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no-repeat 6px;background-position:center;margin-top:10px;min-width:55px;display:none;} @media (min-width:768px){.jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption .expand_btn{display:none;}} .jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-text{-webkit-flex:9;-ms-flex:9;flex:9;text-align:left;padding:21px 37px 10px 0px;font-size:16px;font-weight:700;} @media (min-width:768px){.jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-text{padding:19px 18px 10px 18px;}} @media (min-width:992px){.jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-text{padding:19px 21px 10px 21px;}} .jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption 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no-repeat 6px;background-position:center;padding:16px 0 16px 0;min-width:62px;max-width:62px;} @media (min-width:768px){.jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-partial-url{padding:16px 0 17px 0;min-width:52px;max-width:52px;}} @media (min-width:992px){.jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-partial-url{padding:15px 0 17px 0;min-width:60px;max-width:60px;}} .jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption .caption-partial-url:hover{-webkit-text-decoration:none;text-decoration:none;} .jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption-text{font-size:14px;padding:0px 18px 17px 22px;} @media (min-width:768px){.jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption-text{padding:0px 15px 15px 18px;}} @media (min-width:992px){.jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption-text{padding:0px 18px 19px 21px;}} .jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption-text figcaption{margin:0;padding:0;} .jfJGTx .floats-partial-section .floats-partial-footer .floats-partial-caption-text svg{max-width:100%;} .jfJGTx ol{font-size:16px;padding-left:32px;font-family:STIXGeneral-Regular;line-height:24px;margin:15px 0;} .jfJGTx ol li{margin:10px 0;padding-left:10px;word-break:normal;} .jfJGTx ol li a{word-break:break-all;} .jfJGTx ol li .reflinks{display:block;} .jfJGTx ol li .reflinks a{color:#4D8A17;-webkit-text-decoration:none;text-decoration:none;cursor:pointer;} .jfJGTx ol li .reflinks a:hover{-webkit-text-decoration:underline;text-decoration:underline;} .jfJGTx ol li .reflinks .sep{color:#000000;} .jfJGTx .table-wrapper{width:auto;overflow-x:auto;} .jfJGTx .table-wrapper::-webkit-scrollbar{-webkit-appearance:none;width:5px;height:5px;} .jfJGTx .table-wrapper::-webkit-scrollbar-thumb{border-radius:5px;background-color:rgba(0,0,0,.5);-webkit-box-shadow:0 0 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href="//www.newsama.com/journals/jr/" aria-label="Journal of Robotics">机器人杂志</一个>/<gydF4y2Ba一个cl一个年代年代=”年代c-htpNat bUhGXt link sc-cpHetk jUUanO breadCrumb" href="//www.newsama.com/journals/jr/contents/year/2011/" aria-label="2011">2011年</一个>/<gydF4y2Ba年代p一个ncl一个年代年代=”年代c-nrwXf drSekm">文章</年代p一个n></d我v> <div class="threeColumn__ThreeColumnWrapper-sc-1bf4078-0 comSpQ threeColumnWrapper"> <div class="threeColumn__LeftWrapper-sc-1bf4078-1 fkVFlF leftWrapper"> <button type="button" class="sc-ePZHVD kXdKQA section__button " id="sectionButton"><span class="sc-htoDjs diutvq icon__dots dots__detector icon-colored _3n-7Ho7DlfjMlZbrRr9Q4a icon-themeable" title="" font-size="22"></span>文章部分</but来n><d我v class="sc-jtRlXQ dncNEX static_contents__section_links links__hidden "> <div id="leftSectionMenu" class="sc-lkqHmb yGOZn sc-jeCdPy eVPlap left_section_menu"> <p>在这一页上</p><年代p一个ncl一个年代年代="sc-bEjcJn iLzNBj grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-bGbJRg ihXRQF" href="#abstract" aria-label="">文摘</一个></年代p一个n><年代pan class="sc-bEjcJn iLzNBj grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-bGbJRg ihXRQF" href="#introduction" aria-label="">介绍</一个></年代p一个n><年代pan class="sc-bEjcJn iLzNBj grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-bGbJRg ihXRQF" href="#evaluation" aria-label="">评价</一个></年代p一个n><年代pan class="sc-bEjcJn iLzNBj grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-bGbJRg ihXRQF" href="#conclusion" aria-label="">结论</一个></年代p一个n><年代pan class="sc-bEjcJn iLzNBj grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-bGbJRg ihXRQF" href="#references" aria-label="">引用</一个></年代p一个n><年代pan class="sc-bEjcJn iLzNBj grey" property="background-color" color="#D8D8D8"><a class="sc-htpNat bUhGXt link sc-bGbJRg ihXRQF" href="#copyright" aria-label="">版权</一个></年代p一个n></d我v> </div> </div> <div class="threeColumn__ContentWrapper-sc-1bf4078-3 bbzREB contentWrapper"> <div class="threeColumn__Content-sc-1bf4078-4 jknsZc content"> <div class="articleContent__ArticleContentsWrapper-sc-2yl9jy-0 eSvjPB article_contents"> <div class="articleContent__ArticleContentsSectionsWrapper-sc-2yl9jy-1 jntdRu article_contents__sections_wrapper"> <div class="articleContent__ArticleWrapper-sc-2yl9jy-2 hAzjHP"> <div class="sc-iBEsjs kOIDmJ article_header_class"> <p class="sc-fcdeBU jSVooP article_type">研究文章|<gydF4y2Ba!-- -->开放获取</p><d我v class="sc-gmeYpB edbFGD article_citation"> 体积<gydF4y2Ba!-- --> 2011年<gydF4y2Ba!-- --> <span class="sc-RcBXQ euBwsC">|</年代p一个n>文章的ID<gydF4y2Ba!-- --> 683975年<gydF4y2Ba!-- --> <span class="sc-RcBXQ euBwsC">|</年代p一个n><一个cl一个年代年代="sc-htpNat bUhGXt link sc-iSDuPN kDGfWF" href="https://doi.org/10.1155/2011/683975" aria-label="Doi-link">https://doi.org/10.1155/2011/683975</一个></d我v> <div class="sc-jKVCRD kVmHSX article_full_citation"> <div class="sc-LKuAh eHdRBi isHide"> <p>负责人Ozaki文雄,Tsuyoshi Tasaki Nobuto Matsuhira,理事长绪方Tetsuya Hiroshi g . Okuno<gydF4y2Ba!-- -->,<gydF4y2Ba!-- --> ”<年代p一个ncl一个年代年代=”一个djust-article-svg-size">人检测基于空间映射的友善和地板边界点的移动机器人导航</年代p一个n>”,<gydF4y2Ba!-- --><i>机器人杂志</我>,<ggydF4y2BaydF4y2Ba!-- --> 卷。<gydF4y2Ba!-- -->2011年<gydF4y2Ba!-- -->,<gydF4y2Ba!-- --> 文章的ID<gydF4y2Ba!-- -->683975年<gydF4y2Ba!-- -->,<gydF4y2Ba!-- --> 10<gydF4y2Ba!-- -->   页面<gydF4y2Ba!-- -->,<gydF4y2Ba!-- --> 2011年<gydF4y2Ba!-- -->。<gydF4y2Ba!-- --> https://doi.org/10.1155/2011/683975</p></d我v> <button class="sc-iAyFgw irxuxk sc-kaNhvL hZfccF" color="">显示引用</but来n></d我v> <h1 class="sc-gPEVay iUuzmH sc-kZmsYB blFFOf article_title adjust-article-svg-size heading-title">人检测基于空间映射的友善和地板边界点的移动机器人导航</gydF4y2Bah1> </div> <div class="sc-kQsIoO ilXkOX article_authors"> <hr class="sc-iQtOjA bpnzQO hr__author"> <span class=""><b>Tsuyoshi Tasaki</b><一个cl一个年代年代=”年代c-htpNat bUhGXt link" href="mailto:" aria-label="Mail Option"><span class="sc-htoDjs kNoiZu sc-gPzReC kIRihs icon-colored _2zt-1j0LmaF8UjTQAM413G icon-themeable" title="" font-size="16"></span></a>,<年代up>1</gydF4y2Ba年代up></年代p一个n><年代pan class="">负责人Ozaki文雄<gydF4y2Ba!-- -->,<年代up>2</gydF4y2Ba年代up></年代p一个n><年代pan class="">Nobuto Matsuhira<gydF4y2Ba!-- -->,<年代up>3</gydF4y2Ba年代up></年代p一个n><年代pan class="">理事长绪方Tetsuya<gydF4y2Ba!-- -->,<年代up>4</gydF4y2Ba年代up>和</年代p一个n><年代p一个ncl一个年代s="">Hiroshi g . Okuno<年代up>4</gydF4y2Ba年代up></年代p一个n><d我v class="sc-iybRtq hqlWOa isHide"> <p><sup>1</年代up><年代p一个n>东芝公司研发中心1 Komukai-Toshiba-cho, Saiwai-ku,川崎212 - 8582,日本</年代p一个n></p><p><sup>2</年代up><年代p一个n>东芝公司,电力系统公司,1 - 1,Shibaura 1-Chome,港区,105 - 8001年,日本东京</年代p一个n></p><p><sup>3</年代up><年代p一个n>工程科学和力学、Shibaura理工学院,3-7-5,Toyosu,江东区,135 - 8548年东京,日本</年代p一个n></p><p><sup>4</年代up><年代p一个n>京都大学,研究生院信息学Yoshida-honmachi, Sakyo-ku, 606 - 8501年《京都议定书》,日本</年代p一个n></p></d我v> <button class="sc-iAyFgw irxuxk sc-hjRWVT erRKjF" color="">显示更多</but来n></d我v> <div class="articleContent__EditorWrapper-sc-2yl9jy-3 evMkvU"> <div class="articleContent__TextWrapper-sc-2yl9jy-8 fYrLtk"> <b>学术编辑器:</b>gydF4y2Ba丹妮卡Kragic</d我v> <div class="articleContent__PublicationTimeLineWrapper-sc-2yl9jy-4 fjviok"> <div class="articleContent__PublcationCol-sc-2yl9jy-5 hgKieC notPublished"> <span class="articleContent__PublicationField-sc-2yl9jy-6 cIribm">收到了</年代p一个n><年代p一个ncl一个年代s="articleContent__PublicationValue-sc-2yl9jy-7 khHUcu">2011年7月14日</年代p一个n></d我v> <div class="articleContent__PublcationCol-sc-2yl9jy-5 hgKieC notPublished"> <span class="articleContent__PublicationField-sc-2yl9jy-6 cIribm">修改后的</年代p一个n><年代p一个ncl一个年代s="articleContent__PublicationValue-sc-2yl9jy-7 khHUcu">2011年11月07</年代p一个n></d我v> <div class="articleContent__PublcationCol-sc-2yl9jy-5 hgKieC notPublished"> <span class="articleContent__PublicationField-sc-2yl9jy-6 cIribm">接受</年代p一个n><年代p一个ncl一个年代s="articleContent__PublicationValue-sc-2yl9jy-7 khHUcu">2011年11月08</年代p一个n></d我v> <div class="articleContent__PublcationCol-sc-2yl9jy-5 hgKieC isPublished"> <span class="articleContent__PublicationField-sc-2yl9jy-6 cIribm">发表</年代p一个n><年代p一个ncl一个年代s="articleContent__PublicationValue-sc-2yl9jy-7 khHUcu">2012年1月11日</年代p一个n></d我v> </div> </div> <article class="sc-hzDEsm jfJGTx article_body "> <div> <div class="xml-content"> <h4 class="header" id="abstract">文摘</gydF4y2Bah4> <p>导航机器人必须挑选合作伙伴需要导航和移动在杂乱的环境中,人们四处走动。发展这样的机器人需要两个不同的人检测:检测合作伙伴和检测移动机器人周围的人。对于检测的合作伙伴,我们设计划分空间基于空间关系和传感范围。映射每个划分空间的友谊基于刺激从多个传感器来检测人积极调用机器人,机器人探测空间在最高的友好合作伙伴。对检测移动的人来说,我们把对象的地板在全向图像边界点障碍。我们分类障碍移动人通过比较每一个点的运动与机器人运动使用测距数据,动态变化的阈值来检测。我们的机器人检测到95.0%的伙伴虽然站在与人互动,发现85.0%的人而机器人移动,比先前的方法是高四倍。</p><年代p一个ncl一个年代年代="end-abs"></span> <h4 id="introduction">1。介绍</gydF4y2Bah4> <p>移动导航机器人预计顺利在大型超市等大型设施,博物馆,和机场(<一个href="#B1">1</一个>,<gydF4y2Ba一个href="#B2">2</一个>]。导航机器人也将发现那些机器人导航。图<一个href="//www.newsama.com/journals/jr/2011/683975/fig1/" target="_blank">1</一个>显示了一个提议导航机器人系统。我们的导航机器人系统检测到的人叫机器人导航之前积极。当一个人想要导航服务,我们的机器人导航到目的地的人通过移动顺利,运动障碍检测和避免他们。运动障碍是危险的,因为动作不容易预测。本文描述人检测为我们导航机器人系统,而机器人站在和动作。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig1"> <div class="floats-partial-content fig-content-fig1"> <div class="partial-carousel--single-image"> <img alt="" name="683975.fig.001" src="https://static-01.hindawi.com/articles/jr/volume-2011/683975/figures/683975.fig.001.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图1</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/683975/fig1/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 我们的导航机器人系统。</t一个ble></d我v> </div> </div> <p>人机器人想要检测,而站在不同于人们在移动机器人想要检测。站在与人交流时,机器人必须检测“人叫机器人积极”为了提供导航服务。移动时,重要的是对于机器人检测所有“移动人(障碍)”在机器人为了顺利。</p><p>gydF4y2Ba此外,检测不同的特点。一个不同的特性和计算周期相关。站在与人交流时,可以允许比较慢的人检测检测移动的人。因此,机器人可以使用多个传感器,例如人与人之间的互动中自然地使用。例如,传感器是相机(眼睛)、麦克风(耳朵),和触觉传感器(皮肤)。机器人的移动,人们需要快速检测安全不必使用所有传感器用于交互。因此,一个传感器的检测是可取的,而移动。</p><p>相关功能定位精度(分辨率)。机器人不需要高分辨率的交互。虽然互动,有效使用合适的分辨率交互。另一方面,机器人的移动,它需要高分辨率和人们想要检测准确。</p><p>gydF4y2Ba最近,许多作品使用距离测量设备如激光测距仪(探测器)和立体相机(<一个href="#B3">3</一个>- - - - - -<一个href="#B6">6</一个>为人们在交互和移动检测。然而,机器人必须配备多个传感器时分类所有障碍物周围的设备。使用许多探测器是昂贵的,和许多相机标定是麻烦。使用相同类型的多个传感器移动时是不可取的。此外,这些作品不处理检测的人叫一个机器人。</p><p>gydF4y2Ba为了检测所有移动机器人周围的人通过使用一个传感器,这种机器人的移动,一个全向相机是有用的。然而,很难应用上述方法,分类障碍移动人或不<一个href="#B7">7</一个>- - - - - -<一个href="#B10">10</一个>扭曲的全向图像无需修改他们无畸变的图像。即使我们修改图片,前面的方法不工作因为修改图像失去很多信息。此外,分类障碍移动人或不是由移动相机是更加困难比静态分类他们的相机。</p><p>gydF4y2Ba我们处理两个问题相关的人检测移动机器人导航。一个是检测积极互动的合作伙伴谁叫一个机器人从多人使用摄像头,麦克风,和触觉传感器。周围的其他分类所有障碍机器人移动的人不只有一个全向相机,机器人的动作。</p><p>gydF4y2Ba在机器人站在与人互动的同时,我们已经开发出一种方法来检测一个互动合作伙伴基于友好的程度映射到“空间”,考虑相互作用距离和范围的多个传感器交互。</p><p>gydF4y2Ba障碍的分类,我们还开发出一种新方法,关注对象的层边界点的机器人可以测量距离本身只有一个全向相机。我们的机器人分类层边界点作为一个移动的人当其运动不同于机器人的运动。</p><p>gydF4y2Ba解决这两个问题,我们开发了一种移动机器人导航可以选择一个合适的人称之为积极而站在机器人和机器人可以检测人而移动机器人动作。本文的贡献是发展人的检测方法导航机器人,机器人站在和动作。</p><p>gydF4y2Ba部分<一个href="#sec2">2</一个>描述我们的友谊空间地图友善是如何分布在空间以检测互动合作伙伴。部分<一个href="#sec3">3</一个>描述了基于跟踪障碍分类方法边界点。节<一个href="#sec4">4</一个>我们问卷调查的结果和确认我们的分类方法的精度。部分<一个href="#sec5">5</一个>本文总结道。</p><gydF4y2Bah4 id="interaction-partner-detection-by-friendliness-space-map-while-interaction">2。互动合作伙伴友好空间地图而相互作用的检测</gydF4y2Bah4> <h5 id="sec2.1">2.1。机器人和人之间的距离,而互动</gydF4y2Bah5> <h6 id="sec2.1.1">2.1.1。相互作用距离的人</gydF4y2Bah6> <p>当人们相互影响,它们之间的距离与他们的友好程度。亲近性(<一个href="#B11">11</一个>),这是一个社会心理学理论,说两人在适当的物理距离交互从一个另一个基于他们的关系。在这个理论中,交互的距离大致可分为四组:亲密的,个人,社会和公众。<年代p一个ncl一个年代年代=”l我年代t”><span class="list-item"><span class="list-label">(我)</年代p一个n><年代p一个ncl一个年代s="list-content">亲密距离(大约50厘米):人们可以通过物理互动和沟通表达强烈的情感。</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(2)</年代p一个n><年代p一个ncl一个年代s="list-content">个人距离(大约50 - 120厘米):人们可以亲密交谈。</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(3)</年代p一个n><年代p一个ncl一个年代s="list-content">社会距离(约120 - 360厘米):人们不了解彼此。</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(iv)</年代p一个n><年代p一个ncl一个年代s="list-content">公共距离(大约360厘米和更多):没有个人关系的人互相可以轻松在这个距离共存。</年代p一个n></年代p一个n></span></p> <p>这些距离可用于设置机器人和每个人之间的友好度,积极展示了每个人称之为机器人。括号中所示的距离仅仅是典型的。他们依靠每个人的个性和文化背景。</p><gydF4y2Bah6 id="sec2.1.2">2.1.2。有效的机器人的距离函数</gydF4y2Bah6> <p>因为大多数功能和设备使用的机器人并不是有效的距离,我们评估的有效距离。我们调查的有效距离触觉识别,语音识别,声源定位、和定位,实现成许多机器人一般的功能。</p><p><年代p一个ncl一个年代s="statement" id="head1"><span class="statement-title"><i class="statement-title">(1)触觉识别</我></年代p一个n><br>触觉识别使用触觉传感器,这是有效的,当人们可以接触到机器人。一个人的手臂的平均长度是50厘米。这个距离是类似于亲密的距离。</年代p一个n></p><p><span class="statement" id="head2"><span class="statement-title"><i class="statement-title">(2)语音识别</我></年代p一个n><br>确定语音识别的范围,我们把演讲者的机器人在每个50厘米从50厘米到3.0米,200字的ATR语音学上平衡语料库[<一个href="#B12">12</一个>]。孤立词识别的结果使用朱利安[<一个href="#B13">13</一个>),一般日本自动语音识别软件,表明,识别率超过85%的距离小于1.5米。自动语音识别被发现有效的约1.5米。</年代p一个n></p><p><span class="statement" id="head3"><span class="statement-title"><i class="statement-title">(3)声源定位</我></年代p一个n><br>一个著名的声源定位函数使用耳间相位差(IPD)和双耳强度差异(IID) [<一个href="#B14">14</一个>]。声源定位的有效距离平均和标准偏差估计在我们的实验室。三个方向分别进行评估。指定的水平方向从右(0度)到左(180度)和中心是90度。定位误差小(小于3度)的距离小于约3米。因此,声源定位应稳定在3 m。</年代p一个n></p><p><span class="statement" id="head4"><span class="statement-title"><i class="statement-title">(4)面对本地化</我></年代p一个n><br>我们使用MPIsearch [<一个href="#B15">15</一个>]因为脸本地化。机器人可以测量的距离和方向。MPIsearch需要至少12×12像素图像检测的脸。这些图像对应于4.0到5.0米的距离。一般来说,面临着定位的有效距离是公众距离。这个距离是由模板的大小决定,捕获图像的大小,和视角。距离不相关的选择算法。</年代p一个n></p><p>在描述细节讨论的有效距离<一个href="#B16">16</一个>]。</p><gydF4y2Bah6 id="sec2.1.3">2.1.3。有效相互作用距离和距离的函数</gydF4y2Bah6> <p>相互作用距离之间的关系和有效距离四个函数如表所示<一个href="//www.newsama.com/journals/jr/2011/683975/tab1/" target="_blank">1</一个>。如表所示,有效距离函数可以对应有效交互的距离。</p><d我v class="floats-partial-section partial-other-wrapper" data-section="tab1"> <div class="floats-partial-content fig-content-tab1"> <table class="table-group" id="tab1"> <tbody> <tr> <td> <table class="table"> <tbody> <tr> <td class="thead-hr" colspan="3"> <hr></td> </tr> <tr class="thead"> <td align="left">亲密距离</td><td一个l我gn="center">个人距离</td><td一个l我gn="center">社会距离</td></tr><tr> <td class="thead-hr" colspan="3"> <hr></td> </tr> <tr> <td align="left">触觉识别</td><td一个l我gn="center"></td> <td align="center"></td> </tr> <tr> <td align="left">语音识别</td><td一个l我gn="center">语音识别</td><td一个l我gn="center"></td> </tr> <tr> <td align="left">面对本地化</td><td一个l我gn="center">面对本地化</td><td一个l我gn="center">面对本地化</td></tr><tr> <td align="left">声音定位</td><td一个l我gn="center">声音定位</td><td一个l我gn="center">声音定位</td></tr><tr class="table-tr"> <td colspan="3"> <hr class="tbody-hr"></td> </tr> </tbody> </table></td> </tr> </tbody> </table> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">表1</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/683975/tab1/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 距离和功能之间的关系。</d我v> </div> </div> <h5 id="sec2.2">2.2。友好空间映射</gydF4y2Bah5> <h6 id="sec2.2.1">2.2.1。设计友好空间映射</gydF4y2Bah6> <p>传感器功能的机器人可以使用有效的不同取决于机器人和每个人之间的距离。在其他关系的研究中,机器人总是使用传感器和被关注人与人互动。在我们的研究中,机器人与人互动通过关注人民的“空间”。特别是,机器人是基于机器人,周围的空间分割如表所示<一个href="//www.newsama.com/journals/jr/2011/683975/tab1/" target="_blank">1</一个>。</p><p>gydF4y2Ba给一个人的脸的大小和机器人的功能的准确性,方向元件的空间必须分段在某种程度上。我们每15度分割空间基于人脸的平均大小(16厘米×23厘米)和个人距离函数的错误。</p><p>gydF4y2Ba确定为机器人与私密空间,我们定义极坐标如图<一个href="//www.newsama.com/journals/jr/2011/683975/fig2/" target="_blank">2</一个>。这些坐标,划分为细胞,被称为“友好空间映射。“我们的机器人计算“友好”的细胞(<年代vg height="12.7625" id="M1" style="vertical-align:-1.76814pt;width:21.200001px;" version="1.1" viewbox="0 0 21.200001 12.7625" width="21.200001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.7625)"> <g transform="translate(72,-61.79)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.1012239" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.302472" y="0"> </t年代p一个n></text> </g> </g> </svg>)使用用户的位置信息和舒适/不舒服的刺激。计算友好显示了积极的人称之为机器人,当函数是由传感器输入,我们的机器人人类存在计算程度(HED),它显示了人们是否存在与否,每个函数的有效面积内的细胞。例如,三个领域我们的机器人计算HED如图<一个href="//www.newsama.com/journals/jr/2011/683975/fig2/" target="_blank">2</一个>:(1)在右边的机器人感动,(2)机器人检测到声音,和(3)的情况下,机器人检测到的脸。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig2"> <div class="floats-partial-content fig-content-fig2"> <div class="partial-carousel--single-image"> <img alt="" name="683975.fig.002" src="https://static-01.hindawi.com/articles/jr/volume-2011/683975/figures/683975.fig.002.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图2</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/683975/fig2/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 友好空间映射和函数的有效面积。</t一个ble></d我v> </div> </div> <p>检测的影响互动合作伙伴使用这张地图如下。<年代p一个ncl一个年代年代=”l我年代t”><span class="list-item"><span class="list-label">(我)</年代p一个n><年代p一个ncl一个年代s="list-content">因为机器人可以改变其运动和选择一个基于不同空间的友好互动的合作伙伴,它可以吸引人们而站。</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(2)</年代p一个n><年代p一个ncl一个年代s="list-content">基于空间的行为选择也可以应用于其他对象。</年代p一个n></年代p一个n></span></p> <h6 id="sec2.2.2">2.2.2。人类存在的定义集成程度的函数</gydF4y2Bah6> <p>在地图上的每一个细胞,HED计算利用集成功能。当一个函数<年代vg height="10.7375" id="M2" style="vertical-align:-0.13794pt;width:8.6000004px;" version="1.1" viewbox="0 0 8.6000004 10.7375" width="8.6000004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.7375)"> <g transform="translate(72,-63.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>定位一个人<年代vg height="13.05" id="M3" style="vertical-align:-3.25793pt;width:17.0375px;" version="1.1" viewbox="0 0 17.0375 13.05" width="17.0375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.05)"> <g transform="translate(72,-61.56)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.04,61.74)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.7435842" y="0"> 0</t年代p一个n></text> </g> </g> </svg>计算HED,<年代vg height="15.775" id="M4" style="vertical-align:-4.37273pt;width:39.5625px;" version="1.1" viewbox="0 0 39.5625 15.775" width="39.5625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.775)"> <g transform="translate(72,-59.38)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.1,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.7435842" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="6.9315839" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="9.6709604" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.85896" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="15.429776" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="17.617777" y="0"> </t年代p一个n></text> </g> </g> </svg>的细胞(<年代vg height="12.7625" id="M5" style="vertical-align:-1.76814pt;width:21.200001px;" version="1.1" viewbox="0 0 21.200001 12.7625" width="21.200001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.7625)"> <g transform="translate(72,-61.79)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.1012239" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.302472" y="0"> </t年代p一个n></text> </g> </g> </svg>有效作用面积内)<年代vg height="9.125" id="M6" style="vertical-align:-0.11285pt;width:5.0124998px;" version="1.1" viewbox="0 0 5.0124998 9.125" width="5.0124998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.125)"> <g transform="translate(72,-64.7)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>所示(<一个href="#EEq1">1</一个>)。的<年代vg height="10.7375" id="M7" style="vertical-align:-0.13794pt;width:8.6000004px;" version="1.1" viewbox="0 0 8.6000004 10.7375" width="8.6000004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.7375)"> <g transform="translate(72,-63.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>(<年代vg height="12.8875" id="M8" style="vertical-align:-1.76814pt;width:64.449997px;" version="1.1" viewbox="0 0 64.449997 12.8875" width="64.449997" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.8875)"> <g transform="translate(72,-61.69)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.239957" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.280346" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.531845" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.745598" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.997097" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.198345" y="0"> 3</t年代p一个n></text> </g> </g> </svg>)是功能,<年代vg height="14.5875" id="M9" style="vertical-align:-3.2316pt;width:14.9875px;" version="1.1" viewbox="0 0 14.9875 14.5875" width="14.9875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5875)"> <g transform="translate(72,-60.33)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.3,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>阻尼比是决定基于先前的实验获得的信心程度的函数。介绍了阻尼系数表达的准确性感觉到随着时间的流逝变得比较低。在这里,<年代vg height="10.325" id="M10" style="vertical-align:-0.0pt;width:11.1875px;" version="1.1" viewbox="0 0 11.1875 10.325" width="11.1875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>只有时间有关吗<年代vg height="9.125" id="M11" style="vertical-align:-0.11285pt;width:5.0124998px;" version="1.1" viewbox="0 0 5.0124998 9.125" width="5.0124998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.125)"> <g transform="translate(72,-64.7)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>为简单起见,虽然<年代vg height="10.325" id="M12" style="vertical-align:-0.0pt;width:11.1875px;" version="1.1" viewbox="0 0 11.1875 10.325" width="11.1875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>可能与许多参数。<年代vg height="13.05" id="M13" style="vertical-align:-3.25793pt;width:17.0375px;" version="1.1" viewbox="0 0 17.0375 13.05" width="17.0375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.05)"> <g transform="translate(72,-61.56)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.04,61.74)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.7435842" y="0"> 0</t年代p一个n></text> </g> </g> </svg>每次都是新的功能<年代vg height="10.7375" id="M14" style="vertical-align:-0.13794pt;width:8.6000004px;" version="1.1" viewbox="0 0 8.6000004 10.7375" width="8.6000004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.7375)"> <g transform="translate(72,-63.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>操作:<年代p一个ncl一个年代年代=”equation" id="EEq1"> <svg height="19.35" id="M15" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 19.35" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.35)"> <g transform="translate(72,-56.52)"> <text transform="matrix(1,0,0,-1,133.43,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,142.29,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.7435842" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="6.9315839" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="9.6709604" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.85896" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="15.429776" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="17.617777" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,168.46,61.13)"> <tspan style="font-size: 12.50px; " x="34.259998" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.579218" y="0"> x</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.830717" y="0"> p</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.049999" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="47.614555" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,222.73,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,230.05,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.539105" y="-2.51"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.879326" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,257.85,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.7435842" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,267.47,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8514042" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.72" y="-2.51"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="206.64999" y="-2.51"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="210.81349" y="-2.51"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="217.065" y="-2.51"> )</t年代p一个n></text> </g> </g> </svg></span></p> <p>计算出的HED所有功能的整合,<年代vg height="15.775" id="M16" style="vertical-align:-4.37273pt;width:31px;" version="1.1" viewbox="0 0 31 15.775" width="31" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.775)"> <g transform="translate(72,-59.38)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.02,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7393761" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.9273758" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.4981918" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.686192" y="0"> </t年代p一个n></text> </g> </g> </svg>的细胞<年代vg height="13.45" id="M17" style="vertical-align:-2.21957pt;width:31.612499px;" version="1.1" viewbox="0 0 31.612499 13.45" width="31.612499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.45)"> <g transform="translate(72,-61.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.2647228" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.465971" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.017544" y="0"> )</t年代p一个n></text> </g> </g> </svg>在时间<年代vg height="9.125" id="M18" style="vertical-align:-0.11285pt;width:5.0124998px;" version="1.1" viewbox="0 0 5.0124998 9.125" width="5.0124998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.125)"> <g transform="translate(72,-64.7)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>被定义为每个函数之和HED:<年代p一个ncl一个年代年代=”equation" id="EEq2"> <svg height="50.924999" id="M19" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 50.924999" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,50.925)"> <g transform="translate(72,-31.26)"> <text transform="matrix(1,0,0,-1,162.85,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,171.78,44.49)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7393761" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.9273758" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.4981918" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.686192" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,191.03,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,208.95,63.56)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 3</t年代p一个n></text> <text transform="matrix(1,0,0,-1,203.06,41.07)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,203.58,33.89)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.7435842" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.738704" y="0"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,219.22,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,228.07,44.49)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.7435842" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="6.9315839" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="9.6709604" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.85896" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="15.429776" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="17.617777" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,250.77,47.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="223.35001" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="227.5135" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="233.765" y="0"> )</t年代p一个n></text> </g> </g> </svg></span></p> <h6 id="sec2.2.3">2.2.3。友好的刺激的转变</gydF4y2Bah6> <p>友好空间地图上的细胞受到刺激的积极和消极。我们的机器人识别两种刺激通过触觉识别。一个是不舒服的刺激,表现消极,如打机器人的头或接触机器人的破产。另一种是舒适的刺激,表现积极,比如拍机器人的头部。这些刺激是人与人之间的互动,当一个人决定选择互动的合作伙伴。舒适的刺激是用来打电话的人。另一方面,不舒服刺激是用来取笑。</p><p>由于触觉识别无法定位精确,我们假设人交付最高的细胞的刺激是HED在亲密的距离。也就是说,它是细胞(<年代vg height="12.8875" id="M20" style="vertical-align:-1.76814pt;width:22.637501px;" version="1.1" viewbox="0 0 22.637501 12.8875" width="22.637501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.8875)"> <g transform="translate(72,-61.69)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.2515001" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.452748" y="0"> </t年代p一个n></text> </g> </g> </svg>),如获得使用<年代p一个ncl一个年代年代=”equation" id="EEq3"> <svg height="24.0875" id="M21" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 24.0875" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,24.0875)"> <g transform="translate(72,-52.73)"> <text transform="matrix(1,0,0,-1,161.16,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.014903" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.055292" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.606625" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="31.770123" y="0"> g</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="40.097122" y="0"> 米</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="49.824455" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="55.375786" y="0"> x</t年代p一个n></text> <text transform="matrix(1,0,0,-1,210.78,55.35)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,226.97,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,235.89,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7393761" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.9273758" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="9.3033762" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.491376" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,252.47,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="221.64999" y="3.96"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="225.81349" y="3.96"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="232.065" y="3.96"> )</t年代p一个n></text> </g> </g> </svg></span></p> <p>如果刺激发生在时间<年代vg height="13.05" id="M22" style="vertical-align:-3.25793pt;width:18.450001px;" version="1.1" viewbox="0 0 18.450001 13.05" width="18.450001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.05)"> <g transform="translate(72,-61.56)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.04,61.74)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="5.872592" y="0"> 0</t年代p一个n></text> </g> </g> </svg>,我们定义舒适程度(CD),<年代vg height="15.875" id="M23" style="vertical-align:-4.37273pt;width:31.3375px;" version="1.1" viewbox="0 0 31.3375 15.875" width="31.3375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.875)"> <g transform="translate(72,-59.3)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7393761" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.9273758" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="9.3033762" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="11.491376" y="0"> </t年代p一个n></text> </g> </g> </svg>的细胞(<年代vg height="12.8875" id="M24" style="vertical-align:-1.76814pt;width:22.637501px;" version="1.1" viewbox="0 0 22.637501 12.8875" width="22.637501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.8875)"> <g transform="translate(72,-61.69)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.2515001" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.452748" y="0"> </t年代p一个n></text> </g> </g> </svg>)选择时间<年代vg height="9.125" id="M25" style="vertical-align:-0.11285pt;width:5.0124998px;" version="1.1" viewbox="0 0 5.0124998 9.125" width="5.0124998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.125)"> <g transform="translate(72,-64.7)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>所示(<一个href="#EEq4">4</一个>)。在这里,<年代vg height="14.6" id="M26" style="vertical-align:-3.24037pt;width:17.275px;" version="1.1" viewbox="0 0 17.275 14.6" width="17.275" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.6)"> <g transform="translate(72,-60.32)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.3,60.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>表示阻尼比<年代vg height="7.4250002" id="M27" style="vertical-align:-0.11285pt;width:8.0375004px;" version="1.1" viewbox="0 0 8.0375004 7.4250002" width="8.0375004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.425)"> <g transform="translate(72,-66.06)"> <text transform="matrix(1,0,0,-1,-71.95,66.22)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>表示一种刺激。当刺激舒适,<年代vg height="7.4250002" id="M28" style="vertical-align:-0.11285pt;width:8.0375004px;" version="1.1" viewbox="0 0 8.0375004 7.4250002" width="8.0375004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.425)"> <g transform="translate(72,-66.06)"> <text transform="matrix(1,0,0,-1,-71.95,66.22)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是1。当刺激是不舒服,<年代vg height="7.4250002" id="M29" style="vertical-align:-0.11285pt;width:8.0375004px;" version="1.1" viewbox="0 0 8.0375004 7.4250002" width="8.0375004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.425)"> <g transform="translate(72,-66.06)"> <text transform="matrix(1,0,0,-1,-71.95,66.22)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>−1。<年代vg height="13.05" id="M30" style="vertical-align:-3.25793pt;width:18.450001px;" version="1.1" viewbox="0 0 18.450001 13.05" width="18.450001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.05)"> <g transform="translate(72,-61.56)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-68.04,61.74)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="5.872592" y="0"> 0</t年代p一个n></text> </g> </g> </svg>每次都是重新收到刺激:<年代p一个ncl一个年代年代=”equation" id="EEq4"> <svg height="19.35" id="M31" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 19.35" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,19.35)"> <g transform="translate(72,-56.52)"> <text transform="matrix(1,0,0,-1,124.67,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,133.06,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7393761" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.9273758" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.4981918" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.686192" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,152.3,61.13)"> <tspan style="font-size: 12.50px; " x="56.23" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.13007" y="0"> ×</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.995659" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.546989" y="0"> x</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.798489" y="0"> p</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="61.02" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="69.584557" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,228.53,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,237.69,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.539105" y="-2.51"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.879326" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,265.49,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="5.872592" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,276.24,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8514042" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.72" y="-2.51"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="197.88" y="-2.51"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="202.0435" y="-2.51"> 4</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="208.295" y="-2.51"> )</t年代p一个n></text> </g> </g> </svg></span></p> <h6 id="sec2.2.4">2.2.4。友谊的定义</gydF4y2Bah6> <p>友好空间地图更新,由HED和CD获得使用机器人的功能。友好,<年代vg height="15.775" id="M32" style="vertical-align:-4.37273pt;width:27.3375px;" version="1.1" viewbox="0 0 27.3375 15.775" width="27.3375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,15.775)"> <g transform="translate(72,-59.38)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.95,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7393761" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.9273758" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.4981918" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.686192" y="0"> </t年代p一个n></text> </g> </g> </svg>的细胞(<年代vg height="12.7625" id="M33" style="vertical-align:-1.76814pt;width:21.200001px;" version="1.1" viewbox="0 0 21.200001 12.7625" width="21.200001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.7625)"> <g transform="translate(72,-61.79)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.1012239" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.302472" y="0"> </t年代p一个n></text> </g> </g> </svg>)时间<年代vg height="9.125" id="M34" style="vertical-align:-0.11285pt;width:5.0124998px;" version="1.1" viewbox="0 0 5.0124998 9.125" width="5.0124998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.125)"> <g transform="translate(72,-64.7)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>被定义为的总和HED和CD所示(<一个href="#EEq5">5</一个>),<gydF4y2Ba年代vg height="14.2375" id="M35" style="vertical-align:-3.13504pt;width:22.8125px;" version="1.1" viewbox="0 0 22.8125 14.2375" width="22.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.2375)"> <g transform="translate(72,-60.61)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-60.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="14.375" id="M36" style="vertical-align:-3.24037pt;width:23.275px;" version="1.1" viewbox="0 0 23.275 14.375" width="23.275" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.375)"> <g transform="translate(72,-60.5)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-60.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>对应的权重HED和CD,分别。在这个时候,我们<年代vg height="14.375" id="M37" style="vertical-align:-3.24037pt;width:23.275px;" version="1.1" viewbox="0 0 23.275 14.375" width="23.275" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.375)"> <g transform="translate(72,-60.5)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-60.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>比<年代vg height="14.2375" id="M38" style="vertical-align:-3.13504pt;width:22.8125px;" version="1.1" viewbox="0 0 22.8125 14.2375" width="22.8125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.2375)"> <g transform="translate(72,-60.61)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-60.5,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>因为我们想要一个机器人敏感刺激:<年代p一个ncl一个年代年代=”equation" id="EEq5"> <svg height="16.9125" id="M39" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 16.9125" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,16.9125)"> <g transform="translate(72,-58.47)"> <text transform="matrix(1,0,0,-1,124.79,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,130.79,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7393761" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.9273758" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.4981918" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.686192" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,150.03,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.027886" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,173.52,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,183,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ×</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.765083" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,202.7,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7393761" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.9273758" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.4981918" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.686192" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,221.25,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,244.05,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,253.9,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ×</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.777586" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,273.07,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7393761" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.9273758" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.4981918" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.686192" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,288.84,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="185.28" y="0.93000001"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="189.4435" y="0.93000001"> 5</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="195.69499" y="0.93000001"> )</t年代p一个n></text> </g> </g> </svg></span></p> <h4 id="moving-people-detection-by-classifying-obstacles-based-on-floor-boundary-points-while-moving">3所示。移动人的检测分类基于层边界点在移动障碍</gydF4y2Bah4> <h5 id="sec3.1">3.1。层边界点检测</gydF4y2Bah5> <h6 id="sec3.1.1">3.1.1。楼病房的聚类的检测</gydF4y2Bah6> <p>我们使用地板颜色地板检测,因为地板的颜色通常是简单的。以前作品使用高斯混合模型(GMM)对特定颜色检测(<一个href="#B17">17</一个>]。GMM可以发现许多特定的颜色,增加混合高斯。然而,我们必须评估GMM多次为了决定混合高斯的数量等参数。因此,机器人应用GMM很难对各种环境中快速、准确地后启动。</p><p>gydF4y2Ba我们的机器人学习代表颜色的地板本身基于地板颜色的分布数据事先设置。考虑到分布,我们的地板比GMM可以更容易检测方法可以调整和检测地板GMM一样准确。在这里,为了检测地板的代表颜色,我们假设我们的机器人被激活的自由空间。此外,我们使用病房的集群<一个href="#B18">18</一个>),这是一个层次聚类方法。我们的机器人选择代表颜色病房的聚类,如下所示。</p><年代p一个ncl一个年代年代="list"><span class="list-item"><span class="list-label">(1)</年代p一个n><年代p一个ncl一个年代s="list-content">我们的机器人需要一个图像和得到<年代vg height="10.325" id="M40" style="vertical-align:-0.0pt;width:14.8375px;" version="1.1" viewbox="0 0 14.8375 10.325" width="14.8375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>从接近周围的像素颜色数据预测。在一个初始状态,每个数据显示了一个代表颜色。集群的颜色数据的代表颜色<年代vg height="9.9250002" id="M41" style="vertical-align:-0.13794pt;width:4.9875002px;" version="1.1" viewbox="0 0 4.9875002 9.9250002" width="4.9875002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.925)"> <g transform="translate(72,-64.06)"> <text transform="matrix(1,0,0,-1,-71.95,64.25)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>用<年代vg height="14.45" id="M42" style="vertical-align:-3.2316pt;width:14.6375px;" version="1.1" viewbox="0 0 14.6375 14.45" width="14.6375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.45)"> <g transform="translate(72,-60.44)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>。</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(2)</年代p一个n><年代p一个ncl一个年代s="list-content">我们选择两个集群<年代vg height="14.3375" id="M43" style="vertical-align:-3.13504pt;width:16.700001px;" version="1.1" viewbox="0 0 16.700001 14.3375" width="16.700001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3375)"> <g transform="translate(72,-60.53)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n></text> </g> </g> </svg>和<年代vg height="14.3375" id="M44" style="vertical-align:-3.13504pt;width:16.700001px;" version="1.1" viewbox="0 0 16.700001 14.3375" width="16.700001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3375)"> <g transform="translate(72,-60.53)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> </g> </g> </svg>,减少<年代vg height="10.325" id="M45" style="vertical-align:-0.0pt;width:12.7px;" version="1.1" viewbox="0 0 12.7 10.325" width="12.7" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>所示(<一个href="#EEq6">6</一个>),并创建一个新的集群<年代vg height="14.45" id="M46" style="vertical-align:-3.2316pt;width:17.1625px;" version="1.1" viewbox="0 0 17.1625 14.45" width="17.1625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.45)"> <g transform="translate(72,-60.44)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>由数据在两种<年代vg height="14.3375" id="M47" style="vertical-align:-3.13504pt;width:16.700001px;" version="1.1" viewbox="0 0 16.700001 14.3375" width="16.700001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3375)"> <g transform="translate(72,-60.53)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n></text> </g> </g> </svg>和<年代vg height="14.3375" id="M48" style="vertical-align:-3.13504pt;width:16.700001px;" version="1.1" viewbox="0 0 16.700001 14.3375" width="16.700001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3375)"> <g transform="translate(72,-60.53)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> </g> </g> </svg>。让<年代vg height="11.05" id="M49" style="vertical-align:-3.2316pt;width:10.6375px;" version="1.1" viewbox="0 0 10.6375 11.05" width="10.6375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.05)"> <g transform="translate(72,-63.16)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-66.76,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>表示平均颜色向量在集群中<年代vg height="14.45" id="M50" style="vertical-align:-3.2316pt;width:14.6375px;" version="1.1" viewbox="0 0 14.6375 14.45" width="14.6375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.45)"> <g transform="translate(72,-60.44)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>:<年代p一个ncl一个年代年代=”equation" id="EEq6"> <svg height="68.6875" id="M51" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 68.6875" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,68.6875)"> <g transform="translate(72,-17.05)"> <text transform="matrix(1,0,0,-1,91.13,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.15" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,117.52,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,122.4,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,136,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,140.87,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="30.85" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.700001" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.3299999" y="-2.51"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.357885" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,185.96,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,193.61,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ∪</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.527526" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,212.53,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,217.41,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.459999" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.310001" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.6300001" y="-2.51"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.970221" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,261.11,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,265.98,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.459999" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.310001" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.6300001" y="-2.51"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="19.970221" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,309.68,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,314.56,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9299998" y="-2.51"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-202.28999" y="23.209999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-192.8" y="25.719999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-186.95" y="23.209999"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,136,32.29)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,140.87,32.9)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.3299999" y="-2.51"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="22.85" y="4.04"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,162.23,21.83)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.8136001" y="0"> ∈</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.80872" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,178.92,19.64)"> <tspan style="font-size: 6.25px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,183.44,35.9)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 为</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0.99000001"> 为</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.54" y="0.49000001"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.192316" y="0.49000001"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.532537" y="0.49000001"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,216.17,32.29)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,219.39,35.9)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 为</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0.99000001"> 为</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.6199999" y="0.49000001"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="254.73" y="-5.5"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="258.89349" y="-5.5"> 6</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="265.14499" y="-5.5"> )</t年代p一个n></text> </g> </g> </svg></span></span></span><span class="list-item"><span class="list-label">(3)</年代p一个n><年代p一个ncl一个年代s="list-content">在步骤2中,当<年代vg height="14.45" id="M52" style="vertical-align:-3.2316pt;width:17.1625px;" version="1.1" viewbox="0 0 17.1625 14.45" width="17.1625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.45)"> <g transform="translate(72,-60.44)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>满足这两个(<一个href="#EEq7">7</一个>)和(<一个href="#EEq7">8</一个>),它是决定<年代vg height="11.05" id="M53" style="vertical-align:-3.2316pt;width:13.1625px;" version="1.1" viewbox="0 0 13.1625 11.05" width="13.1625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.05)"> <g transform="translate(72,-63.16)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-66.76,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>代表颜色和数据吗<年代vg height="14.45" id="M54" style="vertical-align:-3.2316pt;width:17.1625px;" version="1.1" viewbox="0 0 17.1625 14.45" width="17.1625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.45)"> <g transform="translate(72,-60.44)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>不用于循环。当<年代vg height="14.45" id="M55" style="vertical-align:-3.2316pt;width:17.1625px;" version="1.1" viewbox="0 0 17.1625 14.45" width="17.1625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.45)"> <g transform="translate(72,-60.44)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>只满足(<一个href="#EEq7">7</一个>),数据<年代vg height="14.45" id="M56" style="vertical-align:-3.2316pt;width:17.1625px;" version="1.1" viewbox="0 0 17.1625 14.45" width="17.1625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.45)"> <g transform="translate(72,-60.44)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>不是用于循环。<年代vg height="14.2375" id="M57" style="vertical-align:-3.13504pt;width:18.15px;" version="1.1" viewbox="0 0 18.15 14.2375" width="18.15" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.2375)"> <g transform="translate(72,-60.61)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="14.2375" id="M58" style="vertical-align:-3.13504pt;width:19.637501px;" version="1.1" viewbox="0 0 19.637501 14.2375" width="19.637501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.2375)"> <g transform="translate(72,-60.61)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>是不变的阈值,<年代vg height="14.7125" id="M59" style="vertical-align:-3.2316pt;width:23.4125px;" version="1.1" viewbox="0 0 23.4125 14.7125" width="23.4125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.7125)"> <g transform="translate(72,-60.23)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="2.5006001" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-61.06,60.37)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-55.82,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n></text> </g> </g> </svg>是一个数字的数据<年代vg height="14.45" id="M60" style="vertical-align:-3.2316pt;width:17.1625px;" version="1.1" viewbox="0 0 17.1625 14.45" width="17.1625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.45)"> <g transform="translate(72,-60.44)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>:<年代p一个ncl一个年代年代=”equation" id="EEq7"> <svg height="56.587502" id="M61" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 56.587502" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,56.5875)"> <g transform="translate(72,-26.73)"> <text transform="matrix(1,0,0,-1,153.93,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 米</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.727334" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="13.203168" y="0"> n</t年代p一个n></text> <text transform="matrix(1,0,0,-1,156.51,53.41)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="6.1964159" y="0"> ≠</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="13.644368" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,177.55,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.15" y="2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,203.94,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,209.18,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,222.78,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,226,58.62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.3199997" y="-2.51"> ></t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.36039" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,254.24,58.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,261.78,61.13)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-78.800003" y="28.98"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-78.800003" y="32.139999"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-76.300003" y="30.559999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="212.34" y="3.49"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="216.50349" y="3.49"> 7</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="222.755" y="3.49"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,193.87,27.44)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,199.11,32.15)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="3.1600001"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.9699998" y="1.58"> ></t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.010389" y="1.58"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,224,27.44)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,232.73,30.57)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="241.39" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="245.5535" y="0"> 8</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="251.80499" y="0"> )</t年代p一个n></text> </g> </g> </svg></span></span></span><span class="list-item"><span class="list-label">(4)</年代p一个n><年代p一个ncl一个年代s="list-content">第2步和第3步继续,直到所有的数据都不习惯。</年代p一个n></年代p一个n></span> <p>因为病房的集群考虑数据的分布,每个集群标识容易被距离。一个颜色数据<年代vg height="10.325" id="M63" style="vertical-align:-0.0pt;width:9.0375004px;" version="1.1" viewbox="0 0 9.0375004 10.325" width="9.0375004" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>当我们发现一个被列为地板颜色<年代vg height="14.45" id="M64" style="vertical-align:-3.2316pt;width:16.25px;" version="1.1" viewbox="0 0 16.25 14.45" width="16.25" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.45)"> <g transform="translate(72,-60.44)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>满足(<一个href="#EEq9">9</一个>)。<年代vg height="10.8375" id="M65" style="vertical-align:-3.2316pt;width:15.275px;" version="1.1" viewbox="0 0 15.275 10.8375" width="15.275" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.8375)"> <g transform="translate(72,-63.33)"> <text transform="matrix(1,0,0,-1,-71.95,66.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-64.34,63.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>,<年代vg height="14.5" id="M66" style="vertical-align:-3.2316pt;width:15.5125px;" version="1.1" viewbox="0 0 15.5125 14.5" width="15.5125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.5)"> <g transform="translate(72,-60.4)"> <text transform="matrix(1,0,0,-1,-71.95,63.67)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Σ</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-64.15,60.55)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>,<年代vg height="6.9875002" id="M67" style="vertical-align:-0.13794pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 6.9875002" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,6.9875)"> <g transform="translate(72,-66.41)"> <text transform="matrix(1,0,0,-1,-71.95,66.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>平均向量,表示数据的协方差矩阵<年代vg height="14.45" id="M68" style="vertical-align:-3.2316pt;width:16.25px;" version="1.1" viewbox="0 0 16.25 14.45" width="16.25" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.45)"> <g transform="translate(72,-60.44)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.56,60.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>一个阈值,分别为:<年代p一个ncl一个年代年代=”equation" id="EEq9"> <svg height="30.025" id="M69" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 30.025" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,30.025)"> <g transform="translate(72,-47.98)"> <text transform="matrix(1,0,0,-1,131.1,51.72)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 144.31,70.71 115.37,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,144.31,51.15)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8600001" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.624603" y="-2.51"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.977327" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,177.9,50.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,182.41,51.15)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,188.26,61.19)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,194.97,53.66)"> <tspan style="font-size: 12.50px; " x="0" y="0"> Σ</t年代p一个n></text> <text transform="matrix(1,0,0,-1,202.78,58.66)"> <tspan style="font-size: 8.75px; " x="0" y="8.1300001"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="5.99512" y="0"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,215.73,51.15)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.627106" y="-2.51"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.967327" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,249.32,50.53)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,253.82,51.15)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.3299999" y="-2.51"> <</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.357885" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="28.697147" y="-2.51"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="220.3" y="-2.51"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="224.4635" y="-2.51"> 9</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="230.715" y="-2.51"> )</t年代p一个n></text> </g> </g> </svg></span></p> <p>当机器人使用omnidirectoinal摄像头安装,预计将在图像中心的地板上。因此,我们的机器人分类的像素中心外通过应用(<一个href="#EEq9">9</一个>)。如果我们的机器人发现连续的<年代vg height="9.875" id="M70" style="vertical-align:-2.29482pt;width:7.7624998px;" version="1.1" viewbox="0 0 7.7624998 9.875" width="7.7624998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.875)"> <g transform="translate(72,-64.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>像素不满足(<一个href="#EEq9">9</一个>),一层边界点检测到第一个像素的位置<年代vg height="9.875" id="M71" style="vertical-align:-2.29482pt;width:7.7624998px;" version="1.1" viewbox="0 0 7.7624998 9.875" width="7.7624998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.875)"> <g transform="translate(72,-64.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>像素位置。这些点显示空闲空间之间的边界和障碍,可以得到轻松的追踪。我们已经确认,我们的检测方法可以在超市楼(<一个href="#B19">19</一个>]。然而,并不是所有点定位和障碍边界之间的地板上。我们改变动态部分中描述的方法<一个href="#sec3.2.2">3.2。2</一个>。</p><gydF4y2Bah6 id="sec3.1.2">3.1.2。地板从图像边界点坐标的坐标转换为机器人坐标</gydF4y2Bah6> <p>在使用一个全向相机将双曲镜子,一个位置(<年代vg height="12.5375" id="M72" style="vertical-align:-1.76814pt;width:47.012501px;" version="1.1" viewbox="0 0 47.012501 12.5375" width="47.012501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.5375)"> <g transform="translate(72,-61.97)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.8773699" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.078618" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.767723" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="26.981474" y="0"> </t年代p一个n></text> </g> </g> </svg>)预计将在机器人坐标位置(<年代vg height="9.875" id="M73" style="vertical-align:-2.29482pt;width:22.987499px;" version="1.1" viewbox="0 0 22.987499 9.875" width="22.987499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.875)"> <g transform="translate(72,-64.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.8766499" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.077898" y="0"> </t年代p一个n></text> </g> </g> </svg>)在图像坐标如下<一个href="#B20">20.</一个>]。常量<年代vg height="10.7375" id="M74" style="vertical-align:-0.13794pt;width:7.4749999px;" version="1.1" viewbox="0 0 7.4749999 10.7375" width="7.4749999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.7375)"> <g transform="translate(72,-63.41)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="7.1875" id="M75" style="vertical-align:-0.13794pt;width:7.3874998px;" version="1.1" viewbox="0 0 7.3874998 7.1875" width="7.3874998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1875)"> <g transform="translate(72,-66.25)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>镜子表示适当的参数<年代vg height="13.4875" id="M76" style="vertical-align:-2.34499pt;width:10.675px;" version="1.1" viewbox="0 0 10.675 13.4875" width="10.675" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.4875)"> <g transform="translate(72,-61.21)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>代表一个焦距:<年代p一个ncl一个年代年代=”equation" id="EEq10"> <svg height="110.8" id="M77" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 110.8" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,110.8)"> <g transform="translate(72,16.64)"> <text transform="matrix(1,0,0,-1,78.66,50.39)"> <tspan style="font-size: 12.50px; " x="125.92" y="-8.0600004"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="131.77" y="-10.57"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.339981" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="105.51" y="-10.57"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="115.38737" y="-10.57"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,216.3,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,223.96,60.96)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,241.11,65.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,245.99,58.45)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 102.24,53.51 231.53,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,102.24,34.22)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,113.97,41.8)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,121.62,36.73)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,138.78,40.17)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,143.66,34.22)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="77.910004" y="-3.4100001"> √</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9299998" y="-2.51"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.093499" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.521481" y="-2.51"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.861702" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.675598" y="-2.51"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="48.614761" y="-2.51"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="59.954983" y="-2.51"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="66.206482" y="-2.51"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="72.082893" y="-2.51"> </t年代p一个n></text> <g> <path d="m 233.17,49.39 100.6,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,233.17,36.73)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,243.8,41.61)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,251.45,36.73)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,271.98,41.61)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,279.64,36.73)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.50372" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.931702" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.271923" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.085819" y="0"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,328.9,41.9)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,334.97,50.39)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-131.99001" y="40.689999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-126.14" y="38.18"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-255.63" y="48.759998"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-245.96518" y="48.759998"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-149.2" y="38.18"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-142.51089" y="38.18"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,214.71,17.28)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,222.36,12.21)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,239.52,17.21)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,244.39,9.7)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 102.24,4.76 231.53,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,102.24,-14.54)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.52"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,113.97,-6.95)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,121.62,-12.02)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,138.78,-8.58)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,143.66,-14.54)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="77.910004" y="-3.4200001"> √</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9299998" y="-2.52"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.093499" y="-2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.521481" y="-2.52"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.861702" y="-2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.675598" y="-2.52"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="48.614761" y="-2.52"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="59.954983" y="-2.52"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="66.206482" y="-2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="72.082893" y="-2.52"> </t年代p一个n></text> <g> <path d="m 233.17,0.63 100.6,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,233.17,-12.02)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,243.8,-7.14)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,251.45,-12.02)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,271.98,-7.14)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,279.64,-12.02)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.50372" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.931702" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.271923" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.085819" y="0"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,328.9,-6.85)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,334.97,1.63)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="132.89999" y="-22.93"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="137.06349" y="-22.93"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="143.315" y="-22.93"> 0</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="149.5665" y="-22.93"> )</t年代p一个n></text> </g> </g> </svg></span></p> <p>许多机器人配备了一个全向相机,他们可以测量或知道地板的距离摄像机移动时(<一个href="#B21">21</一个>,<gydF4y2Ba一个href="#B22">22</一个>]。因此,关于地板边界点,变量<年代vg height="10.325" id="M78" style="vertical-align:-0.0pt;width:13.2875px;" version="1.1" viewbox="0 0 13.2875 10.325" width="13.2875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在(<一个href="#EEq10">10</一个>)成为常数,我们可以测量机器人的距离地面边界点采用(<一个href="#EEq10">10</一个>)。</p><p>gydF4y2Ba为了决定的参数<年代vg height="12.7625" id="M79" style="vertical-align:-1.76814pt;width:39.825001px;" version="1.1" viewbox="0 0 39.825001 12.7625" width="39.825001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.7625)"> <g transform="translate(72,-61.79)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="9.6523161" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="14.853564" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="20.729975" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.943726" y="0"> </t年代p一个n></text> </g> </g> </svg>,<年代vg height="13.4875" id="M80" style="vertical-align:-2.34499pt;width:10.675px;" version="1.1" viewbox="0 0 10.675 13.4875" width="10.675" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13.4875)"> <g transform="translate(72,-61.21)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>,我们有cross-stripes在地板上,如图<一个href="//www.newsama.com/journals/jr/2011/683975/fig3/" target="_blank">3</一个>(一)。<年代vg height="7.1374998" id="M81" style="vertical-align:-0.10033pt;width:7.8874998px;" version="1.1" viewbox="0 0 7.8874998 7.1374998" width="7.8874998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>双(<年代vg height="14.35" id="M82" style="vertical-align:-3.22282pt;width:39.575001px;" version="1.1" viewbox="0 0 39.575001 14.35" width="39.575001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.35)"> <g transform="translate(72,-60.52)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-57.18,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-45.28,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>)和(<年代vg height="11.0375" id="M83" style="vertical-align:-3.22282pt;width:35.212502px;" version="1.1" viewbox="0 0 35.212502 11.0375" width="35.212502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.0375)"> <g transform="translate(72,-63.17)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-60.18,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-48.77,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>)从图像中获得的<年代vg height="7.1374998" id="M84" style="vertical-align:-0.10033pt;width:7.8874998px;" version="1.1" viewbox="0 0 7.8874998 7.1374998" width="7.8874998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>预计交叉点。在这里,(<年代vg height="14.35" id="M85" style="vertical-align:-3.22282pt;width:39.575001px;" version="1.1" viewbox="0 0 39.575001 14.35" width="39.575001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.35)"> <g transform="translate(72,-60.52)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-57.18,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-45.28,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>)和(<年代vg height="11.0375" id="M86" style="vertical-align:-3.22282pt;width:35.212502px;" version="1.1" viewbox="0 0 35.212502 11.0375" width="35.212502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.0375)"> <g transform="translate(72,-63.17)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-60.18,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-48.77,63.31)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>)表示交叉点的位置<年代vg height="7.1750002" id="M87" style="vertical-align:-0.1254pt;width:7.9749999px;" version="1.1" viewbox="0 0 7.9749999 7.1750002" width="7.9749999" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.175)"> <g transform="translate(72,-66.26)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在机器人坐标系和图像坐标系,分别。使用<年代vg height="7.1374998" id="M88" style="vertical-align:-0.10033pt;width:7.8874998px;" version="1.1" viewbox="0 0 7.8874998 7.1374998" width="7.8874998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>对,参数,评价函数最小化<年代vg height="14.3375" id="M89" style="vertical-align:-3.21404pt;width:15.9375px;" version="1.1" viewbox="0 0 15.9375 14.3375" width="15.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3375)"> <g transform="translate(72,-60.53)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-64.22,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>所示(<一个href="#EEq11">11</一个>下山单纯形法)决定:<年代p一个ncl一个年代年代=”equation" id="EEq11"> <svg height="179.3875" id="M90" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 179.3875" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,179.3875)"> <g transform="translate(72,71.51)"> <text transform="matrix(1,0,0,-1,88.52,63.2)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,96.25,60.07)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,49.46,19.11)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,62.22,35.05)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3497438" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.344864" y="0"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,61.5,12.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,62.2,5.38)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3935041" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.388624" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,79.74,42.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="10.67"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="21.33"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="32"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="42.66"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="45.830002"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="2.5" y="22.92"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,89.12,15.98)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,96.79,19.11)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,118.01,15.98)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,122.9,19.11)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="108.42" y="-7.25"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,237.2,31.43)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,244.85,26.36)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,262.01,31.36)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <g> <path d="m 132.53,22.24 233.14,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,132.53,-0.4)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8600001" y="-2.51"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,144.26,7.18)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,151.92,2.11)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,169.07,5.55)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,173.95,-0.4)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="77.910004" y="0.47999999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9299998" y="-2.52"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.093499" y="-2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.521481" y="-2.52"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.861702" y="-2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.675598" y="-2.52"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="48.614761" y="-2.52"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="59.967487" y="-2.52"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="66.218987" y="-2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="72.095398" y="-2.52"> </t年代p一个n></text> <g> <path d="m 265.08,18.11 100.59,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,265.08,2.11)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,275.7,6.99)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-0.75" y="8"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,283.36,2.11)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.327718" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,303.89,6.99)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-2.5" y="8"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,311.54,2.11)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.50372" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.931702" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.271923" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.085819" y="0"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,360.8,7.29)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,366.87,42.03)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="10.67"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="21.33"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="32"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="42.66"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="45.830002"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-316.34" y="88.379997"> +</t年代p一个n></text> <text transform="matrix(1,0,0,-1,59.81,-30.4)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3497438" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.344864" y="0"> 1</t年代p一个n></text> <text transform="matrix(1,0,0,-1,59.09,-52.9)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,59.79,-60.08)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3935041" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.388624" y="0"> 0</t年代p一个n></text> <text transform="matrix(1,0,0,-1,77.33,-23.43)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="10.66"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="21.33"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="31.99"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="42.66"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="45.82"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="2.5" y="22.92"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,86.03,-49.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,93.7,-46.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,111.74,-49.47)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,116.63,-46.35)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="108.42" y="-7.2600002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,230.93,-34.02)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,238.58,-39.09)"> <tspan style="font-size: 12.50px; " x="0" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,255.74,-34.09)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <g> <path d="m 126.26,-43.22 233.14,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,126.26,-65.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.8499999" y="-2.52"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,137.99,-58.27)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,145.64,-63.34)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,162.8,-59.91)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,167.67,-65.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="77.919998" y="0.47999999"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="7.9400001" y="-2.52"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.103499" y="-2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.531481" y="-2.52"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.8717" y="-2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.685596" y="-2.52"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="48.624763" y="-2.52"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="59.964985" y="-2.52"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="66.216484" y="-2.52"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="72.092896" y="-2.52"> </t年代p一个n></text> <g> <path d="m 258.8,-47.35 100.6,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,258.8,-63.34)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,269.43,-58.46)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-0.75" y="8.0100002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,277.08,-63.34)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,297.62,-58.46)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="-2.5" y="8.0100002"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,305.27,-63.34)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.340221" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="15.50372" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.931702" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.271923" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.085819" y="0"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,354.53,-58.17)"> <tspan style="font-size: 8.75px; " x="0" y="0"> 2</t年代p一个n></text> <text transform="matrix(1,0,0,-1,360.6,-23.43)"> <tspan style="font-size: 12.50px; " x="0" y="0"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="10.66"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="21.33"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="31.99"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="42.66"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="45.82"> |</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.5799999" y="22.92"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="107.27" y="-20.549999"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="111.4335" y="-20.549999"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="117.685" y="-20.549999"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="123.9365" y="-20.549999"> )</t年代p一个n></text> </g> </g> </svg></span></p> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig3"> <div class="floats-partial-content fig-content-fig3"> <div class="partial-carousel--single-image"> <img alt="" name="683975.fig.003" src="https://static-01.hindawi.com/articles/jr/volume-2011/683975/figures/683975.fig.003.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图3</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/683975/fig3/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 在地板上的全向图像cross-stripes (a)和鸟的眼睛图片(b)。</t一个ble></d我v> </div> </div> <p>对于确认参数,创建一个鸟瞰的图像通过使用参数决定。图<一个href="//www.newsama.com/journals/jr/2011/683975/fig3/" target="_blank">3</一个>(b)显示了鸟瞰的形象。地板上的线,使cross-stripes不扭曲,因为决定参数修正。这里,1像素在这个鸟瞰的图像表示在现实世界中约5.0厘米。</p><gydF4y2Bah5 id="sec3.2">3.2。障碍层边界点进行分类</gydF4y2Bah5> <h6 id="sec3.2.1">3.2.1之上。分类方程</gydF4y2Bah6> <p>一层边界点<年代vg height="7.1374998" id="M91" style="vertical-align:-0.10033pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 7.1374998" width="11.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在图像的时间<年代vg height="10.95" id="M92" style="vertical-align:-0.12538pt;width:35.375px;" version="1.1" viewbox="0 0 35.375 10.95" width="35.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.95)"> <g transform="translate(72,-63.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.689105" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.029325" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.280827" y="0"> </t年代p一个n></text> </g> </g> </svg>所示的方法检测到的部分吗<一个href="#sec3.1">3.1</一个>。<年代vg height="10.95" id="M93" style="vertical-align:-0.12538pt;width:12.825px;" version="1.1" viewbox="0 0 12.825 10.95" width="12.825" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.95)"> <g transform="translate(72,-63.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.2515001" y="0"> </t年代p一个n></text> </g> </g> </svg>取决于处理速度。如果这一点<年代vg height="7.1374998" id="M94" style="vertical-align:-0.10033pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 7.1374998" width="11.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>可以跟踪<年代vg height="10.95" id="M95" style="vertical-align:-0.12538pt;width:35.375px;" version="1.1" viewbox="0 0 35.375 10.95" width="35.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.95)"> <g transform="translate(72,-63.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.689105" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.029325" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.280827" y="0"> </t年代p一个n></text> </g> </g> </svg>来<年代vg height="9.125" id="M96" style="vertical-align:-0.11285pt;width:5.0124998px;" version="1.1" viewbox="0 0 5.0124998 9.125" width="5.0124998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.125)"> <g transform="translate(72,-64.7)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>正确的位置<年代vg height="7.1374998" id="M97" style="vertical-align:-0.10033pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 7.1374998" width="11.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在<年代vg height="9.125" id="M98" style="vertical-align:-0.11285pt;width:5.0124998px;" version="1.1" viewbox="0 0 5.0124998 9.125" width="5.0124998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.125)"> <g transform="translate(72,-64.7)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>坐落在图像正确吗<年代vg height="9.125" id="M99" style="vertical-align:-0.11285pt;width:5.0124998px;" version="1.1" viewbox="0 0 5.0124998 9.125" width="5.0124998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.125)"> <g transform="translate(72,-64.7)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>。在这里,我们使用卢卡斯金追踪算法与图像金字塔表示(<一个href="#B23">23</一个>)作为一个跟踪方法。跟踪方法适用甚至在全向图像所示(<一个href="#B24">24</一个>]。</p><p>gydF4y2Ba很容易改变的坐标<年代vg height="7.1374998" id="M100" style="vertical-align:-0.10033pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 7.1374998" width="11.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在<年代vg height="10.95" id="M101" style="vertical-align:-0.12538pt;width:35.375px;" version="1.1" viewbox="0 0 35.375 10.95" width="35.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.95)"> <g transform="translate(72,-63.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.689105" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.029325" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.280827" y="0"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="9.125" id="M102" style="vertical-align:-0.11285pt;width:5.0124998px;" version="1.1" viewbox="0 0 5.0124998 9.125" width="5.0124998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.125)"> <g transform="translate(72,-64.7)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>从图像坐标到机器人坐标<年代vg height="18.049999" id="M103" style="vertical-align:-3.20526pt;width:82.25px;" version="1.1" viewbox="0 0 82.25 18.049999" width="82.25" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,18.05)"> <g transform="translate(72,-57.56)"> <text transform="matrix(1,0,0,-1,-71.95,60.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-57.91,57.68)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-51.2,60.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-39.3,57.68)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-32.59,60.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-28.42,65.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.9144161" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="5.6537919" y="0"> −</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-16.77,65.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> d</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-12.4,65.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7393761" y="0"> )</t年代p一个n></text> </g> </g> </svg>和<年代vg height="17.975" id="M104" style="vertical-align:-3.20526pt;width:65.862503px;" version="1.1" viewbox="0 0 65.862503 17.975" width="65.862503" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.975)"> <g transform="translate(72,-57.62)"> <text transform="matrix(1,0,0,-1,-71.95,60.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-57.91,57.74)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-51.2,60.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-39.3,57.74)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-32.59,60.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-28.42,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.9144161" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="5.6537919" y="0"> )</t年代p一个n></text> </g> </g> </svg>通过引用鸟瞰的图像。相对位置(<年代vg height="13" id="M105" style="vertical-align:-1.76814pt;width:68.587502px;" version="1.1" viewbox="0 0 68.587502 13" width="68.587502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13)"> <g transform="translate(72,-61.6)"> <text transform="matrix(1,0,0,-1,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.2515001" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.12887" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.330118" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.581617" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="34.270721" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.484474" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.735973" y="0"> Θ</t年代p一个n></text> </g> </g> </svg>)<年代vg height="10.95" id="M106" style="vertical-align:-0.12538pt;width:35.375px;" version="1.1" viewbox="0 0 35.375 10.95" width="35.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.95)"> <g transform="translate(72,-63.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.689105" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.029325" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.280827" y="0"> </t年代p一个n></text> </g> </g> </svg>来<年代vg height="9.125" id="M107" style="vertical-align:-0.11285pt;width:5.0124998px;" version="1.1" viewbox="0 0 5.0124998 9.125" width="5.0124998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.125)"> <g transform="translate(72,-64.7)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>被测程法估计数据。<年代vg height="11.0125" id="M108" style="vertical-align:-0.17555pt;width:19.225px;" version="1.1" viewbox="0 0 19.225 11.0125" width="19.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,11.0125)"> <g transform="translate(72,-63.19)"> <text transform="matrix(1,0,0,-1,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.2515001" y="0"> Θ</t年代p一个n></text> </g> </g> </svg>基于机器人的方向从中心前面的机器人吗<年代vg height="10.95" id="M109" style="vertical-align:-0.12538pt;width:35.375px;" version="1.1" viewbox="0 0 35.375 10.95" width="35.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.95)"> <g transform="translate(72,-63.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.689105" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.029325" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.280827" y="0"> </t年代p一个n></text> </g> </g> </svg>。当<年代vg height="7.1374998" id="M110" style="vertical-align:-0.10033pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 7.1374998" width="11.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>位于一个静态障碍和地板之间的界限,<年代vg height="17.975" id="M111" style="vertical-align:-3.20526pt;width:65.862503px;" version="1.1" viewbox="0 0 65.862503 17.975" width="65.862503" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,17.975)"> <g transform="translate(72,-57.62)"> <text transform="matrix(1,0,0,-1,-71.95,60.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-57.91,57.74)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-51.2,60.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-39.3,57.74)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-32.59,60.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-28.42,66.03)"> <tspan style="font-size: 8.75px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.9144161" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="5.6537919" y="0"> )</t年代p一个n></text> </g> </g> </svg>计算(<年代vg height="13" id="M112" style="vertical-align:-1.76814pt;width:68.587502px;" version="1.1" viewbox="0 0 68.587502 13" width="68.587502" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,13)"> <g transform="translate(72,-61.6)"> <text transform="matrix(1,0,0,-1,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.2515001" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.12887" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.330118" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.581617" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="34.270721" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="39.484474" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="45.735973" y="0"> Θ</t年代p一个n></text> </g> </g> </svg>),<年代vg height="18.049999" id="M113" style="vertical-align:-3.20526pt;width:82.25px;" version="1.1" viewbox="0 0 82.25 18.049999" width="82.25" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,18.05)"> <g transform="translate(72,-57.56)"> <text transform="matrix(1,0,0,-1,-71.95,60.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-57.91,57.68)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-51.2,60.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.2012482" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-39.3,57.68)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-32.59,60.8)"> <tspan style="font-size: 12.50px; " x="0" y="0"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-28.42,65.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.9144161" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="5.6537919" y="0"> −</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-16.77,65.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> d</t年代p一个n></text> <text transform="matrix(1,0,0,-1,-12.4,65.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7393761" y="0"> )</t年代p一个n></text> </g> </g> </svg>所示(<一个href="#EEq12">12</一个>):<gydF4y2Ba年代p一个ncl一个年代年代=”equation" id="EEq12"> <svg height="66.012497" id="M114" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 66.012497" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,66.0125)"> <g transform="translate(72,-19.19)"> <text transform="matrix(1,0,0,-1,85.45,54.21)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎛</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="10.85"> ⎜</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="21.700001"> ⎜</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="32.490002"> ⎝</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="5.6300001" y="2.46"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,100.96,48.62)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,92.67,26.74)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,99.36,23.62)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,107.67,54.21)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎞</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="10.85"> ⎟</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="21.700001"> ⎟</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="32.490002"> ⎠</t年代p一个n></text> <text transform="matrix(1,0,0,-1,113.29,65.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.9144161" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="5.6537919" y="0"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,125.83,41.12)"> <tspan style="font-size: 12.50px; " x="0" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.04" y="-13.09"> ⎛</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.04" y="-2.24"> ⎜</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.04" y="8.6099997"> ⎜</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.04" y="19.4"> ⎝</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="100.28" y="-13.09"> ⎞</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="100.28" y="-2.24"> ⎟</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="100.28" y="8.6099997"> ⎟</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="100.28" y="19.4"> ⎠</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="107.99" y="-13.09"> ⎛</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="107.99" y="-2.24"> ⎜</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="107.99" y="8.6099997"> ⎜</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="107.99" y="19.4"> ⎝</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="113.61" y="-10.63"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.67" y="-10.63"> c</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.221333" y="-10.63"> o</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="29.472832" y="-10.63"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.411999" y="-10.63"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="42.663498" y="-10.63"> Θ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="57.667095" y="-10.63"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="68.319656" y="-10.63"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="73.183319" y="-10.63"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="76.659157" y="-10.63"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="84.986153" y="-10.63"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="91.237656" y="-10.63"> Θ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.709999" y="14.38"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.573668" y="14.38"> 我</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.049501" y="14.38"> n</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="35.376499" y="14.38"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.627998" y="14.38"> Θ</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="61.957878" y="14.38"> c</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="67.509209" y="14.38"> o</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="73.760712" y="14.38"> 年代</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="80.699875" y="14.38"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="86.95137" y="14.38"> Θ</t年代p一个n></text> <text transform="matrix(1,0,0,-1,249.32,48.62)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,241.04,26.74)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,247.73,23.62)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,256.03,54.21)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ⎞</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="10.85"> ⎟</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="21.700001"> ⎟</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="32.490002"> ⎠</t年代p一个n></text> <text transform="matrix(1,0,0,-1,261.66,65.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.9144161" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="5.6537919" y="0"> −</t年代p一个n></text> <text transform="matrix(1,0,0,-1,273.31,65.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> d</t年代p一个n></text> <text transform="matrix(1,0,0,-1,277.68,65.97)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.7393761" y="0"> )</t年代p一个n></text> <text transform="matrix(1,0,0,-1,286.62,41.12)"> <tspan style="font-size: 12.50px; " x="0" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.34" y="-13.09"> ⎛</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.34" y="-2.24"> ⎜</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.34" y="8.6099997"> ⎜</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="11.34" y="19.4"> ⎝</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.84" y="-13.09"> ⎞</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.84" y="-2.24"> ⎟</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.84" y="8.6099997"> ⎟</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="33.84" y="19.4"> ⎠</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="41.549999" y="7.1054274e-015"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.959999" y="-10.63"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.2115" y="-10.63"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="17.68" y="14.38"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="23.931499" y="14.38"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="181.25" y="-1.35"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="185.4135" y="-1.35"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="191.66499" y="-1.35"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="197.9165" y="-1.35"> )</t年代p一个n></text> </g> </g> </svg></span></p> <p>当<年代vg height="7.1374998" id="M115" style="vertical-align:-0.10033pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 7.1374998" width="11.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>位于之间的边界移动障碍(人)和地板上,(<一个href="#EEq12">12</一个>)是不满意。因此,我们可以认为(<一个href="#EEq12">12</一个>)作为分类方程(CE);也就是说,地上边界点<年代vg height="7.1374998" id="M116" style="vertical-align:-0.10033pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 7.1374998" width="11.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>可分为静态障碍或移动一个确认(是否<一个href="#EEq12">12</一个>)是否满意。实际上,(<一个href="#EEq12">12</一个>)包括一个小错误<年代vg height="7.5" id="M117" style="vertical-align:-0.1254pt;width:7.8625002px;" version="1.1" viewbox="0 0 7.8625002 7.5" width="7.8625002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.5)"> <g transform="translate(72,-66)"> <text transform="matrix(1,0,0,-1,-71.95,66.17)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>根据遥感图像分辨率和不确定性,这是忽略了。</p><p>gydF4y2Ba下列条件应满足为了把(<一个href="#EEq12">12</一个>)作为分类方程。<年代p一个ncl一个年代年代=”l我年代t”><span class="list-item"><span class="list-label">(1)</年代p一个n><年代p一个ncl一个年代s="list-content">层边界点必须位于图像中正确的障碍和地板之间的界限。</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(2)</年代p一个n><年代p一个ncl一个年代s="list-content">层边界点必须正确跟踪。</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(3)</年代p一个n><年代p一个ncl一个年代s="list-content">相机参数必须是正确的决定。</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(4)</年代p一个n><年代p一个ncl一个年代s="list-content">测程法计算正确。</年代p一个n></年代p一个n></span></p> <p>条件4是满足在一般环境中,由于测程法是相对正确的期间短的运动。图<一个href="//www.newsama.com/journals/jr/2011/683975/fig3/" target="_blank">3</一个>验证参数并非那么糟糕,条件3是满意,。层边界点可以得到轻松的追踪和跟踪跟踪方法(不是一个主要问题<一个href="#B25">25</一个>)当他们准确地检测到,因为它们位于边界明显的颜色变化。然而,地板上不能总是正确检测到通过使用边界点只有地板的颜色在不同的环境中。我们应用的结果确认是否满足CE地板检测方法。</p><gydF4y2Bah6 id="sec3.2.2">3.2.2。障碍分类</gydF4y2Bah6> <p>CE满意只要地板边界点<年代vg height="7.1374998" id="M118" style="vertical-align:-0.10033pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 7.1374998" width="11.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>坐落在地板上。的原因之一<年代vg height="7.1374998" id="M119" style="vertical-align:-0.10033pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 7.1374998" width="11.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>不是坐落在地板上阈值吗<年代vg height="6.9875002" id="M120" style="vertical-align:-0.13794pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 6.9875002" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,6.9875)"> <g transform="translate(72,-66.41)"> <text transform="matrix(1,0,0,-1,-71.95,66.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在(<一个href="#EEq9">9</一个>)是不合适的。当的位置<年代vg height="7.1374998" id="M121" style="vertical-align:-0.10033pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 7.1374998" width="11.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>不满足CE,<年代vg height="6.9875002" id="M122" style="vertical-align:-0.13794pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 6.9875002" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,6.9875)"> <g transform="translate(72,-66.41)"> <text transform="matrix(1,0,0,-1,-71.95,66.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>太大或<年代vg height="7.1374998" id="M123" style="vertical-align:-0.10033pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 7.1374998" width="11.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>显示了一个移动的障碍。确认,新地板边界点<年代vg height="12.6875" id="M124" style="vertical-align:-0.10033pt;width:15.5625px;" version="1.1" viewbox="0 0 15.5625 12.6875" width="15.5625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.6875)"> <g transform="translate(72,-61.85)"> <text transform="matrix(1,0,0,-1,-71.95,62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.07,67.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>检测通过减少<年代vg height="6.9875002" id="M125" style="vertical-align:-0.13794pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 6.9875002" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,6.9875)"> <g transform="translate(72,-66.41)"> <text transform="matrix(1,0,0,-1,-71.95,66.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>的方向,<年代vg height="7.1374998" id="M126" style="vertical-align:-0.10033pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 7.1374998" width="11.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>坐落于<年代vg height="10.975" id="M127" style="vertical-align:-0.13794pt;width:43.9375px;" version="1.1" viewbox="0 0 43.9375 10.975" width="43.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.975)"> <g transform="translate(72,-63.22)"> <text transform="matrix(1,0,0,-1,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="10.114927" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="21.455149" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.706648" y="0"> </t年代p一个n></text> </g> </g> </svg>。的参数<年代vg height="10.975" id="M128" style="vertical-align:-0.13794pt;width:17.112499px;" version="1.1" viewbox="0 0 17.112499 10.975" width="17.112499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.975)"> <g transform="translate(72,-63.22)"> <text transform="matrix(1,0,0,-1,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.2515001" y="0"> </t年代p一个n></text> </g> </g> </svg>应该小的机器人不缩小面积。新地板边界点<年代vg height="12.6875" id="M129" style="vertical-align:-0.10033pt;width:15.5625px;" version="1.1" viewbox="0 0 15.5625 12.6875" width="15.5625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.6875)"> <g transform="translate(72,-61.85)"> <text transform="matrix(1,0,0,-1,-71.95,62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.07,67.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>跟踪从<年代vg height="9.125" id="M130" style="vertical-align:-0.11285pt;width:5.0124998px;" version="1.1" viewbox="0 0 5.0124998 9.125" width="5.0124998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.125)"> <g transform="translate(72,-64.7)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>来<年代vg height="10.95" id="M131" style="vertical-align:-0.12538pt;width:35.375px;" version="1.1" viewbox="0 0 35.375 10.95" width="35.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.95)"> <g transform="translate(72,-63.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.689105" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.029325" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.280827" y="0"> </t年代p一个n></text> </g> </g> </svg>再次确认CE和分类。当的位置<年代vg height="12.6875" id="M132" style="vertical-align:-0.10033pt;width:15.5625px;" version="1.1" viewbox="0 0 15.5625 12.6875" width="15.5625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.6875)"> <g transform="translate(72,-61.85)"> <text transform="matrix(1,0,0,-1,-71.95,62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.07,67.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>满足CE,问候我们的机器人<年代vg height="7.1374998" id="M133" style="vertical-align:-0.10033pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 7.1374998" width="11.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>作为一个静态障碍。此外,的位置<年代vg height="7.1374998" id="M134" style="vertical-align:-0.10033pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 7.1374998" width="11.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>改变的位置吗<年代vg height="12.6875" id="M135" style="vertical-align:-0.10033pt;width:15.5625px;" version="1.1" viewbox="0 0 15.5625 12.6875" width="15.5625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.6875)"> <g transform="translate(72,-61.85)"> <text transform="matrix(1,0,0,-1,-71.95,62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-63.07,67.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg><i>。</我>相反,如果不满意,<年代vg height="7.1374998" id="M136" style="vertical-align:-0.10033pt;width:11.225px;" version="1.1" viewbox="0 0 11.225 7.1374998" width="11.225" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,7.1375)"> <g transform="translate(72,-66.29)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>被认为是一个移动的障碍。我们的方法的参数动态变化的结果。例如,在图<一个href="//www.newsama.com/journals/jr/2011/683975/fig4/" target="_blank">4</一个>,地板边界点的位置<年代vg height="10.55" id="M137" style="vertical-align:-0.0pt;width:11.325px;" version="1.1" viewbox="0 0 11.325 10.55" width="11.325" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.55)"> <g transform="translate(72,-63.56)"> <text transform="matrix(1,0,0,-1,-71.95,63.61)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>位于边界之间的地板上,一个静态障碍满足CE。这一点<年代vg height="10.325" id="M138" style="vertical-align:-0.0pt;width:11.625px;" version="1.1" viewbox="0 0 11.625 10.325" width="11.625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>这不是位于边界不满足CE。因此,<年代vg height="10.325" id="M139" style="vertical-align:-0.0pt;width:11.625px;" version="1.1" viewbox="0 0 11.625 10.325" width="11.625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>创建一个新的层边界点<年代vg height="12.5625" id="M140" style="vertical-align:-0.0pt;width:15.975px;" version="1.1" viewbox="0 0 15.975 12.5625" width="15.975" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.5625)"> <g transform="translate(72,-61.95)"> <text transform="matrix(1,0,0,-1,-71.95,62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.75,67.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="12.5625" id="M141" style="vertical-align:-0.0pt;width:15.975px;" version="1.1" viewbox="0 0 15.975 12.5625" width="15.975" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.5625)"> <g transform="translate(72,-61.95)"> <text transform="matrix(1,0,0,-1,-71.95,62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.75,67.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>跟踪从<年代vg height="9.125" id="M142" style="vertical-align:-0.11285pt;width:5.0124998px;" version="1.1" viewbox="0 0 5.0124998 9.125" width="5.0124998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.125)"> <g transform="translate(72,-64.7)"> <text transform="matrix(1,0,0,-1,-71.95,64.86)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>来<年代vg height="10.95" id="M143" style="vertical-align:-0.12538pt;width:35.375px;" version="1.1" viewbox="0 0 35.375 10.95" width="35.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.95)"> <g transform="translate(72,-63.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.689105" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.029325" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.280827" y="0"> </t年代p一个n></text> </g> </g> </svg>。使用跟踪的结果,确认是否我们的机器人<年代vg height="12.5625" id="M144" style="vertical-align:-0.0pt;width:15.975px;" version="1.1" viewbox="0 0 15.975 12.5625" width="15.975" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.5625)"> <g transform="translate(72,-61.95)"> <text transform="matrix(1,0,0,-1,-71.95,62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.75,67.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>满足CE。因为<年代vg height="12.5625" id="M145" style="vertical-align:-0.0pt;width:15.975px;" version="1.1" viewbox="0 0 15.975 12.5625" width="15.975" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.5625)"> <g transform="translate(72,-61.95)"> <text transform="matrix(1,0,0,-1,-71.95,62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.75,67.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>位于边界,<年代vg height="12.5625" id="M146" style="vertical-align:-0.0pt;width:15.975px;" version="1.1" viewbox="0 0 15.975 12.5625" width="15.975" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.5625)"> <g transform="translate(72,-61.95)"> <text transform="matrix(1,0,0,-1,-71.95,62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.75,67.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>在这种情况下满足CE。因此,的位置<年代vg height="10.325" id="M147" style="vertical-align:-0.0pt;width:11.625px;" version="1.1" viewbox="0 0 11.625 10.325" width="11.625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>改变的位置吗<年代vg height="12.5625" id="M148" style="vertical-align:-0.0pt;width:15.975px;" version="1.1" viewbox="0 0 15.975 12.5625" width="15.975" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.5625)"> <g transform="translate(72,-61.95)"> <text transform="matrix(1,0,0,-1,-71.95,62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.75,67.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="10.325" id="M149" style="vertical-align:-0.0pt;width:11.625px;" version="1.1" viewbox="0 0 11.625 10.325" width="11.625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>被归为一个静态障碍。这一点<年代vg height="10.6125" id="M150" style="vertical-align:-0.15048pt;width:11.8625px;" version="1.1" viewbox="0 0 11.8625 10.6125" width="11.8625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6125)"> <g transform="translate(72,-63.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>位于一个移动的障碍和地板之间的界限也不满足CE。这一点<年代vg height="10.6125" id="M151" style="vertical-align:-0.15048pt;width:11.8625px;" version="1.1" viewbox="0 0 11.8625 10.6125" width="11.8625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6125)"> <g transform="translate(72,-63.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>创建一个新的观点<年代vg height="12.75" id="M152" style="vertical-align:-0.15048pt;width:16.200001px;" version="1.1" viewbox="0 0 16.200001 12.75" width="16.200001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.75)"> <g transform="translate(72,-61.8)"> <text transform="matrix(1,0,0,-1,-71.95,62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.56,67.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和它的位置确认。因为维<年代vg height="6.9875002" id="M153" style="vertical-align:-0.13794pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 6.9875002" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,6.9875)"> <g transform="translate(72,-66.41)"> <text transform="matrix(1,0,0,-1,-71.95,66.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>很小,边界上的点并不创建一个新的点远离原始点。的位置<年代vg height="12.75" id="M154" style="vertical-align:-0.15048pt;width:16.200001px;" version="1.1" viewbox="0 0 16.200001 12.75" width="16.200001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,12.75)"> <g transform="translate(72,-61.8)"> <text transform="matrix(1,0,0,-1,-71.95,62)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-62.56,67.01)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>不满足CE在这种情况下,<年代vg height="10.6125" id="M155" style="vertical-align:-0.15048pt;width:11.8625px;" version="1.1" viewbox="0 0 11.8625 10.6125" width="11.8625" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6125)"> <g transform="translate(72,-63.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.71)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>被认为是一个移动的障碍。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig4"> <div class="floats-partial-content fig-content-fig4"> <div class="partial-carousel--single-image"> <img alt="" name="683975.fig.004" src="https://static-01.hindawi.com/articles/jr/volume-2011/683975/figures/683975.fig.004.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图4</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/683975/fig4/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 分类过程的例子使用地板边界点。从左边三角形跟踪图像正确的图像。圈是追踪从右边图像左边图像。机器人移动到20厘米。</t一个ble></d我v> </div> </div> <p>如果阈值低的机器人的激活,所有点都坐落在地板上。然而,它们都位于边界和机器人,和自由空间看起来很小。我们的分类方法首先使用阈值高,检测到的边界是一个小比真正的边界。移动和确认CE细化每个方向地面边界点的阈值划分为一个移动的障碍所在。最后,机器人适应每个方向的阈值,可以准确地定位和分类障碍。当照明和地板颜色变化,我们的机器人适应阈值。</p><gydF4y2Bah4 id="evaluation">4所示。评价</gydF4y2Bah4> <h5 id="sec4.1">4.1。我们的机器人和实验系统</gydF4y2Bah5> <p>我们检测方法实现我们的机器人叫做ApriTau如图<一个href="//www.newsama.com/journals/jr/2011/683975/fig5/" target="_blank">5</一个>离开了。它有一个工具可以获得量距数据。一个全向相机安装在它的头顶,不移动头部运动。将图片移动时,同步数据量距。ApriTau需要图像的大小是320×240像素连续30 fps。它有麦克风和触觉传感器。它可以检测人们利用这些传感器基于方法如部分所示<一个href="#sec2.2.1">2.2。1</一个>。它可以移动它的头,凝视的交互合作伙伴。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig5"> <div class="floats-partial-content fig-content-fig5"> <div class="partial-carousel--single-image"> <img alt="" name="683975.fig.005" src="https://static-01.hindawi.com/articles/jr/volume-2011/683975/figures/683975.fig.005.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图5</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/683975/fig5/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> ApriTau和实验设置。</t一个ble></d我v> </div> </div> <p>图<一个href="//www.newsama.com/journals/jr/2011/683975/fig6/" target="_blank">6</一个>展示了我们的障碍分类系统,机器人动作。输入是连续全向图像。输出的结果是每个方向的分类。系统检测到360层边界点使用跟踪的结果之前的点或地板在图像检测方法<年代vg height="10.95" id="M156" style="vertical-align:-0.12538pt;width:35.375px;" version="1.1" viewbox="0 0 35.375 10.95" width="35.375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.95)"> <g transform="translate(72,-63.24)"> <text transform="matrix(1,0,0,-1,-71.95,63.41)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.689105" y="0"> −</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="18.029325" y="0"> d</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="24.280827" y="0"> </t年代p一个n></text> </g> </g> </svg>。红色方块或蓝色点层边界点在图<一个href="//www.newsama.com/journals/jr/2011/683975/fig7/" target="_blank">7</一个>。检测到360点每一个学位。这些点跟踪和分类。在图<一个href="//www.newsama.com/journals/jr/2011/683975/fig7/" target="_blank">7</一个>,蓝色的点和红色方块分为静态障碍和运动障碍(人),分别。它们中的大多数都是位于地板和障碍之间的边界。红线是来自图像中心平均的红点的位置。该系统集成层边界点被归类为运动障碍如红线,当点被归类为运动障碍(少于10度)附近的其他点归类为移动障碍。为了学习地板的颜色,我们的机器人被激活的空闲空间大小是1.0 (m), 2.0 (m)。我们假设我们能找到之前打开设备的空间。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig6"> <div class="floats-partial-content fig-content-fig6"> <div class="partial-carousel--single-image"> <img alt="" name="683975.fig.006" src="https://static-01.hindawi.com/articles/jr/volume-2011/683975/figures/683975.fig.006.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图6</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/683975/fig6/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 整个系统的分类。</t一个ble></d我v> </div> </div> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig7"> <div class="floats-partial-content fig-content-fig7"> <div class="partial-carousel--single-image"> <img alt="" name="683975.fig.007" src="https://static-01.hindawi.com/articles/jr/volume-2011/683975/figures/683975.fig.007.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图7</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/683975/fig7/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 分类系统的输出。</t一个ble></d我v> </div> </div> <p>在这些实验中,阈值<年代vg height="14.2375" id="M157" style="vertical-align:-3.13504pt;width:18.15px;" version="1.1" viewbox="0 0 18.15 14.2375" width="18.15" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.2375)"> <g transform="translate(72,-60.61)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和<年代vg height="14.2375" id="M158" style="vertical-align:-3.13504pt;width:19.637501px;" version="1.1" viewbox="0 0 19.637501 14.2375" width="19.637501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.2375)"> <g transform="translate(72,-60.61)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和参数<年代vg height="9.875" id="M159" style="vertical-align:-2.29482pt;width:7.7624998px;" version="1.1" viewbox="0 0 7.7624998 9.875" width="7.7624998" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,9.875)"> <g transform="translate(72,-64.1)"> <text transform="matrix(1,0,0,-1,-71.95,66.44)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>如部分所示<一个href="#sec3.1">3.1</一个>地板检测是18000,10像素,分别和3。这些阈值和参数是决定实验,考虑图像的分辨率。</p><gydF4y2Bah5 id="sec4.2">4.2。确认检测人而机器人站在和与人交互</gydF4y2Bah5> <h6 id="sec4.2.1">4.2.1。准备目标和一系列实验</gydF4y2Bah6> <p>我们调查了我们的方法检测是否交互合作伙伴而机器人站在和与人交互。我们要求4人与机器人自由。我们的机器人看着最友好的地方,与人只通过使用简单的词语。两个贴标签机观察它们的交互并选择交互合作伙伴谁我们的机器人应该与在第二次基础上进行交互。</p><p>gydF4y2Ba我们评估我们的方法由两个值<年代vg height="10.6875" id="M160" style="vertical-align:-0.0pt;width:19.1px;" version="1.1" viewbox="0 0 19.1 10.6875" width="19.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6875)"> <g transform="translate(72,-63.45)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.9271421" y="0"> 1</t年代p一个n></text> </g> </g> </svg>和<年代vg height="10.6875" id="M161" style="vertical-align:-0.0pt;width:19.1px;" version="1.1" viewbox="0 0 19.1 10.6875" width="19.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6875)"> <g transform="translate(72,-63.45)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.9271421" y="0"> 2</t年代p一个n></text> </g> </g> </svg>所示(<一个href="#EEq13">13</一个>)和(<一个href="#EEq13">14</一个>):<gydF4y2Ba年代p一个ncl一个年代年代=”equation" id="EEq13"> <svg height="84.724998" id="M162" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 84.724998" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,84.725)"> <g transform="translate(72,-4.22)"> <text transform="matrix(1,0,0,-1,181.82,54.56)"> <tspan style="font-size: 12.50px; " x="31.889999" 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style="font-size: 8.75px; " x="6.318944" y="0"> b</t年代p一个n></text> <text transform="matrix(1,0,0,-1,233.89,54.56)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-22.52" y="29.1"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="233.98" y="0.41"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="238.14349" y="0.41"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="244.395" y="0.41"> 3</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="250.6465" y="0.41"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-54.400002" y="38.330002"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-45.472858" y="38.330002"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="-35.758026" y="38.330002"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,218.25,22.34)"> <tspan style="font-size: 8.75px; " x="0" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.702096" y="0"> x</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.0780964" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.511152" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="13.845664" y="0"> t</t年代p一个n></text> <g> <path d="m 211.37,19.36 23.66,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,213.92,7.48)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,220.8,4.36)"> <tspan style="font-size: 8.75px; " x="0" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> u</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.7519999" y="0"> t</t年代p一个n></text> <text transform="matrix(1,0,0,-1,236.22,16.23)"> <tspan style="font-size: 12.50px; " x="0" y="0"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="231.64999" y="0.41"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="235.81349" y="0.41"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="242.065" y="0.41"> 4</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="248.3165" y="0.41"> )</t年代p一个n></text> </g> </g> </svg></span></p> <p> <svg height="14.35" id="M164" style="vertical-align:-3.22281pt;width:22.7125px;" version="1.1" viewbox="0 0 22.7125 14.35" width="22.7125" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.35)"> <g transform="translate(72,-60.52)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> l</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.4330561" y="0"> 一个</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="6.318944" y="0"> b</t年代p一个n></text> </g> </g> </svg>显示了相同时间当两个贴标签机选择合作伙伴。<年代vg height="14.35" id="M165" style="vertical-align:-3.22281pt;width:23.862499px;" version="1.1" viewbox="0 0 23.862499 14.35" width="23.862499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.35)"> <g transform="translate(72,-60.52)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> r</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="2.8619039" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="7.2379041" y="0"> b</t年代p一个n></text> </g> </g> </svg>显示时间当两个贴标签机和机器人一样选择合作伙伴。<年代vg height="14.35" id="M166" style="vertical-align:-3.22281pt;width:23.325001px;" version="1.1" viewbox="0 0 23.325001 14.35" width="23.325001" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.35)"> <g transform="translate(72,-60.52)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> o</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="4.3759999" y="0"> u</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.7519999" y="0"> t</t年代p一个n></text> </g> </g> </svg>显示了时间当我们的机器人输出检测。<年代vg height="14.35" id="M167" style="vertical-align:-3.22281pt;width:29.6875px;" version="1.1" viewbox="0 0 29.6875 14.35" width="29.6875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.35)"> <g transform="translate(72,-60.52)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-65.07,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> e</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="3.702096" y="0"> x</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="8.0780964" y="0"> 我</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="10.511152" y="0"> 年代</t年代p一个n><t年代p一个n style="font-size: 8.75px; " x="13.845664" y="0"> t</t年代p一个n></text> </g> </g> </svg>显示了时间当我们的机器人输出检测正确的人。</p><gydF4y2Bah6 id="sec4.2.2">4.2.2。结果和讨论</gydF4y2Bah6> <p>实验结果表明,<年代vg height="10.6875" id="M168" style="vertical-align:-0.0pt;width:19.1px;" version="1.1" viewbox="0 0 19.1 10.6875" width="19.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6875)"> <g transform="translate(72,-63.45)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.9271421" y="0"> 1</t年代p一个n></text> </g> </g> </svg>表示0.95和<年代vg height="10.6875" id="M169" style="vertical-align:-0.0pt;width:19.1px;" version="1.1" viewbox="0 0 19.1 10.6875" width="19.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6875)"> <g transform="translate(72,-63.45)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.9271421" y="0"> 2</t年代p一个n></text> </g> </g> </svg>0.87表示。我们认为<年代vg height="10.6875" id="M170" style="vertical-align:-0.0pt;width:19.1px;" version="1.1" viewbox="0 0 19.1 10.6875" width="19.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6875)"> <g transform="translate(72,-63.45)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.9271421" y="0"> 1</t年代p一个n></text> </g> </g> </svg>足够高来检测人叫机器人。<年代vg height="10.6875" id="M171" style="vertical-align:-0.0pt;width:19.1px;" version="1.1" viewbox="0 0 19.1 10.6875" width="19.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6875)"> <g transform="translate(72,-63.45)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.9271421" y="0"> 1</t年代p一个n></text> </g> </g> </svg>高于<年代vg height="10.6875" id="M172" style="vertical-align:-0.0pt;width:19.1px;" version="1.1" viewbox="0 0 19.1 10.6875" width="19.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6875)"> <g transform="translate(72,-63.45)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.9271421" y="0"> 2</t年代p一个n></text> </g> </g> </svg>,这表明我们机器人特别是可以选择人类(贴标签机)的人可以选择只观察交互。</p><p>gydF4y2Ba的原因之一<年代vg height="10.6875" id="M173" style="vertical-align:-0.0pt;width:19.1px;" version="1.1" viewbox="0 0 19.1 10.6875" width="19.1" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.6875)"> <g transform="translate(72,-63.45)"> <text transform="matrix(1,0,0,-1,-71.95,63.5)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="8.9271421" y="0"> 2</t年代p一个n></text> </g> </g> </svg>有点低,人们不总是叫机器人。因此,我们的机器人和贴标签机不选择相互作用的人。我们认为这不是一个问题,因为我们的系统旨在检测人叫机器人。</p><gydF4y2Bah5 id="sec4.3">4.3。评估障碍分类</gydF4y2Bah5> <h6 id="sec4.3.1">4.3.1。目标和一系列实验</gydF4y2Bah6> <p>为了证实改变阈值的有效性<年代vg height="6.9875002" id="M174" style="vertical-align:-0.13794pt;width:9.3000002px;" version="1.1" viewbox="0 0 9.3000002 6.9875002" width="9.3000002" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,6.9875)"> <g transform="translate(72,-66.41)"> <text transform="matrix(1,0,0,-1,-71.95,66.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>动态基于CE的结果,我们的分类率方法相比与一个简单的方法使用一个常数阈值和先前的方法。与前面的方法中,我们使用的方法修改全向图像一般图像和检测运动不同于运动的背景,所示(<一个href="#B26">26</一个>]。地板的颜色并不复杂。实验步骤如下。<年代p一个ncl一个年代年代=”l我年代t”><span class="list-item"><span class="list-label">(1)</年代p一个n><年代p一个ncl一个年代s="list-content">ApriTau和另一个机器人在给定的路线。他们互相传递。</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(2)</年代p一个n><年代p一个ncl一个年代s="list-content">ApriTau图像同步测距数据不断移动时。</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(3)</年代p一个n><年代p一个ncl一个年代s="list-content">测程法的图像和数据输入的系统方法,最简单的方法,和前面的方法。注意,虽然相同的数据输入三个系统,每个系统流程有些人因为不同的处理速度。</年代p一个n></年代p一个n><span class="list-item"><span class="list-label">(4)</年代p一个n><年代p一个ncl一个年代s="list-content">分类率的方法,简单的方法,和前面的方法计算了输出。</年代p一个n></年代p一个n></span></p> <p>在这个实验中,是分类的比例<年代vg height="10.325" id="M175" style="vertical-align:-0.0pt;width:12.05px;" version="1.1" viewbox="0 0 12.05 10.325" width="12.05" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>值计算的召回率<年代vg height="10.325" id="M176" style="vertical-align:-0.0pt;width:11.6875px;" version="1.1" viewbox="0 0 11.6875 10.325" width="11.6875" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>和查准率<年代vg height="10.325" id="M177" style="vertical-align:-0.0pt;width:11.75px;" version="1.1" viewbox="0 0 11.75 10.325" width="11.75" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>所示(<一个href="#EEq15">15</一个>)。在这里,<年代vg height="14.2375" id="M178" style="vertical-align:-3.13504pt;width:21.887501px;" version="1.1" viewbox="0 0 21.887501 14.2375" width="21.887501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.2375)"> <g transform="translate(72,-60.61)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-61.31,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>,<年代vg height="14.3625" id="M179" style="vertical-align:-3.2316pt;width:22.275px;" version="1.1" viewbox="0 0 22.275 14.3625" width="22.275" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.3625)"> <g transform="translate(72,-60.51)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-61.31,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>,<年代vg height="14.375" id="M180" style="vertical-align:-3.24037pt;width:22.262501px;" version="1.1" viewbox="0 0 22.262501 14.375" width="22.262501" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,14.375)"> <g transform="translate(72,-60.5)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,-61.31,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>显示图片的数量,另一个移动机器人预计,障碍的数量系统划分为运动障碍,运动障碍系统输出的数量和正确定位,分别为:<年代p一个ncl一个年代年代=”equation" id="EEq15"> <svg height="36.849998" id="M181" preserveaspectratio="xMaxYMin" style="vertical-align:-0pt;width:700.9375px;" version="1.1" viewbox="0 0 700.9375 36.849998" width="700.9375" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,36.85)"> <g transform="translate(72,-42.52)"> <text transform="matrix(1,0,0,-1,104.4,54.54)"> <tspan style="font-size: 12.50px; " x="25.959999" y="-9.25"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="12.728054" y="0"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,141,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 130.36,57.67 17.71,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,130.51,45.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,141.15,42.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,149.27,54.54)"> <tspan style="font-size: 12.50px; " x="49.27" y="-9.25"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.131029" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.033646" y="0"> =</t年代p一个n></text> <text transform="matrix(1,0,0,-1,209.18,60.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <g> <path d="m 198.54,57.67 17.72,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,198.54,45.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,209.18,42.66)"> <tspan style="font-size: 8.75px; " x="0" y="0"> </t年代p一个n></text> <text transform="matrix(1,0,0,-1,217.45,54.54)"> <tspan style="font-size: 12.50px; " x="0" y="0"> ,</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="25.131029" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.333717" y="0"> =</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="57.669998" y="-7.25"> 2</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="63.921501" y="-7.25"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="73.173721" y="-7.25"> </t年代p一个n></text> <g> <path d="m 267.02,57.67 41.01,0" style="fill:none;stroke:#000000;stroke-width:0.82499999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:10;stroke-opacity:1;stroke-dasharray:none"></path> </g> <text transform="matrix(1,0,0,-1,267.02,45.79)"> <tspan style="font-size: 12.50px; " x="42.200001" y="-8.75"> 。</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="0" y="0"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="4.1634989" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="16.191385" y="0"> +</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="27.531607" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="36.833839" y="0"> )</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="200.85001" y="-8.3400002"> (</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="205.0135" y="-8.3400002"> 1</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="211.265" y="-8.3400002"> 5</t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="217.51649" y="-8.3400002"> )</t年代p一个n></text> </g> </g> </svg></span></p> <h6 id="sec4.3.2">4.3.2。结果和讨论</gydF4y2Bah6> <p>三种方法的分类比例如表所示<一个href="//www.newsama.com/journals/jr/2011/683975/tab2/" target="_blank">2</一个>。我们的方法的分类比是4倍的简单方法,以前的方法。特别是,提高查准率影响<年代vg height="10.325" id="M182" style="vertical-align:-0.0pt;width:12.05px;" version="1.1" viewbox="0 0 12.05 10.325" width="12.05" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>价值。的一个原因我们方法的查准率远远高于简单的方法是,ApriTau可以选择地板边界点显示移动障碍的候选人CE和搬迁点正确通过加强阈值检测每一个点。结果表明,点定位的准确性大大影响分类的比例。的原因之一<年代vg height="10.325" id="M183" style="vertical-align:-0.0pt;width:12.05px;" version="1.1" viewbox="0 0 12.05 10.325" width="12.05" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.325)"> <g transform="translate(72,-63.74)"> <text transform="matrix(1,0,0,-1,-71.95,63.79)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n></text> </g> </g> </svg>前面的方法是低的值是通过改变全向图像丢失信息的图像。另一个原因是,ApriTau和另一个机器人通过对方。另一个机器人的运动类似于背景的运动,和前面的方法不能检测到另一个机器人。</p><d我v class="floats-partial-section partial-other-wrapper" data-section="tab2"> <div class="floats-partial-content fig-content-tab2"> <table class="table-group" id="tab2"> <tbody> <tr> <td> <table class="table"> <tbody> <tr> <td class="thead-hr" colspan="4"> <hr></td> </tr> <tr class="thead"> <td align="left">方法</td><td一个l我gn="center">查全率</td><td一个l我gn="center">查准率</td><td一个l我gn="center"><i>F</我>价值</td></tr><tr> <td class="thead-hr" colspan="4"> <hr></td> </tr> <tr> <td align="left">以前的</td><td一个l我gn="center">0.18 (3/17)</td><td一个l我gn="center">0.25 (3/12)</td><td一个l我gn="center">0.21</td></tr><tr> <td align="left">简单的</td><td一个l我gn="center">0.63 (10/16)</td><td一个l我gn="center">0.13 (10/79)</td><td一个l我gn="center">0.21</td></tr><tr> <td align="left">我们的</td><td一个l我gn="center">0.94 (17/18)</td><td一个l我gn="center">0.77 (17/22)</td><td一个l我gn="center">0.85</td></tr><tr class="table-tr"> <td colspan="4"> <hr class="tbody-hr"></td> </tr> </tbody> </table></td> </tr> </tbody> </table> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">表2</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/683975/tab2/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 分类比率。</d我v> </div> </div> <p>然而,我们的方法的查准率低是一个小机器人的平稳运动。在本文中,我们假设错误跟踪点是非常小的,这的确是正确的在某种程度上为图像坐标。在全向相机图像的情况下,距离分辨率的变化取决于图像中心的距离。是很低的一个遥远的地方。跟踪错误的几个像素成为错误几米的世界坐标。因为错误的几米,(<一个href="#EEq12">12</一个>CE)不能正常工作。在地板上边界点位于一个位置远离中心的形象,我们必须长时间跟踪和使用其平均运动。此外,它也可能是有效的使用而不是固定的参数自适应方案<年代vg height="10.75" id="M184" style="vertical-align:-0.15048pt;width:17.612499px;" version="1.1" viewbox="0 0 17.612499 10.75" width="17.612499" xmlns="http://www.w3.org/2000/svg"> <g transform="matrix(1.25,0,0,-1.25,0,10.75)"> <g transform="translate(72,-63.4)"> <text transform="matrix(1,0,0,-1,-71.95,63.6)"> <tspan style="font-size: 12.50px; " x="0" y="0"> </t年代p一个n><t年代p一个n style="font-size: 12.50px; " x="6.6515961" y="0"> </t年代p一个n></text> </g> </g> </svg>如部分所示<一个href="#sec3.2.2">3.2。2</一个>。</p><gydF4y2Bah5 id="sec4.4">4.4。评价的人检测</gydF4y2Bah5> <h6 id="sec4.4.1">4.1.1。目标和一系列实验</gydF4y2Bah6> <p>为了证实我们的方法检测人移动,我们计算的分类比例在不同的模式。在这个实验中,一个人,ApriTau给定的路线如图<一个href="//www.newsama.com/journals/jr/2011/683975/fig8/" target="_blank">8</一个>,<gydF4y2Ba一个href="//www.newsama.com/journals/jr/2011/683975/fig9/" target="_blank">9</一个>,<gydF4y2Ba一个href="//www.newsama.com/journals/jr/2011/683975/fig10/" target="_blank">10</一个>。为了证实我们的方法的基本能力,ApriTau和一个人直接和旋转。一样的实验部分<一个href="#sec4.3">4.3</一个>,ApriTau需要图像与测程法同步数据和分类率的计算方法。</p><d我v class="floats-partial-section partial-carousel-wrapper" data-section="fig8"> <div class="floats-partial-content fig-content-fig8"> <div class="partial-carousel--single-image"> <img alt="" name="683975.fig.008" src="https://static-01.hindawi.com/articles/jr/volume-2011/683975/figures/683975.fig.008.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图8</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/683975/fig8/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 实验设置(模式1和3)。</t一个ble></d我v> </div> </div> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig9"> <div class="floats-partial-content fig-content-fig9"> <div class="partial-carousel--single-image"> <img alt="" name="683975.fig.009" src="https://static-01.hindawi.com/articles/jr/volume-2011/683975/figures/683975.fig.009.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图9</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/683975/fig9/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 实验设置(模式2和4)。</t一个ble></d我v> </div> </div> <div class="floats-partial-section partial-carousel-wrapper" data-section="fig10"> <div class="floats-partial-content fig-content-fig10"> <div class="partial-carousel--single-image"> <img alt="" name="683975.fig.0010" src="https://static-01.hindawi.com/articles/jr/volume-2011/683975/figures/683975.fig.0010.jpg"> <br> <strong></strong> </div> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">图10</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/683975/fig10/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> <table> 实验设置(5)模式。</t一个ble></d我v> </div> </div> <h6 id="sec4.4.2">10/24/11。结果和讨论</gydF4y2Bah6> <p>每个模式的分类比例如表所示<一个href="//www.newsama.com/journals/jr/2011/683975/tab3/" target="_blank">3</一个>。分类比率的人走路(模式1和2)高于0.77,这是高达的分类比例部分<一个href="#sec4.3">4.3</一个>。分类比率的人运行(模式3和4)有点低。的原因之一的分类比例略低,运行人员和地板之间的界限是更复杂的比步行的人之间的边界和地板上。复杂的边界可以使机器人无法准确检测层边界点。我们认为增加层边界点可以解决这个问题。</p><d我v class="floats-partial-section partial-other-wrapper" data-section="tab3"> <div class="floats-partial-content fig-content-tab3"> <table class="table-group" id="tab3"> <tbody> <tr> <td> <table class="table"> <tbody> <tr> <td class="thead-hr" colspan="4"> <hr></td> </tr> <tr class="thead"> <td align="left">模式</td><td一个l我gn="center">查全率</td><td一个l我gn="center">查准率</td><td一个l我gn="center"><i>F</我>价值</td></tr><tr> <td class="thead-hr" colspan="4"> <hr></td> </tr> <tr> <td align="left">1</td><td一个l我gn="center">1.00 (21/21)</td><td一个l我gn="center">0.64 (21/33)</td><td一个l我gn="center">0.79</td></tr><tr> <td align="left">2</td><td一个l我gn="center">0.98 (42/43)</td><td一个l我gn="center">0.64 (42/67)</td><td一个l我gn="center">0.77</td></tr><tr> <td align="left">3</td><td一个l我gn="center">0.80 (16/20)</td><td一个l我gn="center">0.64 (17/29)</td><td一个l我gn="center">0.71</td></tr><tr> <td align="left">4</td><td一个l我gn="center">0.93 (42/45)</td><td一个l我gn="center">0.59 (42/74)</td><td一个l我gn="center">0.72</td></tr><tr> <td align="left">5</td><td一个l我gn="center">0.93 (13/14)</td><td一个l我gn="center">0.57 (13/23)</td><td一个l我gn="center">0.71</td></tr><tr class="table-tr"> <td colspan="4"> <hr class="tbody-hr"></td> </tr> </tbody> </table></td> </tr> </tbody> </table> </div> <div class="floats-partial-footer"> <div class="floats-partial-caption"> <span class="caption-text">表3</年代p一个n><一个一个r我一个-label="full view" class="caption-partial-url" href="//www.newsama.com/journals/jr/2011/683975/tab3/" title="" target="_blank"></a> </div> <div class="floats-partial-caption-text"> 分类比率在不同的模式。</d我v> </div> </div> <p>机器人的分类比例在旋转(5)模式也有点低。的原因之一的分类比例有点低,跟踪区域在图像的旋转变化多跟踪区域的连续过渡(模式1 - 4)。改变跟踪区域非常让机器人无法跟踪地面边界点。此外,我们需要同步时间戳之间的测程法和图像。我们也认为它是有效的考虑感知的不确定性。测程法的准确性或跟踪不同根据机器人的运动。我们必须使用概率方法在未来的工作。</p><gydF4y2Bah4 id="conclusion">5。结论</gydF4y2Bah4> <p>这项工作处理两个问题的人所需的导航机器人系统的检测。一个机器人是如何检测的人称之为积极而站在为了选择一个人。另一个是如何移动的全向相机检测到所有移动机器人在移动周围的人为了安全移动。改变人们检测方法根据任务的机器人,我们的目标是选择的人需要导航和检测移动的人在机器人移动特定的安全。</p><p>gydF4y2Ba为了解决第一个问题,我们已经开发出一种检测方法基于“友好空间地图,”,关注的是“空间”,而不是人找到并选择积极的人叫我们的机器人。</p><p>gydF4y2Ba为了解决第二个问题,我们已经开发出新的方法,侧重于地板边界点,一个全向相机可以测量机器人的距离。点是被地板检测方法利用沃德的聚类寻找代表颜色和距离确定地板的颜色。对于检测移动的人来说,我们的机器人跟踪边界点的地板上。地板比较机器人的运动和边界点的运动,我们的机器人检测到移动的人们和动态变化的阈值检测使用的地板上。</p><p>gydF4y2Ba我们进行了三个实验。第一个实验结果显示,我们的机器人检测到95%的人积极调用机器人通过友好空间地图。在第二个实验中,我们证实了分类比例增加到85%,这是以前的方法的四倍。第三个实验结果显示,我们的方法在不同的情况下可以检测到移动的人。在未来的工作中,我们计划评估我们的导航系统在一个拥挤的地方,比如超市。(本文是一个扩展版的会议论文(<一个href="#B27">27</一个>)的附加描述移动人探测和导航机器人系统。)</p><gydF4y2Bah4 id="acknowledgment">承认</gydF4y2Bah4> <p>这项研究受到了新能源和工业技术发展组织(NEDO、日本)项目的战略发展先进的机器人基本技术,运输机器人系统在服务机器人领域,和机器人运输系统为商业设施。</p></d我v> <div class="xml-content"> <h4 class="references" 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Okuno" target="_blank">谷歌学术搜索</一个></年代p一个n></li> </ol> </div> <div class="xml-content"> <h4 class="copyright" id="copyright">版权</gydF4y2Bah4> <p>版权©2011 Tsuyoshi Tasaki等。这是一个开放的分布式下文章<一个rel=”l我cen年代e”href="http://creativecommons.org/licenses/by/3.0/">知识共享归属许可</一个>,它允许无限制的使用、分配和复制在任何媒介,提供最初的工作是正确引用。</p></d我v> </div> </article> </div> </div> </div> <div class="biblio__Wrapper-sc-1nou1lz-0 eyHfWh journal_article__BiblioIntegratorWidget-sc-12fk6zy-5 dbAANp article_widget biblioWrapper hide"> <hr> <h4 class="biblio__H4-sc-1nou1lz-2 kgAKHb hrTitleRef">更多相关文章</gydF4y2Bah4> <div id="biblio_widget" class="biblio__BiblioWrapper-sc-1nou1lz-1 ghauYU"></div> </div> </div> </div> <div class="threeColumn__RightWrapper-sc-1bf4078-2 jzTMLK rightWrapper" id="rightSectionMenu"> <div> <div class="journal_article__ArticleStickyTopToolbar-sc-12fk6zy-0 gbrQxi article_sticky_top_toolbar"> <div class="sc-keVrkP cMXuwG article_top_toolbar"> <a class="sc-htpNat bUhGXt link sc-elJkPf ghbfGn sc-gVLVqr dEdHfs 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height="24"><span class="text">引用</年代p一个n></年代p一个n><span class="sc-htoDjs bqeMOy sc-kTUwUJ fKwwpq fileArrow icon-colored _3P4iUn1NDM5G77nWCamJ4l icon-themeable" title="" font-size="20"></span></a> </div> </div> <div class="journal_article__ArticleStickyBottomToolbar-sc-12fk6zy-1 isgRZA article_sticky_bottom_toolbar"> <div class="sc-iYUSvU xdFeU article_bottom_toolbar"> <div class="sc-cHSUfg hlwZCh accordion" property="background-color" color="#D8D8D8" id="toolbar__dofNav"> <span><img alt="" class="sc-EHOje jOLhQl sc-iNhVCk fhBqDd" title="" role="presentation" src="data:image/svg+xml;base64,PHN2ZyB4bWxucz0iaHR0cDovL3d3dy53My5vcmcvMjAwMC9zdmciIHhtbG5zOnhsaW5rPSJodHRwOi8vd3d3LnczLm9yZy8xOTk5L3hsaW5rIiB3aWR0aD0iMjAiIGhlaWdodD0iMjIiIHZpZXdCb3g9IjAgMCAyMCAyMiI+PGRlZnM+PGNsaXBQYXRoIGlkPSJhIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjE2YTEsMSwwLDAsMSwyLDB2M2ExLDEsMCwwLDAsMSwxSDE3YTEsMSwwLDAsMCwxLTFWMTZhMSwxLDAsMSwxLDIsMHYzYTMsMywwLDAsMS0zLDNabTYuMjg4LTYuMy00LTRhMSwxLDAsMCwxLDEuNDE0LTEuNDE0TDksMTIuNTg2VjFhMSwxLDAsMCwxLDIsMFYxMi41ODZsMi4yOTMtMi4yOTNhMSwxLDAsMCwxLDEuNDE0LDEuNDE0bC00LDRhMSwxLDAsMCwxLTEuNDIzLDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgyIDEpIi8+PC9jbGlwUGF0aD48L2RlZnM+PGcgdHJhbnNmb3JtPSJ0cmFuc2xhdGUoLTIgLTEpIj48cGF0aCBkPSJNMywyMmEzLDMsMCwwLDEtMy0zVjE2YTEsMSwwLDAsMSwyLDB2M2ExLDEsMCwwLDAsMSwxSDE3YTEsMSwwLDAsMCwxLTFWMTZhMSwxLDAsMSwxLDIsMHYzYTMsMywwLDAsMS0zLDNabTYuMjg4LTYuMy00LTRhMSwxLDAsMCwxLDEuNDE0LTEuNDE0TDksMTIuNTg2VjFhMSwxLDAsMCwxLDIsMFYxMi41ODZsMi4yOTMtMi4yOTNhMSwxLDAsMCwxLDEuNDE0LDEuNDE0bC00LDRhMSwxLDAsMCwxLTEuNDIzLDBaIiB0cmFuc2Zvcm09InRyYW5zbGF0ZSgyIDEpIi8+PGcgY2xpcC1wYXRoPSJ1cmwoI2EpIj48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiIGZpbGw9InJnYmEoMCwwLDAsMCkiLz48cmVjdCB3aWR0aD0iMjQiIGhlaWdodD0iMjQiLz48L2c+PC9nPjwvc3ZnPg==" height="24"><span class="sc-bfYoXt jLRaNL">下载其他格式</年代p一个n><年代p一个ncl一个年代s="sc-gbOuXE kvCIiS">更多的</年代p一个n></年代p一个n> <span class="sc-htoDjs bMdQcY sc-eAKXzc bmKKdh icon-colored _1CwL9R82TPl2HxDleeYGDR icon-themeable" title="" font-size="11"></span> </div> <div class="sc-cTjmhe fEoWte"> <a class="sc-htpNat bUhGXt link sc-cugefK irOfVO open_panel" href="//www.newsama.com/downloads/journals/jr/2011/683975.epub" aria-label="ePub" property="background-color" color="#D8D8D8"> <div class="sc-fnwBNb gUqhXf"> ePub</d我v><img alt="" class="sc-EHOje jOLhQl sc-iNhVCk fhBqDd" title="" role="presentation" 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height="24"><span class="sc-bfYoXt jLRaNL">订单打印副本</年代p一个n><年代p一个ncl一个年代s="sc-gbOuXE kvCIiS">订单</年代p一个n></年代p一个n><span class="sc-htoDjs kNoiZu sc-eAKXzc bmKKdh right__icon icon-colored _32KP5uexH-Bgs7Kj8Gk1Tz icon-themeable" title="" font-size="16"></span></a> <div class="sc-bFADNz dxRcBT"> <div class="sc-cqpYsc bTgkQB"> <div> 的观点<年代p一个n>1016年年</年代p一个n></d我v> <div> 下载<年代p一个n>613年年</年代p一个n></d我v> </div> <div> <div class="sc-hBbWxd exhBez"> <span class="__dimensions_badge_embed__" data-doi="10.1155/2011/683975" data-style="small_circle"></span>引用</d我v> </div> </div> <nav class="sc-Rmtcm hZsedb sc-dRFtgE evqjui" id="toolbar__iconNav"> <h3 class="sc-csuQGl idXHYp">分享文章</gydF4y2Bah3> <ul class="sc-bRBYWo keayzM"> <li class="iconBorder"><a class="sc-htpNat bUhGXt link" href="https://twitter.com/share?url=https://doi.org/10.1155/2011/683975&via=Hindawi" aria-label="Sharing on Twitter" rel="noopener noreferrer" target="_blank"><img alt="" class="sc-EHOje jOLhQl socialTwitter" title="" 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