Visual simultaneous localization and mapping (SLAM), based on point features, achieves high localization accuracy and map construction. They primarily perform simultaneous localization and mapping based on static features. Despite their efficiency and high precision, they are prone to instability and even failure in complex environments. In a dynamic environment, it is easy to keep track of failures and even failures in work. The dynamic object elimination method, based on semantic segmentation, often recognizes dynamic objects and static objects without distinction. If there are many semantic segmentation objects or the distribution of segmentation objects is uneven in the camera view, this may result in feature offset and deficiency for map matching and motion tracking, which will lead to problems, such as reduced system accuracy, tracking failure, and track loss. To address these issues, we propose a novel point-line SLAM system based on dynamic environments. The method we propose obtains the prior dynamic region features by detecting and segmenting the dynamic region. It realizes the separation of dynamic and static objects by proposing a geometric constraint method for matching line segments, combined with the epipolar constraint method of feature points. Additionally, a dynamic feature tracking method based on Bayesian theory is proposed to eliminate the dynamic noise of points and lines and improve the robustness and accuracy of the SLAM system. We have performed extensive experiments on the KITTI and HPatches datasets to verify these claims. The experimental results show that our proposed method has excellent performance in dynamic and complex scenes.

With the current popularity of Electric Vehicles (EV), especially in some critical EV applications such as hospital EV fleets, the demand for continuous and reliable power supply is increasing. However, most of the charging stations are powered in a centralized way, which causes transistors and other components to be subjected to high voltage and current stresses that reduce reliability, and a single point of failure can cause the entire system to fail. Therefore, a significant effort is made in this paper to improve the reliability of the charging system. In terms of charging system structure design, a distributed charging structure with fault tolerance is designed and a mathematical model to evaluate the reliability of the structure is proposed. In terms of control, a current sharing control algorithm is designed that can achieve fault tolerance. To further improve the reliability of the system, a thermal sharing control method based on current sharing technology is also designed. This method can improve the reliability of the charging system by distributing the load more rationally according to the differences in component performance and operating environment; FPGA-based control techniques are provided, and innovative ideas of pipeline control and details of mathematical reasoning for key IP cores are presented. Experiments show that N + 1 redundancy fault tolerance can be achieved in both current sharing and thermal sharing modes. In the current sharing experiment, when module 3 failed, the total current only fluctuated 800 mA within 500 ms, which is satisfactory. In the thermal sharing experiment, after module 3 failed, modules 1, 2, and 4 adjusted the current reasonably under the correction of the thermal sharing loop, and the total current remained stable throughout the process. The experimental results prove that the charging system structure design and control method proposed in this paper are feasible and excellent.

Template matching is the fundamental task in remote sensing image processing of air- and space-based platforms. Due to the heterogeneous image sources, different scales and different viewpoints, the realization of a general end-to-end matching model is still a challenging task. Considering the abovementioned problems, we propose a cross-view remote sensing image matching method. Firstly, a spatial attention map was proposed to solve the problem of the domain gap. It is produced by two-dimensional Gaussian distribution and eliminates the distance between the distributed heterogeneous features. Secondly, in order to perform matching at different flight altitudes, a multi-scale matching method was proposed to perform matching on three down-sampling scales in turn and confirm the optimal result. Thirdly, to improve the adaptability of the viewpoint changes, a pixel-wise consensus method based on a correlation layer was applied. Finally, we trained the proposed model based on weakly supervised learning, which does not require extensive annotation but only labels one pair of feature points of the template image and search image. The robustness and effectiveness of the proposed methods were demonstrated by evaluation on various datasets. Our method accommodates three types of template matching with different viewpoints, including SAR to RGB, infrared to RGB, and RGB to RGB.

Simultaneous localization and mapping (SLAM) systems play an important role in the field of automated robotics and artificial intelligence. Feature detection and matching are crucial aspects affecting the overall accuracy of the SLAM system. However, the accuracy of the position and matching cannot be guaranteed when confronted with a cross-view angle, illumination, texture, etc. Moreover, deep learning methods are very sensitive to perspective change and do not have the invariance of geometric transformation. Therefore, a novel pseudo-Siamese convolutional network of a transformation invariance feature detection and a description for the SLAM system is proposed in this paper. The proposed method, by learning transformation invariance features and descriptors, simultaneously improves the front-end landmark detection and tracking module of the SLAM system. We converted the input image to the transform field; the backbone network was designed to extract feature maps. Then, the feature detection subnetwork and feature description subnetwork were decomposed and designed; finally, we constructed a convolutional network of transformation invariance feature detections and a description for the visual SLAM system. We implemented many experiments in datasets, and the results of the experiments demonstrated that our method has a state-of-the-art performance in global tracking when compared to that of the traditional visual SLAM systems.

In the field of 3D point cloud data, the 3D representation of objects is often affected by factors such as lighting, occlusion, and noise, leading to issues of information loss and incompleteness in the collected point cloud data. Point cloud completion algorithms aim to generate complete object point cloud data using partial or local point cloud data as input. Despite promising results achieved by existing methods, current point cloud completion approaches often lack smooth and structural consistency, resulting in a messy overall structure. To address these shortcomings in point cloud completion, we propose a point cloud generative method based on surface consistency and scale rendering. In addition, to solve the limitation of existing methods that mainly focus on geometric features in 3D point cloud completion and do not make full use of color information, we introduce an object reconstruction method based on texture and geometric features. Extensive experiments demonstrate that our proposed methods exhibit superior performance in terms of local details and overall object structure.

Object-level SLAM is a new development direction in SLAM technology. To better understand the scene, it not only focuses on building an environmental map and robot localization but also emphasizes identifying, tracking, and constructing specific objects in the environment. To address the issues of localization and pose estimation caused by spatial geometric feature distortion of objects in complex application scenarios, we propose a distributed joint pose estimation optimization method. This method, based on globally dense fused features, provides accurate global feature representation and employs an iterative optimization algorithm within the algorithm framework for pose refinement. Simultaneously, it completes visual localization and object state optimization through a joint factor graph algorithm. Finally, by employing parallel processing, it achieves precise optimization of localization and object pose, effectively solving the optimization error drift problem and realizing accurate visual localization and object pose estimation.