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Entanglement and closest Product States of Graph States with 9 to 11 Qubits

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Journal of Applied Mathematics and Physics 2013年第4期1卷 51-55页

作者： Cuifeng Wang Lizhen Jiang Lei Wang College of Information and Electronic Engineering Zhejiang Gongshang University Hangzhou 310018 China

The numbers of local complimentary inequivalent graph states for 9, 10 and 11 qubit systems are 440, 3132, 40457, respectively. We calculate the entanglement, the lower and upper bounds of the entanglement and obtain ... 详细信息

关键词： Graph State Entanglement closest Product State

Geometry-Aware ICP for Scene Reconstruction from RGB-D Camera

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Journal of Computer Science & Technology 2019年第3期34卷 581-593页

作者： Bo Ren Jia-Cheng Wu Ya-Lei Lv Ming-Ming Cheng Shao-Ping Lu College of Computer Science Nankai UniversityTianjin 300350China

The Iterative closest Point (ICP) scheme has been widely used for the registration of surfaces and point clouds.However, when working on depth image sequences where there are large geometric planes with small (or even without) details,existing ICP algorithms are prone to tangential drifting and erroneous rotational estimations due to input device errors.In this paper, we propose a novel ICP algorithm that aims to overcome such drawbacks, and provides significantly stabler registration estimation for simultaneous localization and mapping (SLAM) tasks on RGB-D camera inputs. In our approach,the tangential drifting and the rotational estimation error are reduced by: 1) updating the conventional Euclidean distance term with the local geometry information, and 2) introducing a new camera stabilization term that prevents improper camera movement in the calculation. Our approach is simple, fast, effective, and is readily integratable with previous ICP algorithms. We test our new method with the TUM RGB-D SLAM dataset on state-of-the-art real-time 3D dense reconstruction platforms, i.e., ElasticFusion and Kintinuous. Experiments show that our new strategy outperforms all previous ones on various RGB-D data sequences under different combinations of registration systems and solutions.

关键词： ICP(iterative closest point) RGB-D tangential drifting rotational estimation covariance matrix

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基于多角度LBP特征的三维人脸性别分类

自动化学报 2012年第9期38卷 1544-1549页

作者：赵海英杨一帆徐正光新疆师范大学计算机科学技术学院乌鲁木齐830054 北京科技大学自动化学院北京100083

人脸性别分类是一个富有挑战的研究方向,目前的研究尚不完善.本文提出一种三维人脸的性别分类方法,首先对数据集进行局部区域最近邻点迭代算法(Iterative closest point,ICP)匹配,自动实现人脸正向姿态校正;对数据集人脸统一做俯仰角度... 详细信息

人脸性别分类是一个富有挑战的研究方向,目前的研究尚不完善.本文提出一种三维人脸的性别分类方法,首先对数据集进行局部区域最近邻点迭代算法(Iterative closest point,ICP)匹配,自动实现人脸正向姿态校正;对数据集人脸统一做俯仰角度的旋转,从不同视角上提取基于深度缩略图的多角度LBP(Local binary patterns)特征;再由支持向量机(Support vector machine,SVM)分类器完成训练分类.该方法在CASIA数据库上实验,对全库中性表情人脸进行性别分类,可以得到最高98.374%的正确率.

关键词：三维人脸性别分类局部区域最近邻点迭代算法(Iterative closest point ICP) 深度缩略图多角度LBP

基于快速视觉里程计和大回环局部优化模型的改进VSLAM算法

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机器人 2015年第5期37卷 557-565页

作者：李永锋张国良王蜂汤文俊姚二亮第二炮兵工程大学陕西西安710025

从提高移动机器人视觉同时定位与地图创建(visual simultaneous localization and mapping,VSLAM)过程中的自主定位精度和实时性的角度出发,提出了一种基于快速视觉里程计和大回环局部优化模型的改进VSLAM算法.首先,在对特征点进行不确... 详细信息

从提高移动机器人视觉同时定位与地图创建(visual simultaneous localization and mapping,VSLAM)过程中的自主定位精度和实时性的角度出发,提出了一种基于快速视觉里程计和大回环局部优化模型的改进VSLAM算法.首先,在对特征点进行不确定性分析的基础上,对color GICP(color supported generalized iterative closest point)误差函数进行改进,采用帧到模型(frame-to-model)方式实现对数据集和模型集的快速配准,并结合卡尔曼滤波和加权方法实现对模型集的更新,提高位姿估计精度;其次,提出一种基于模型到模型(model-tomodel)配准的大回环局部优化模型,并结合g2o图优化方法对位姿估计累积误差进行快速局部优化,从而进一步提高自主定位精度和效率.数据集离线对比实验和实际场景在线实验均表明,本文方法不但有效提高了移动机器人VSLAM过程中的自主定位和建图精度,而且具有较好的实时性.

关键词：同步定位与地图创建视觉里程计 color GICP(color supported generalized iterative closest point) 卡尔曼滤波 g2o(generN graph optimization)

Geometrically Exact Theory of Contact Interactions—Applications with Various Methods FEM and FCM

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Journal of Applied Mathematics and Physics 2015年第8期3卷 1022-1031页

作者： Alexander Konyukhov Institute of Mechanics Karlsruhe Institute of Technology Karlsruhe Germany Department of Strength of Constructions Kazan National Technical University Kazan Russia

Geometrically exact theory of contact interactions is aiming on the development of the unified geometrical formulation of computational contact algorithms for various geometrical situations of contacting bodies leading to contact pairs: surface-to-surface, curve-to-surface, point-to-surface, curve-to-curve, point-to-curve, point-to-point. The construction of the corresponding computational contact algorithms is considered in accordance with the geometry of contacting bodies in covariant and closed forms. These forms can be easily discretized within various methods such as the finite element method (FEM), the finite discrete method (FDM) independently of the order of approximation and, therefore, the result is straightforwardly applied within any further method: high order finite element methods, iso-geometric finite element methods etc. As particular new development it is shown also the possibility to easy combine with the Finite Cell Method.

关键词： closest Point Projection Procedure Curvilinear Coordinate System Covariant Derivative and Linearization Finite Cell Method

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预测问题中的PMC准则

东北师大学报（自然科学版） 2004年第4期36卷 29-32页

作者：肖桂荣长春工程学院基础部吉林长春130012

　将估计问题中的PMC准则应用到预测问题中.在非对称Lienx损失函数下,证明了中位数无偏预测量是某一给定的预测量集合中的Pitmanclosest预测量,并给出了具体的实例.

关键词： PMC准则 Pitman closest 预测量中位数无偏Lienx损失

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基于标签法和ICP的点云拼接方法

仲恺农业工程学院学报 2011年第4期24卷 57-59页

作者：吴霆仲恺农业工程学院信息学院广东广州510225

对基于标签法和迭代最近点(Iterative closest point,ICP)算法相结合的点云拼接方法进行了研究.通过在物体上贴标志点来获取点云间的初始匹配关系,根据距离约束原理来选取匹配点,运用最小距离和角度位姿约束排除错误匹配点完成粗拼接;... 详细信息

对基于标签法和迭代最近点(Iterative closest point,ICP)算法相结合的点云拼接方法进行了研究.通过在物体上贴标志点来获取点云间的初始匹配关系,根据距离约束原理来选取匹配点,运用最小距离和角度位姿约束排除错误匹配点完成粗拼接;然后通过改进的ICP算法实现精确拼接.试验结果表明该方法简单可靠,具有较高的拼接精度.

关键词：点云标签法粗拼接迭代最近点(Iterative closest point,ICP) 精拼接