视直线

According to the stability of vanishing points of the projected lines on the image of a group of lines at infinity,the algorithms for camera calibration and indoor visual navigation of the autonomous mobile platform based on parallel s are proposed.

根据一组空间直线上的无穷远线素集在视平面上所形成的消失点对直线的平移具有稳定性的特点，提出了基于平行线的摄像机参数标定和自主移动平台室内视觉导航算法。

According to the stability of vanishing points of the projected lines on the image of a group of lines at infinity, the algorithms for camera calibration and indoor visual navigation of the autonomous mobile platform based on parallels are proposed.

根据一组空间直线上的无穷远线素集在视平面上所形成的消失点对直线的平移具有稳定性的特点，提出了基于平行线的摄像机参数标定和自主移动平台室内视觉导航算法。

According to actual condition, a model of wall thickness of rotary kiln is established. The constant coefficients in the model, including thermal conductivity, heat transfer coefficient, Fourier coefficient and contact resistance, are closely calculated. A formula of contact resistance is draw from a great deal of data of surface and inner temperature of rotary kiln. The wall thickness of rotary kiln is simulated by MATLAB. The simulation result is transmitted from MATLAB to DELPHI through a group of interface functions compiled by VC++. The basic graphs-circle and line are analyzed by the means of the technique of Visualization in Scientific Computing and the Bresenham arithmetic, and are realized the visualization of the wall thickness. The contents of communication between master computer and slaver computer are designed and the error control technique, the idea of multi-thread and the embedded assembly language are applied to realize the temperature data transmission and graph transmission, which largely improved the speed of transmission and the reliability and stability of system.

建立了符合现场实际的回转窑壁厚数学模型；结合现场采用红外测温仪测量所得的温度数据和回转窑的实际结构数据，确定出适合该模型的定常系数(包括导热系数、换热系数、傅立叶系数、接触热阻等)，并得出与回转窑工况的相近的接触热阻公式ln=T~(0.5154)-36.7868；利用MATLAB软件仿真出回转窑壁厚，并将运算结果通过在VC++的编译环境下编译出MATLAB和DELPHI的接口函数传输到该监测系统中，实现了温度数据的转换和交换；运用科学计算可视化技术和Bresenham扫描转换算法对基本图形——圆和直线进行分析，从而实现了仿真后的壁厚数据可视化；在研究异步串行通信方式的基础上，设计了该系统上下位机功能和通信内容，并运用差错控制技术、多线程思想以及嵌入式汇编语言实现了温度数据和图形数据在上下位机之间的远程传输，提高了数据传输的速率和系统的可靠性、稳定性。

The calculation algorithms of fundamental matrix and trifocal tensor from camera projection matrices are deduced in detail. These matrices are successfully applied to outlier detection and elimination of point and line observations.

本文系统阐述了两者的概念及其性质，详细推导了利用已知的投影矩阵计算基本矩阵及三视张量的具体方法，并成功应用于粗差点、直线段观测值的剔除。

Main contents of the thesis include point and edge extraction based on least-squares template matching; space circle template matching and reconstruction; outlier detection and elimination with fundamental matrix and trifocal tensor; improvement of Homography-based calibration technique, 2D-DLT and bundle adjustment based non-metric camera calibration technique with planar-scenes, point-line hybrid photogrammetry and visual inspection.

本文的主要研究内容包括影像格网点与直线段的自动最小二乘模板匹配；基于物方直接解的空间圆匹配与重建；利用基本矩阵和三视张量进行观测值粗差的剔除；同形矩阵摄像机标定算法的改进；基于二维 DLT 和光束法平差的非量测数字摄像机标定；点、线混合摄影测量模型与视觉检测精度分析等。

On the traditional electrical property parameter apparent resistivity curves, besides compact fine sandstone, igneous rock and limestone have obvious high-ohmic anomaly, there are no obvious electrical property difference between coal and wall rocks, the curve almost show itself a straight line; self-potential log also can hardly to reflect regularities.

常规的电性参数视电阻率曲线除致密的细砂岩、火成岩及灰岩有明显的高阻异常反映外，煤与围岩无明显的电性差异，曲线几乎呈一条直线；自然电位参数曲线反映规律性也较差。

Give out the trigonometric function solutions of fourth order equations, as a example with rectilinearly accelerating the Kerr black hole, the event horizon of non sphere symmetric and non stationary black hole are studied.

给出了具有实用价值的四次方程的三角解正根公式，并以匀加速直线运动的Kerr黑洞为例，成功的研究了非球对称动态黑洞的"类视界面"。

Rectilinear distortion: Most binoculars employ a slight pincushion distortion, which is intentionally installed to provide a smooth panning.

直线扭曲：大部分望远镜表现有轻微的枕形畸变，这是有意如此，为的是能得到平滑的视场盘。

Rectilinear distortion: All three binoculars show a moderate amount of pincushion distortion as it is commonly employed to compensate for the globe effect and to provide a smooth panning of the image.

直线畸变：所有三款镜子表现了中等程度的枕形畸变，作为补偿滚球效应的普通措施，并且能提供平滑的视场盘。

The computational methods of line element conic curve s tangent point decided by any line on projective plane is presented on the basis of this study.

从实际计算的角度出发，使用N矢量表示视平面上的点和直线，并由线素二次曲线的射影定义推导出线素二次曲线的N矢量方程；在此基础上，给出了射影平面上任意一条直线所确定的线素二次曲线切点的N矢量的计算方法。

This one mode pays close attention to network credence foundation of the businessman very much.

这一模式非常关注商人的网络信用基础。

Cell morphology of bacterial ghost of Pasteurella multocida was observed by scanning electron microscopy and inactivation ratio was estimated by CFU analysi.

扫描电镜观察多杀性巴氏杆菌细菌幽灵和菌落形成单位评价遗传灭活率。