Constrained submap algorithm for simultaneous localization and mapping

When solving the problem of simultaneous localization and mapping (SLAM), a standard extended Kalman filter (EKF) is subject to linearization errors and causes optimistic estimation. This paper proposes a submap algorithm, which builds a weighted least squares (WLS) constraint between two adjacent submaps according to the different estimations of the common features and the relationship between the vehicle poses in the corresponding submaps. By establishing the constraint equation after loop closing, re-linearization is implemented and each submap’s reference frame tends to its equilibrium position quickly. Experimental results demonstrate that the algorithm could get a globally consistent map and linearization errors are limited in local regions.     

基于NS2的车载MFlood通信协议仿真与分析

针对城市车栽通信网络拓扑结构变化快的特点及将通用路由协议和评价标准用于所有车栽应用的弊端，提出了一种基于NS2的洪泛路由协议，介绍了该协议的实现过程；通过对节点不同最大运动速度下通信速率的仿真、分析和对比，得出洪泛路由协议下节点间平均通信速率随节点的最大移动速度变化趋势，以便于用户对网络性能进行评价及对洪泛路由算法进行优化。     

基于Prescan软件的行人检测仿真

行人的安全问题是智能交通系统中一个重要的环节,针对目前交通环境使用了一种融合了车载的激光雷达和摄像头数据的行人检测方法,将雷达和摄像头联合标定,将由雷达数据聚类得到的目标区域投影到图像中获取兴趣区域,然后根据行人对称度分析,腿部垂直边缘统计和基于Hausdorff距离的模板匹配的结果,分辨行人与非行人区域.并在交通仿真软件PRESCAN中把该车载的行人检测系统建模仿真,并添加该文的行人检测算法模块,论证了该算法的鲁棒性.