3results about How to "Correct drift" patented technology

The application provides a human action recognition and quality evaluation method and system based on multi-modal data fusion, the application collects RGB visual data, 3D skeleton data, inertial IMU data and electromyography sEMG data of human action, and carries out corresponding pretreatment; through branch parallel feature extraction, RGB visual feature vectors, 3D skeleton feature vectors, IMU inertial feature vectors and sEMG electromyography feature vectors are obtained respectively; based on the modal reliability values of each branch, multi-modal fusion feature vectors are obtained by dynamically distributing and fusing the weights of the cross-modal attention mechanism to the multi-path features; the action recognition result is obtained by using a lightweight action recognition network; and the action recognition result is quality evaluated through the comprehensive action quality score. The application can not only accurately recognize the action category, but also quantize the action quality from three dimensions of form, dynamics and force, thereby improving the robustness and accuracy of action recognition in a complex scene.

The application discloses a method for determining switching point information between maps, a navigation method, a device, a program product and a medium, and comprises the following steps: when the autonomous mobile device moves from a first sub-map to a transition area, current point cloud data of the environment around the autonomous mobile device is acquired, wherein the transition area represents an overlapping area between the first sub-map and a second sub-map to be entered; based on the current point cloud data, environment feature degradation degree and pose fusion data are calculated, and switching point information of an optimal switching point for entering the second sub-map is dynamically determined. The application can reduce drift when entering one sub-map from another sub-map, and improve the smoothness of map switching of the autonomous mobile device.

The invention belongs to the technical field of material analysis, and provides a method for rapidly detecting the migration quantity of chloropropanol compounds in cigarette paper, which comprises the following steps: carrying out a water phase migration experiment on a cigarette paper sample to be detected to obtain a migration liquid; adding deuterated chloropropanol into the migration liquid, mixing with an internal standard stock solution, and carrying out salting-out auxiliary liquid-liquid extraction, dehydration purification and nitrogen blowing concentration to obtain a liquid to be detected; a gas chromatography-tandem mass spectrometry method is adopted to measure the to-be-measured liquid, a chromatographic column is an ultra-high inert bonded polyethylene glycol capillary chromatographic column, and data are collected in a multi-reaction monitoring mode; the migration amount of the chloropropanol compounds in the sample is calculated through an internal standard method, and the chloropropanol compounds comprise 1, 3-dichloro-2-propanol and 3-chloro-1, 2-propylene glycol. The method does not need a derivatization step, is high in detection accuracy, and can realize rapid detection and batch analysis.