To improve the agility, dynamics, composability, reusability, and development efficiency restricted by monolithic federation object model （FOM）, a modular FOM is proposed by high level architecture （HLA） evolved p...To improve the agility, dynamics, composability, reusability, and development efficiency restricted by monolithic federation object model （FOM）, a modular FOM is proposed by high level architecture （HLA） evolved product development group. This paper reviews the state-of-the-art of HLA evolved modular FOM. In particular, related concepts, the overall impact on HLA standards, extension principles, and merging processes are discussed. Also permitted and restricted combinations, and merging rules are provided, and the influence on HLA interface specification is given. The comparison between modular FOM and base object model （BOM） is performed to illustrate the importance of their combination. The applications of modular FOM are summarized. Finally, the significance to facilitate compoable simulation both in academia and practice is presented and future directions are pointed out.展开更多
As the distributed interactive simulation technology,the High Level Architecture(HLA)with the common Runtime Infrastructure(RTI)services has been applied to all kinds of simulation and computation areas,w hich has mor...As the distributed interactive simulation technology,the High Level Architecture(HLA)with the common Runtime Infrastructure(RTI)services has been applied to all kinds of simulation and computation areas,w hich has more interoperability and interactivity.Especially,w ith the development of hierarchical RTI softw are technology,the efficiency,flexibility,and levels of resolution etc.can be improved.How ever,updating mechanism for object management in hierarchical RTI can't supply the dynamic object subscription to the simulation operation,specially updating limitation in consistence and synchronization.Therefore,the improvement of update mechanism for object management has been proposed,and the process of w hich has been described.The results of simulation show that the improvement mechanism can achieve better updating rates and latency than traditional mechanism,considering the consistence need.展开更多
This paper proposes a novel implementation of the level set method that achieves real-time level-set-based object tracking. In the proposed algorithm, the evolution of the curve is realized by simple operations such a...This paper proposes a novel implementation of the level set method that achieves real-time level-set-based object tracking. In the proposed algorithm, the evolution of the curve is realized by simple operations such as switching values of the level set functions and there is no need to solve any partial differential equations (PDEs). The object contour could change due to the change in the location, orientation or due to the changeable nature of the object shape itself. Knowing the contour, the average color value for the pixels within the contour could be found. The estimated object color and contour in one frame are the bases for locating the object in the consecutive one. The color is used to segment the object pixels and the estimated contour is used to initialize the deformation process. Thus, the algorithm works in a closed cycle in which the color is used to segment the object pixels to get the object contour and the contour is used to get the typical-color of the object. With our fast algorithm, a real-time system has been implemented on a standard PC. Results from standard test sequences and our real time system are presented.展开更多
无人船环境感知是无人船智能航行的关键技术之一,目前主要依赖于可获取目标空间位置的激光雷达和提供目标类别信息的光学设备。为获得复杂海上环境下目标多维感知信息,提出一种无人船载激光雷达-相机的融合感知方法,融合PR-YOLOv8视觉...无人船环境感知是无人船智能航行的关键技术之一,目前主要依赖于可获取目标空间位置的激光雷达和提供目标类别信息的光学设备。为获得复杂海上环境下目标多维感知信息,提出一种无人船载激光雷达-相机的融合感知方法,融合PR-YOLOv8视觉检测结果和激光雷达三维点云,实现了海上目标高精度识别和空间定位。首先,利用标定板进行激光雷达和相机联合标定,构建了两传感器间的投影关系。随后,对于雷达分支,对目标点云聚类拟合,提取目标的特征信息并投影至图像;对于相机分支,基于YOLOv8提出PR-YOLOv8目标检测模型,获得高识别精度的目标检测边界框。最后,结合两分支检测结果,提出一种新的代价构建因子DSIoU(Distance-Scale Intersection over Union)关联目标,并结合贝叶斯理论,实现了多源感知信息的融合。采用青岛近海和内湖船只感知实验,验证了所提出方法的可行性和有效性。展开更多
基金supported by the National Natural Science Foundation of China(6067406960574056).
文摘To improve the agility, dynamics, composability, reusability, and development efficiency restricted by monolithic federation object model （FOM）, a modular FOM is proposed by high level architecture （HLA） evolved product development group. This paper reviews the state-of-the-art of HLA evolved modular FOM. In particular, related concepts, the overall impact on HLA standards, extension principles, and merging processes are discussed. Also permitted and restricted combinations, and merging rules are provided, and the influence on HLA interface specification is given. The comparison between modular FOM and base object model （BOM） is performed to illustrate the importance of their combination. The applications of modular FOM are summarized. Finally, the significance to facilitate compoable simulation both in academia and practice is presented and future directions are pointed out.
基金Financial Support from New Century Program for Excellent Talents of Ministry of Education of China(NCET-11-1013)Program for Liaoning Innovative Research Team in University(LT2011005)
文摘As the distributed interactive simulation technology,the High Level Architecture(HLA)with the common Runtime Infrastructure(RTI)services has been applied to all kinds of simulation and computation areas,w hich has more interoperability and interactivity.Especially,w ith the development of hierarchical RTI softw are technology,the efficiency,flexibility,and levels of resolution etc.can be improved.How ever,updating mechanism for object management in hierarchical RTI can't supply the dynamic object subscription to the simulation operation,specially updating limitation in consistence and synchronization.Therefore,the improvement of update mechanism for object management has been proposed,and the process of w hich has been described.The results of simulation show that the improvement mechanism can achieve better updating rates and latency than traditional mechanism,considering the consistence need.
文摘This paper proposes a novel implementation of the level set method that achieves real-time level-set-based object tracking. In the proposed algorithm, the evolution of the curve is realized by simple operations such as switching values of the level set functions and there is no need to solve any partial differential equations (PDEs). The object contour could change due to the change in the location, orientation or due to the changeable nature of the object shape itself. Knowing the contour, the average color value for the pixels within the contour could be found. The estimated object color and contour in one frame are the bases for locating the object in the consecutive one. The color is used to segment the object pixels and the estimated contour is used to initialize the deformation process. Thus, the algorithm works in a closed cycle in which the color is used to segment the object pixels to get the object contour and the contour is used to get the typical-color of the object. With our fast algorithm, a real-time system has been implemented on a standard PC. Results from standard test sequences and our real time system are presented.
文摘无人船环境感知是无人船智能航行的关键技术之一,目前主要依赖于可获取目标空间位置的激光雷达和提供目标类别信息的光学设备。为获得复杂海上环境下目标多维感知信息,提出一种无人船载激光雷达-相机的融合感知方法,融合PR-YOLOv8视觉检测结果和激光雷达三维点云,实现了海上目标高精度识别和空间定位。首先,利用标定板进行激光雷达和相机联合标定,构建了两传感器间的投影关系。随后,对于雷达分支,对目标点云聚类拟合,提取目标的特征信息并投影至图像;对于相机分支,基于YOLOv8提出PR-YOLOv8目标检测模型,获得高识别精度的目标检测边界框。最后,结合两分支检测结果,提出一种新的代价构建因子DSIoU(Distance-Scale Intersection over Union)关联目标,并结合贝叶斯理论,实现了多源感知信息的融合。采用青岛近海和内湖船只感知实验,验证了所提出方法的可行性和有效性。
