2results about How to "Reduce matching error" patented technology

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.

This invention discloses a method for building a multimodal fusion-based fault diagnosis model for power transformers, belonging to the field of fault diagnosis model technology. This method deploys multimodal sensors to synchronously acquire transformer vibration and oscillation wave signals. After preprocessing the signals using Empirical Mode Decomposition (EMD), it jointly models the time-domain, frequency-domain, and oscillation wave parameter features. The core of this invention lies in constructing a graph data model based on physical topology and introducing a cross-modal Transformer network for deep feature fusion to capture the complex correlations between different modes. Furthermore, this method utilizes a variational autoencoder (VAE) to achieve unsupervised diagnosis and data augmentation for unknown faults; by constructing a power transformer fault knowledge graph (KG) and using a TransE model for entity embedding, it achieves accurate fault severity assessment and lifespan prediction of power transformers.