In the visual positioning of Unmanned Ground Vehicle(UGV),the visual odometer based on direct sparse method(DSO) has the advantages of small amount of calculation,high real-time performance and high robustness,so it i...In the visual positioning of Unmanned Ground Vehicle(UGV),the visual odometer based on direct sparse method(DSO) has the advantages of small amount of calculation,high real-time performance and high robustness,so it is more widely used than the visual odometer based on feature point method.Ordinary vision sensors have a narrower viewing angle than panoramic vision sensors,and there are fewer road signs in a single frame of image,resulting in poor road sign tracking and positioning capabilities,and severely restricting the development of visual odometry.Based on these considerations,this paper proposes a binocular stereo panoramic vision positioning algorithm based on extended DSO,which can solve these problems well.The experimental results show that the binocular stereo panoramic vision positioning algorithm based on the extended DSO can directly obtain the panoramic depth image around the UGV,which greatly improves the accuracy and robustness of the visual positioning compared with other ordinary visual odometers.It will have widely application prospects in the UGV field in the future.展开更多
Community participation in heritage management is increasing.Actively participating communities,groups,and individuals can help identify and protect values and attributes that convey these values and guide sustainable...Community participation in heritage management is increasing.Actively participating communities,groups,and individuals can help identify and protect values and attributes that convey these values and guide sustainable management.However,how can diasporic communities participate in built heritage management?In addition to existing studies on community participation in built heritage management,this systematic literature review draws from 106 scholarly articles and distils how diasporic communities participate in built heritage management.The results categorise four relationships between diasporic communities and built heritage,from the conservation of built heritage,the reconstruction and design of diasporic spaces and places,and the use of built environments as venues,to the representation and interpretation of built environments.The five categories of research trends summarised in this study represent multidisciplinary research interests,including the analysis of well-implemented heritage management strategies,reflections on challenges in managing participatory heritage practices,studies on creating communitycentred heritage,the design of participatory methods and tools,and surveys on future-oriented heritage preferences.Strategies and challenges related to twenty factors of participation are identified through SwOT analysis,revealing strengths(heritage initiatives,participation,and sense of identity),weaknesses(regulation,authorised heritage discourse,and resources),opportunities(participation,sense of identity,and resources),and threats(stakeholders'interests/relationships,authorised heritage discourse,and resources),followed by a discussion of cross-domain factors and interconnectedness.The findings can be considered,referenced,and adapted for future participatory built heritage management that engages diasporic communities.This study also discusses current research limitations and recommendations.展开更多
基金the Project of National Natural Science Foundation of China(Grant No.61773059)the Project of National Defense Technology Foundation Program of China(Grant No.20230028) to provide fund for conducting experiments。
文摘In the visual positioning of Unmanned Ground Vehicle(UGV),the visual odometer based on direct sparse method(DSO) has the advantages of small amount of calculation,high real-time performance and high robustness,so it is more widely used than the visual odometer based on feature point method.Ordinary vision sensors have a narrower viewing angle than panoramic vision sensors,and there are fewer road signs in a single frame of image,resulting in poor road sign tracking and positioning capabilities,and severely restricting the development of visual odometry.Based on these considerations,this paper proposes a binocular stereo panoramic vision positioning algorithm based on extended DSO,which can solve these problems well.The experimental results show that the binocular stereo panoramic vision positioning algorithm based on the extended DSO can directly obtain the panoramic depth image around the UGV,which greatly improves the accuracy and robustness of the visual positioning compared with other ordinary visual odometers.It will have widely application prospects in the UGV field in the future.
文摘Community participation in heritage management is increasing.Actively participating communities,groups,and individuals can help identify and protect values and attributes that convey these values and guide sustainable management.However,how can diasporic communities participate in built heritage management?In addition to existing studies on community participation in built heritage management,this systematic literature review draws from 106 scholarly articles and distils how diasporic communities participate in built heritage management.The results categorise four relationships between diasporic communities and built heritage,from the conservation of built heritage,the reconstruction and design of diasporic spaces and places,and the use of built environments as venues,to the representation and interpretation of built environments.The five categories of research trends summarised in this study represent multidisciplinary research interests,including the analysis of well-implemented heritage management strategies,reflections on challenges in managing participatory heritage practices,studies on creating communitycentred heritage,the design of participatory methods and tools,and surveys on future-oriented heritage preferences.Strategies and challenges related to twenty factors of participation are identified through SwOT analysis,revealing strengths(heritage initiatives,participation,and sense of identity),weaknesses(regulation,authorised heritage discourse,and resources),opportunities(participation,sense of identity,and resources),and threats(stakeholders'interests/relationships,authorised heritage discourse,and resources),followed by a discussion of cross-domain factors and interconnectedness.The findings can be considered,referenced,and adapted for future participatory built heritage management that engages diasporic communities.This study also discusses current research limitations and recommendations.
