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Xianke He

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Proceedings Article | 15 February 2022 Paper

Based on improved unsuperpoint image stitching method

Rui Liu, Ming Lu, Xianke He, Zuguo Chen

Proceedings Volume 12161, 121610Y (2022) https://doi.org/10.1117/12.2627213

KEYWORDS: Feature extraction, Convolution, Image enhancement, Detection and tracking algorithms, Sensors, Process modeling, Neural networks, Network architectures, Image processing, Convolutional neural networks

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When the traditional ORB algorithm is applied in the field of image mosaic, it is susceptible to the interference of light factors and cannot extract high-quality features, which leads to the inaccuracy of the perspective transformation matrix and the problem of poor mosaic effect. In response to this problem, this paper proposes an improved Unsuperpoint feature extraction network to apply to image stitching. By designing the backbone network of the unsupervised model, the points of interest and the descriptor loss function are optimized to improve the efficiency of the network and the accuracy of feature point extraction. Compared with the traditional ORB algorithm, the image stitching algorithm in this paper reduces the image matching time by half and increases the matching accuracy by 7%.The images stitched by this method avoid the phenomenon of cracks and black lines at the joints, and the image transitions are natural and high in definition.

Proceedings Article | 15 February 2022 Paper

The scheme of mine search multifunctional robot based on the inertial navigation

Xianke He, Ming Lu, Rui Liu, Zuguo Chen

Proceedings Volume 12161, 121610B (2022) https://doi.org/10.1117/12.2627111

KEYWORDS: 3D modeling, Radar, Data modeling, 3D image processing, Mining, Transformers, Sensors, Visual process modeling, Stereoscopic cameras, Space robots

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During the Eleventh Five Year Plan period, China has included the "ruins search and rescue robot" project in the National 863 key project, which is jointly developed by the State Key Laboratory of robotics of Shenyang Institute of automation, Chinese Academy of Sciences and China Earthquake Emergency Search and rescue center, and has successfully developed the "waste ruins deformable search and rescue robot, robotic life detector and rotor UAV" Three robots. These three robots have been rated by the State Seismological Bureau as one of the 10 most effective scientific and technological achievements since the eleventh five year plan. In this paper, a multi-functional mine search robot scheme based on inertial navigation is proposed. The main controller uses ten axis gyroscope and GPS to establish a three-dimensional geospatial coordinate system and record the search trajectory. The collapse terrain data is obtained through 3D visual camera and radar, integrated into the three-dimensional geospatial coordinates to obtain a three-dimensional terrain space model, and infrared sensors search for the victims, Mark it into the model and transmit the data to the host computer through industrial wireless module. The slave controller can collect the voltage and current data in the voltage and current transformer, measure the data of cable current in each area under the mine, and judge whether the power supply in the local area is normal, which can be used as one of the parameters to judge whether it collapses. Search and rescue personnel can formulate effective rescue plans according to the directions and partial characteristics of the victims displayed by the host computer, so as to improve the efficiency of rescue operations

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