Abstract: A method for place re-recognition of a mobile robot based on a lidar estimable pose, said method comprising: using radon transform to convert rotation and translation changes into translation changes on two axes of a sinusoidal graph, and, on the basis of an amplitude spectrum of a spectrum, performing spectrum cross-correlation calculation on translation invariance and two images, so as to solve the translation property of the images. Translation invariance is used to generate a position descriptor and thereby perform candidate matching for place re-recognition; and cross-correlation calculation may be performed together with radon transform to solve relative rotation and translation. In the described method, a time-varying environment is considered, and by using a multi-channel feature BEV for representation, the capability of representing a local feature in a laser point cloud can be improved.

Abstract: The present application is directed to chromium-free anticorrosive coating composition and article made therefrom. The chromium-free anticorrosive coating composition comprises Component A, comprising a film-forming composition, a corrosion inhibiting composition, optional carriers and additional additives, wherein the corrosion inhibiting composition comprises at least one lithium-containing metal compound having a spatially stable crystalline structure, and at least one aluminum-containing phosphate; and optionally Component B, comprising a curing agent. The chromium-free anticorrosive coating composition according to the present application may be used as a primer or a direct-to-metal coating, especially suitable for a primer in a wet-on-wet system. The present application further discloses an article, comprising a metal substrate; and a coating formed of the above chromium-free anticorrosive coating composition which is directly applied to the metal substrate.

Abstract: The present application is directed to chromium-free anticorrosive coating composition and article made therefrom. The chromium-free anticorrosive coating composition comprises Component A, comprising a film-forming composition, a corrosion inhibiting composition, optional carriers and additional additives, wherein the corrosion inhibiting composition comprises anti-rust particles containing at least one phosphate compound of lithium and having a lithium content of at least 1.0% by weight; and optionally Component B, comprising a curing agent. The chromium-free anticorrosive coating composition according to the present application may be used as a primer or a direct-to-metal coating. The present application further discloses an article, comprising a metal substrate; and a coating formed of the above chromium-free anticorrosive coating composition which is directly applied to the metal substrate.

Abstract: A system includes three modules: a local odometry module, a map feature matching module, and a map-based positioning module, where the local odometry module is configured to receive data of a camera and an inertial measurement unit (IMU); the map feature matching module is configured to detect a similarity between a scene observed by the camera at a current moment and a pre-built map scene, and obtain a feature matching pair of an image feature at the current moment and a map feature; and the map-based positioning module is configured to receive an output amount of the local odometry and the feature matching pair. In the present invention, a maintained odometry-related variable and the relative transformation between a local odometry reference system and a pre-built map reference system are expressed in a Lie group, such that a new invariant Kalman filter (IKF) algorithm is obtained.

Abstract: A high-precision odometry estimation method based on a double-layer filtering framework, comprising the following steps: acquiring sensing information of a binocular camera, a main body IMU, a legged auxiliary IMU, a legged joint motor and a foot end force sensor; fusing the rotation angle and rotational velocity of the legged joint motor, and the measurement information of the legged auxiliary IMU and the foot end force sensor by a bottom-layer legged filter to obtain a velocity observation in a legged auxiliary IMU coordinate system; then inputting the velocity observation into an upper-layer filter, and fusing the acquired observation information of the main body IMU and binocular camera by the upper-layer filter to complete information fusion and outputting an odometry estimation result of a robot. The method can provide an effective solution for the autonomous positioning of the quadruped mobile robot in the rapid movement.

Abstract: A powder coating composition blend comprising a crosslinkable composition and a catalyst system, wherein the crosslinkable composition is formed by a crosslinkable donor component A and a crosslinkable acceptor component B that are crosslinkable by a Real Michael Addition (RMA) reaction via the catalyst system, wherein the catalyst system is a separated catalyst system that comprises a catalyst precursor composition (P) and a catalyst activator composition (C) that are macrophysically separated; or wherein the crosslinkable donor component A and the crosslinkable acceptor component B are macrophysically separated.

Abstract: A liver CT image segmentation system and algorithm based on mixed supervised learning is provided. The image segmentation system includes an image preprocessing unit, a feature extraction unit, a word vector segmentation unit and a single-layer convolutional classification unit. The image preprocessing unit is in data connection with the feature extraction unit. The feature extraction unit is respectively in data connection with the word vector segmentation unit and the single-layer convolutional classification unit. In the present disclosure, a multi-task framework is used for respectively performing segmentation and classification tasks, to achieve high segmentation precision through a large number of weak label data and a small number of strong labels.

Abstract: The disclosure discloses a single-leg robot mechanism for jumping on a wall and a control method. The mechanism includes a robot leg. A plurality of rotors is fixedly connected to a fuselage of the robot leg and is distributed in a mirror image arrangement with respect to the fuselage, and operating surfaces of the plurality of rotors are parallel to each other.

Abstract: The present invention relates to the field of image processing. Disclosed are a neural network-based pose estimation and registration method for heterogeneous images. In the present invention, a phase correlation algorithm is optimized to be differentiable and embedded into an end-to-end learning network framework, and a neural network-based pose estimation method for heterogeneous images is constructed. According to the method, an optimal feature extractor can be found for a result of image matching, a solution can be obtained without exhaustive evaluation, and good interpretability and generalization capability are achieved. The test results show that the present invention allows for accurate pose estimation and registration for heterogeneous images and shortening of the required time, has high accuracy and real-time performance, can meet actual application requirements, and can be applied in fields such as robot self-positioning.

Abstract: A weakly paired image style transfer method based on a pose self-supervised generative adversarial network, relating to the field of image processing. The method is suitable for style transfer of weakly paired images, different styles of pictures having certain overlap are used to perform model training of an adversarial neural network, so that the model is insensitive to poses and focuses on style learning, and therefore, in an actual application process, a source style can be converted into a target style, but a pose is kept unchanged. In addition, in the model training process of the adversarial neural network, a differentiable pose solver capable of estimating a relative pose of any two images is introduced, a phase correlation algorithm is optimized to be differentiable, and the phase correlation algorithm is embedded into an end-to-end learning network framework to achieve pose estimation.

Abstract: Provided is a globally optimal robot visual positioning method and device based on point-line features. The method comprises the following steps: acquiring a priori three-dimensional map of a current scene constructed in advance; acquiring a current image of the robot and the inertial measurement data; calculating a pitch angle and a roll angle of the current robot pose according to the current inertial sensor data and the inertial sensor data in the priori map; matching the two-dimensional point-line features detected in the current image with three-dimensional point-line features in a priori map; separating the rotation and translation of the pose to be solved according to the matched feature pairs, solving the rotation and then solving the translation so as to complete the dimensionality reduction of the search space.

Abstract: The present disclosure provides a method for performing a non-revisiting coverage task by a manipulator with a least number of lift-offs, and relates to the technical field of manipulator path planning. By explicitly considering lift-offs of an end-effector from a surface of an object due to kinematic constraints when the manipulator performs a task of covering the surface of the object, this method transforms a problem of coverage path design into a problem of sub-cell decomposition and solves the problem to obtain an approach for the manipulator to cover a sub-cell. The method of the present disclosure minimizes the number of lift-offs of the end-effector from the surface of the object when the manipulator performs the coverage task.

Abstract: The present disclosure provides a method for realizing a dynamic running gait of a biped robot on a rough terrain road, which sets a state machine for an entire running cycle to perform a balance control and movement trajectory planning of the robot in each state. At the time that the robot switches from the in-air phase into a landing phase, a SLIP model is used to control the posture balance and landing cushion; and when the robot is stable after landing, an LIP model is used to control a center of mass of the robot to a set height. An in-air phase of the robot in running is generated through movement trajectory planning and state switching of a supporting leg and a swinging leg to realize a running of the robot.

Abstract: The present application relates to a coating composition, a process for preparing the coating composition and an article containing a coating formed by the coating composition. It relates in particular to a dual-curing coating system, comprising: a film-forming resin composition comprising an aqueous dispersion of at least one carboxyl functional polymer; a first crosslinking agent comprising an epoxy silane; and a second crosslinking agent comprising an isocyanate.

Abstract: Provided is a globally optimal robot visual positioning method and device based on point-line features. The method comprises the following steps: acquiring a priori three-dimensional map of a current scene constructed in advance; acquiring a current image of the robot and the inertial measurement data; calculating a pitch angle and a roll angle of the current robot pose according to the current inertial sensor data and the inertial sensor data in the priori map; matching the two-dimensional point-line features detected in the current image with three-dimensional point-line features in a priori map; separating the rotation and translation of the pose to be solved according to the matched feature pairs, solving the rotation and then solving the translation so as to complete the dimensionality reduction of the search space.

Abstract: The present application is directed to a two-component aqueous epoxy resin paint comprising: a) an aqueous epoxy resin emulsion comprising a low epoxy equivalent epoxy resin having an epoxy equivalent weight ranging from 400 to 700 g/eq and a high epoxy equivalent epoxy resin having an epoxy equivalent weight of greater than 800 g/eq, and b) a curing agent, wherein a weight ratio of the low epoxy equivalent epoxy resin to the high epoxy equivalent epoxy resin is in the range of 5:5 to 9:1; and wherein the aqueous epoxy resin emulsion is a stable emulsion.

Abstract: The present disclosure provides a method for performing a non-revisiting coverage task by a manipulator with a least number of lift-offs, and relates to the technical field of manipulator path planning. By explicitly considering lift-offs of an end-effector from a surface of an object due to kinematic constraints when the manipulator performs a task of covering the surface of the object, this method transforms a problem of coverage path design into a problem of sub-cell decomposition and solves the problem to obtain an approach for the manipulator to cover a sub-cell. The method of the present disclosure minimizes the number of lift-offs of the end-effector from the surface of the object when the manipulator performs the coverage task.

Abstract: The disclosure discloses a single-leg robot mechanism for jumping on a wall and a control method. The mechanism includes a robot leg. A plurality of rotors is fixedly connected to a fuselage of the robot leg and is distributed in a mirror image arrangement with respect to the fuselage, and operating surfaces of the plurality of rotors are parallel to each other.

Abstract: The present disclosure provides a method for realizing a dynamic running gait of a biped robot on a rough terrain road, which sets a state machine for an entire running cycle to perform a balance control and movement trajectory planning of the robot in each state. At the time that the robot switches from the in-air phase into a landing phase, a SLIP model is used to control the posture balance and landing cushion; and when the robot is stable after landing, an LIP model is used to control a center of mass of the robot to a set height. An in-air phase of the robot in running is generated through movement trajectory planning and state switching of a supporting leg and a swinging leg to realize a running of the robot.

Abstract: The present disclosure refers to an aqueous stain resistant coating composition, comprising, one or more aqueous dispersions of self-crosslinkable polymeric particles; and one or more particulate solids, wherein the polymeric particles have a Tg of 10° C. or less; and wherein the particulate solids comprise a combination of sheet-like particulate solids and sphere-like particulate solids in a weight ratio of 1:1 or more; and wherein the coating composition has a pigment volume concentration of 45% or more; and the coating composition is substantially free of volatile organic compounds.