Yanli Gao¹, Wanfeng Ma², Jing Cao², Jianling Qu¹ and Yuan Xu^2,3,*

CMES-Computer Modeling in Engineering & Sciences, Vol.130, No.2, pp. 1221-1237, 2022, DOI:10.32604/cmes.2022.017533

Abstract For improving the localization accuracy, a multi-interval extended finite impulse response (EFIR)-based RauchTung-Striebel (R-T-S) smoother is proposed for the range-only ultra wide band (UWB) simultaneous localization and mapping (SLAM) for robot localization. In this mode, the EFIR R-T-S (ERTS) smoother employs EFIR filter as the forward filter and the R-T-S smoothing method to smooth the EFIR filter’s output. When the east or the north position is considered as stance, the ERTS is used to smooth the position directly. Moreover, the estimation of the UWB Reference Nodes’ (RNs’) position is smoothed by the R-T-S smooth method in parallel. The test illustrates… More >

Jinxing Niu^1,*, Qingsheng Hu¹, Yi Niu¹, Tao Zhang¹, Sunil Kumar Jha²

CMC-Computers, Materials & Continua, Vol.68, No.3, pp. 3713-3724, 2021, DOI:10.32604/cmc.2021.017418

Abstract Real-time dense reconstruction of indoor scenes is of great research value for the application and development of service robots, augmented reality, cultural relics conservation and other fields. ORB-SLAM2 method is one of the excellent open source algorithms in visual SLAM system, which is often used in indoor scene reconstruction. However, it is time-consuming and can only build sparse scene map by using ORB features to solve camera pose. In view of the shortcomings of ORB-SLAM2 method, this article proposes an improved ORB-SLAM2 solution, which uses a direct method based on light intensity to solve the camera pose. It can greatly… More >

MengYuan Chen^1,2

Intelligent Automation & Soft Computing, Vol.24, No.3, pp. 593-602, 2018, DOI:10.31209/2018.100000026

Abstract With the increasing number of feature points of a map, the dimension of systematic observation is added gradually, which leads to the deviation of the volume points from the desired trajectory and significant errors on the state estimation. An Iterative Squared-Root Cubature Kalman Filter (ISR-CKF) algorithm proposed is aimed at improving the SR-CKF algorithm on the simultaneous localization and mapping (SLAM). By introducing the method of iterative updating, the sample points are re-determined by the estimated value and the square root factor, which keeps the distortion small in the highly nonlinear environment and improves the precision further. A robust tracking… More >

Chenxiao Su, Haibei Xiong^*

Structural Durability & Health Monitoring, Vol.14, No.1, pp. 81-94, 2020, DOI:10.32604/sdhm.2020.08221

Abstract In order to explore a kind of high-strength, earthquake-resistant, economical and suitable connection, 4 groups of cross-laminated timber wall-to-floor and wall-to-wall bolted connections were tested under monotonic and cyclic loading. The deformation characteristics and failure modes of the cross-laminated timber wall-to-floor and wall-to-wall bolted connections were exploited. Load-slip curves, bearing capacity, yielding point, stiffness and ductility of each group of specimens were analyzed. The test results indicate that the loading process of cross-laminated timber bolted connections under tension can be categorized as five stages, namely the elastic stage, the slip stage, the embedding stage, the yielding stage and the ultimate… More >

Zhenlong Du^1,*, Yun Ma¹, Xiaoli Li¹, Huimin Lu²

CMC-Computers, Materials & Continua, Vol.61, No.1, pp. 243-254, 2019, DOI:10.32604/cmc.2019.05961

Abstract Simultaneous location and mapping (SLAM) plays the crucial role in VR/AR application, autonomous robotics navigation, UAV remote control, etc. The traditional SLAM is not good at handle the data acquired by camera with fast movement or severe jittering, and the efficiency need to be improved. The paper proposes an improved SLAM algorithm, which mainly improves the real-time performance of classical SLAM algorithm, applies KDtree for efficient organizing feature points, and accelerates the feature points correspondence building. Moreover, the background map reconstruction thread is optimized, the SLAM parallel computation ability is increased. The color images experiments demonstrate that the improved SLAM… More >