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432 results on '"Liu, Li-bin"'

1. Enhanced Multi-Robot SLAM System with Cross-Validation Matching and Exponential Threshold Keyframe Selection

Author

He, Ang, Wu, Xi-mei, Guo, Xiao-bin, and Liu, Li-bin

Subjects
Computer Science - Robotics
Abstract

The evolving field of mobile robotics has indeed increased the demand for simultaneous localization and mapping (SLAM) systems. To augment the localization accuracy and mapping efficacy of SLAM, we refined the core module of the SLAM system. Within the feature matching phase, we introduced cross-validation matching to filter out mismatches. In the keyframe selection strategy, an exponential threshold function is constructed to quantify the keyframe selection process. Compared with a single robot, the multi-robot collaborative SLAM (CSLAM) system substantially improves task execution efficiency and robustness. By employing a centralized structure, we formulate a multi-robot SLAM system and design a coarse-to-fine matching approach for multi-map point cloud registration. Our system, built upon ORB-SLAM3, underwent extensive evaluation utilizing the TUM RGB-D, EuRoC MAV, and TUM_VI datasets. The experimental results demonstrate a significant improvement in the positioning accuracy and mapping quality of our enhanced algorithm compared to those of ORB-SLAM3, with a 12.90% reduction in the absolute trajectory error.

Published
2024

3. Biomass of karst evergreen and deciduous broad-leaved mixed forest in central Guizhou province, southwestern China: a comprehensive inventory of a 2 ha plot

Author

Liu, Li-Bin, Wu, Yang-Yang, Hu, Gang, Zhang, Zhong-Hua, Cheng, An-Yun, Wang, Shi-Jie, and Ni, Jian

Subjects
Forestry, SD1-669.5
Abstract

The biomass of a secondary evergreen and deciduous broad-leaved mixed forest was comprehensively inventoried in a permanent 2 ha plot in southwestern China. Biomass models, sub-sampling, soil pit method, and published data were utilized to determine the biomass of all components. Results showed that the total biomass of the forest was 158.1 Mg ha; the total biomass included the major aboveground (137.7 Mg ha) and belowground (20.3 Mg ha) biomass components of vascular plants as well as the minor biomass components of bryophytes (0.078 Mg ha) and lichens (0.043 Mg ha). The necromass was 17.6 Mg ha and included woody debris (9.0 Mg ha) and litter (8.6 Mg ha). The spatial pattern of the aboveground biomass was determined by the spatial distribution of dominant trees with large diameter, tall height, and dense wood. The belowground biomass differed in terms of root diameter and decreased with increasing soil depth. The belowground biomass in each soil pit in local habitats was not related to the spatial distribution of woody plants and soil pit depth. The karst forest presented lower biomass compared than the nonkarst forests in the subtropical zone. Biomass carbon in the karst terrains would increase substantially if degraded karst vegetation could be successfully restored to the forest. Comprehensive site-based biomass inventory of karst vegetation will contribute not only to provide data for benchmarking global and regional vegetation and carbon models but also for regional carbon inventory and vegetation restoration.â1â1â1â1â1â1â1â1

Published
2016
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18. An Efficient Numerical Method for Reaction-Diffusion Problems Based on Particle Swarm Optimization Algorithm

Author

Bao, Xiaobing, Liu, Li-Bin, Zhang, Yong, Kacprzyk, Janusz, Series Editor, Pal, Nikhil R., Advisory Editor, Bello Perez, Rafael, Advisory Editor, Corchado, Emilio S., Advisory Editor, Hagras, Hani, Advisory Editor, Kóczy, László T., Advisory Editor, Kreinovich, Vladik, Advisory Editor, Lin, Chin-Teng, Advisory Editor, Lu, Jie, Advisory Editor, Melin, Patricia, Advisory Editor, Nedjah, Nadia, Advisory Editor, Nguyen, Ngoc Thanh, Advisory Editor, Wang, Jun, Advisory Editor, Meng, Hongying, editor, Lei, Tao, editor, Li, Maozhen, editor, Li, Kenli, editor, Xiong, Ning, editor, and Wang, Lipo, editor

Published
2021
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35. Numerical Solution of Singularly Perturbed Convection Delay Problems Using Self-adaptive Differential Evolution Algorithm

Author

Long, Guangqing, Liu, Li-Bin, Huang, Zaitang, Hutchison, David, Series Editor, Kanade, Takeo, Series Editor, Kittler, Josef, Series Editor, Kleinberg, Jon M., Series Editor, Mattern, Friedemann, Series Editor, Mitchell, John C., Series Editor, Naor, Moni, Series Editor, Pandu Rangan, C., Series Editor, Steffen, Bernhard, Series Editor, Terzopoulos, Demetri, Series Editor, Tygar, Doug, Series Editor, Weikum, Gerhard, Series Editor, Huang, De-Shuang, editor, Gromiha, M. Michael, editor, Han, Kyungsook, editor, and Hussain, Abir, editor

Published
2018
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37. A second order numerical method for a Volterra integro-differential equation with a weakly singular kernel.

Author

Liu, Li-Bin, Ye, Limin, Bao, Xiaobing, and Zhang, Yong

Subjects
VOLTERRA equations, FINITE difference method, INTERPOLATION, INTEGRALS, INTEGRO-differential equations
Abstract

In this paper, a second finite difference method on a graded grid is proposed for a Volterra integro-differential equation with a weakly singular kernel. The proposed scheme is obtained by using the two-step backward differentiation formula (BDF2) to discretize the first derivative term and the first-order interpolation scheme to approximate the integral term. The analysis of stability is proved and used to prove the convergence of our presented numerical method in the discrete maximum norm. Finally, Numerical experiments are given to verify the theoretical results. [ABSTRACT FROM AUTHOR]

Published
2024
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