclination angles and estimated the distribution, which we compared with the retrieved leaf normal distribution. The correlation coefficient between measurements and obtained results was 0.96, indicating a good coincidence.展开更多
In this paper, we take the model of Laser range finder based on synchronized scanner as example, show how to use data fusion method in the process of sensor model designing to get more robust output. Also we provide o...In this paper, we take the model of Laser range finder based on synchronized scanner as example, show how to use data fusion method in the process of sensor model designing to get more robust output. Also we provide our idea on the relation of sensor model, data fusion and system structure, and in the paper, there is a solution that transform the parameter space to get linear model for Kalman filter.展开更多
Multi-laser-target tracking is an important subject in the field of signal processing of laser warners. A clustering method is applied to the measurement of laser warner, and the space-time fusion for measurements in ...Multi-laser-target tracking is an important subject in the field of signal processing of laser warners. A clustering method is applied to the measurement of laser warner, and the space-time fusion for measurements in the same cluster is accomplished. Real-time tracking of multi-laser-target and real-time picking of multi-laser-signal are introduced using data fusion of the measurements. A prototype device of the algorithm is built up. The results of experiments show that the algorithm is very effective.展开更多
This article describes the data processing and acquisition system for the HT-7 mul-tipulse Thomson scattering diagnostic. An eight-pulse laser is used in the Thomson scattering system to obtain electron temperature pr...This article describes the data processing and acquisition system for the HT-7 mul-tipulse Thomson scattering diagnostic. An eight-pulse laser is used in the Thomson scattering system to obtain electron temperature profiles at eight different times throughout an entire plasma discharge. The major components of the diagnostic system consist of a multipulse Nd-glass laser, a photodetector's subsystem, a calibration set and a CAMAC data processing and acquisition system. The data processing software along with LeCroy 2250L will perform the data acquisition. In order to simplify the operation and extend the capability of its compatibility with other math softwares, the processing software has been improved by the authors. The new software based on the VC++ easily utilizes some math softwares to calculate the electron temperature. The new software is simpler and more operational than the old one.展开更多
There exist three synchronizing problems in the bistatic radar system that some signals of the radar receiver must be synchronized with those of the radar transmitter. Several methods realizing data transmission, whic...There exist three synchronizing problems in the bistatic radar system that some signals of the radar receiver must be synchronized with those of the radar transmitter. Several methods realizing data transmission, which are used to complete the synchronization existing in the bistatic radar system, are described. Then a new idea is brought forward that employs space laser communication in the bistatic radar system to realize its data transmission. The theoretic analysis of the idea's usability and its merits are discussed in details. Finally the latest development of space laser communication is introduced, and the utility of the idea is pointed out further.展开更多
Multi-view laser radar （ladar） data registration in obscure environments is an important research field of obscured target detection from air to ground. There are few overlap regions of the observational data in dif...Multi-view laser radar （ladar） data registration in obscure environments is an important research field of obscured target detection from air to ground. There are few overlap regions of the observational data in different views because of the occluder, so the multi-view data registration is rather difficult. Through indepth analyses of the typical methods and problems, it is obtained that the sequence registration is more appropriate, but needs to improve the registration accuracy. On this basis, a multi-view data registration algorithm based on aggregating the adjacent frames, which are already registered, is proposed. It increases the overlap region between the pending registration frames by aggregation and further improves the registration accuracy. The experiment results show that the proposed algorithm can effectively register the multi-view ladar data in the obscure environment, and it also has a greater robustness and a higher registration accuracy compared with the sequence registration under the condition of equivalent operating efficiency.展开更多
The laser scanning and CCD image-transmitting measurement method and principle on acquiring 3-D curved surface shape data are discussed. Computer processing technique of 3-D curved surface shape(be called“ 3 - D surf...The laser scanning and CCD image-transmitting measurement method and principle on acquiring 3-D curved surface shape data are discussed. Computer processing technique of 3-D curved surface shape(be called“ 3 - D surface shape”for short) data is analysed. This technique in- cludes these concrete methods and principles such as data smoothing, fitting, reconstructing ,elimi- nating and so on. The example and result about computer processing of 3- D surface shape data are given .展开更多
基金the National Natural Science Foundation of China (Grant Nos. 60775056, 60705028)
文摘Gaussian mixture algorithm （GMA） is an effective approach for off-road terrain estimation, but still suffers from some difficulties in practical applications, such as complex calculation and object abstraction. In this paper, GMA is modified to improve its real-time performance and to provide it with a potential ability of obstacle detection. First, a selection window is designed based on the dominant-ellipse-principle to limit the probability distribution area of each measurement point, therefore avoiding the calculation on the cells outside the dominant ellipse. Second, a clustering approach is proposed in order to distinguish objects efficiently and decrease the operation area of one laser scan. Third, a virtual point vector is introduced to further reduce the computational load of the mean square error matrix. The modified GMA is experimented on a tracked mobile robot, and its improved performance is shown in comparison to the original GMA.
文摘This paper demonstrates an experiment on the generation of 3D virtual geographic environment on the basis of experimental flight laser scanning data by a set of algorithms and methods that were developed to automatically interpret range images for extracting geo-spatial features and then to reconstruct geo-objects. The algorithms and methods for the interpretation and modeling of laser scanner data include triangulated-irregular-network (TIN)-based range image interpolation; mathematical-morphology (MM)-based range image filtering, feature extraction and range image segmentation, feature generalization and optimization, 3D objects reconstruction and modeling; computer-graphics (CG)-based visualization and animation of geographic virtual reality environment.
基金The National Natural Science Foundation (NSF) of China (U1631240 and 11503068)CAS Key Technology Talent Program
文摘As an important station of International Laser Ranging Service(ILRS),Shanghai Astronomical Observatory(SHAO)has upgraded Satellite Laser Ranging(SLR)system with high repetition rate and achieved some technological progress,There are a lot of improvements for overall system performance,such as annual observation passes,measurement precision and quality of observation data.SLR technology with repetition rate of 10 kHz is accomplished firstly in China,and space debris laser ranging technology with200 Hz laser is promoted and proved to be more detective for weak echo,which lead to successful measurement for 40,000 km satellites and space debris within 3000 km.At the same time,SLR based on multi-telescopes and 1064 nm wavelength are planned to make a breakthrough of detection capabilities,and also to expand its application fields.These progresses will be introduced in this paper in detail.
文摘Leaf normal distribution is an important structural characteristic of the forest canopy. Although terrestrial laser scanners（TLS） have potential for estimating canopy structural parameters, distinguishing between leaves and nonphotosynthetic structures to retrieve the leaf normal has been challenging. We used here an approach to accurately retrieve the leaf normals of camphorwood（Cinnamomum camphora） using TLS point cloud data.First, nonphotosynthetic structures were filtered by using the curvature threshold of each point. Then, the point cloud data were segmented by a voxel method and clustered by a Gaussian mixture model in each voxel. Finally, the normal vector of each cluster was computed by principal component analysis to obtain the leaf normal distribution. We collected leaf inclination angles and estimated the distribution, which we compared with the retrieved leaf normal distribution. The correlation coefficient between measurements and obtained results was 0.96, indicating a good coincidence.
文摘In this paper, we take the model of Laser range finder based on synchronized scanner as example, show how to use data fusion method in the process of sensor model designing to get more robust output. Also we provide our idea on the relation of sensor model, data fusion and system structure, and in the paper, there is a solution that transform the parameter space to get linear model for Kalman filter.
基金University Doctor Subject Foundation of China (20060699024)
文摘Multi-laser-target tracking is an important subject in the field of signal processing of laser warners. A clustering method is applied to the measurement of laser warner, and the space-time fusion for measurements in the same cluster is accomplished. Real-time tracking of multi-laser-target and real-time picking of multi-laser-signal are introduced using data fusion of the measurements. A prototype device of the algorithm is built up. The results of experiments show that the algorithm is very effective.
基金The project supported by the National Science Foundation of China(No.10075049 and No.10275068)
文摘This article describes the data processing and acquisition system for the HT-7 mul-tipulse Thomson scattering diagnostic. An eight-pulse laser is used in the Thomson scattering system to obtain electron temperature profiles at eight different times throughout an entire plasma discharge. The major components of the diagnostic system consist of a multipulse Nd-glass laser, a photodetector's subsystem, a calibration set and a CAMAC data processing and acquisition system. The data processing software along with LeCroy 2250L will perform the data acquisition. In order to simplify the operation and extend the capability of its compatibility with other math softwares, the processing software has been improved by the authors. The new software based on the VC++ easily utilizes some math softwares to calculate the electron temperature. The new software is simpler and more operational than the old one.
文摘There exist three synchronizing problems in the bistatic radar system that some signals of the radar receiver must be synchronized with those of the radar transmitter. Several methods realizing data transmission, which are used to complete the synchronization existing in the bistatic radar system, are described. Then a new idea is brought forward that employs space laser communication in the bistatic radar system to realize its data transmission. The theoretic analysis of the idea's usability and its merits are discussed in details. Finally the latest development of space laser communication is introduced, and the utility of the idea is pointed out further.
文摘Multi-view laser radar （ladar） data registration in obscure environments is an important research field of obscured target detection from air to ground. There are few overlap regions of the observational data in different views because of the occluder, so the multi-view data registration is rather difficult. Through indepth analyses of the typical methods and problems, it is obtained that the sequence registration is more appropriate, but needs to improve the registration accuracy. On this basis, a multi-view data registration algorithm based on aggregating the adjacent frames, which are already registered, is proposed. It increases the overlap region between the pending registration frames by aggregation and further improves the registration accuracy. The experiment results show that the proposed algorithm can effectively register the multi-view ladar data in the obscure environment, and it also has a greater robustness and a higher registration accuracy compared with the sequence registration under the condition of equivalent operating efficiency.
文摘The laser scanning and CCD image-transmitting measurement method and principle on acquiring 3-D curved surface shape data are discussed. Computer processing technique of 3-D curved surface shape(be called“ 3 - D surface shape”for short) data is analysed. This technique in- cludes these concrete methods and principles such as data smoothing, fitting, reconstructing ,elimi- nating and so on. The example and result about computer processing of 3- D surface shape data are given .
