新建山区铁路干线建设物资管理基本特点与应对思路

总结了新建山区铁路干线建设物资管理的基本特点,并提出了应对思路.     

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.     

新建山区铁路干线建设物资管理基本特点与应对思路

总结了新建山区铁路干线建设物资管理的基本特点，并提出了应对思路。     

健康体检脂肪肝151例分析

通过体检B超及生化检查探寻脂肪肝的发病原因，可看出151例脂肪肝生化异常与病因密切相关。脂肪肝只要治疗及时是可以治愈的。