Implementation of a Stereo Vision SLAM Based on Inertial Sensor

随着高新科技的飞速发展，各种新型技术层出不穷。特别是计算机技术、人工智能和计算机视觉等学科的发展，使现代科技日益趋向智能化、自主化。移动机器人自定位是当前机器人领域研究的热点。移动机器人同时定位与构图理论的提出，为解决移动机器人在未知环境中自身位置不明确的情况下定位难的问题提供了新的思路。 本文主要分析了立体视觉SLAM的实现方法，包括特征检测、特征匹配和位姿估计等关键技术，并在此基础上尝试实现惯性传感器辅助立体视觉的同时定位与构图算法。 特征检测是实现立体视觉SLAM系统的第一步。由于Harris角点检测算法提取的角点具有可重复性好、抗噪声能力强和对光照不敏感等特点，本文采用Harris...With the rapid development of high-tech, a variety of new technology emerge in endlessly. Especially with the development of computer technology ,artificial intelligence and computer version , modern technology becomes more and more intelligent and autonomous. The self-positioning of the mobile robot is currently a hot research field of robotics. The theory about simultaneous localization and map...学位：工程硕士院系专业：信息科学与技术学院_电子与通信工程学号：2332010115310

消费者金融决策研究评述

消费者金融决策作为消费者消费过程的一个重要组成部分,在以往的研究中却没有得到应有的重视。本文通过对消费者金融决策的相关定义进行梳理,将其重新定义为消费者为个人生活消费而获取、分配、处置资金过程中的心理活动和行为倾向。同时,本文梳理了消费者金融决策研究的演进脉络,并描绘了消费者的金融决策过程。教育部人文社会科学研究项目(11YJA630215

我国市场化改革中少数民族地区经济制度变迁动力研究——基于文化视角

在对经济制度变迁研究文献回顾的基础上,以我国少数民族地区经济制度变迁为研究对象,从文化视角分析了当前我国少数民族地区经济制度变迁的动力产生的原因、来源和作用方式。1)基于民族...国家社科基金(16CJL011);; 陕西师范大学2016年研究生创新基金项目(2016CBY008);; 陕西师范大学中央高校基本科研业务费专项资

政府补贴、政治关联与中小创新型企业绩效——来自创业板上市公司的经验证据

本文以中国484家中小创新型上市公司为样本的研究发现:政治关联度对政府补贴经济绩效的调节效应存在明显异质性,政府补贴对企业绩效的负向影响在高政治关联度的企业中被强化,在中、低政治关联度的企业中被弱化。政治关联对企业绩效的影响随股权集中度变化而呈现出门限特征,当第一大股东持股比例超过29.23%之后,政治关联的治理效应得以释放,有利于稳定发展预期,改善资产收益率。输血式的扶持倾向弱化了补贴的溢出效应,降低了资金配置效率,受补贴扶持行业的企业绩效在退市制度改革后未明显改观。国家社会科学基金青年项目“供需均衡视角下的中国潜在经济增长率测算及增长要素分析”(批准号:16CJL011)的阶段性成

Comparison of gene frequencies of 15 STR loci between patients with primary gastric adencarcinomas and the unrelated locals from Xiamen

目的比较15个短串联重复序列(STR)基因座基因频率在原发性胃腺癌患者和厦门地区正常人群中的分布,推测与胃腺癌相关的基因。方法123份血样采自本地区无癌家族史的健康人群,39份血样采自本地区胃腺癌患者。用聚合酶链反应(PCR)复合扩增结合四色荧光检测方法对血样DNA进行基因型分析,调查本地区健康人群和胃腺癌患者人群的基因频率分布,并根据两者的该15个基因座等位基因频率分布的差异性,推测易感连锁和抗性连锁的等位基因。结果厦门地区胃腺癌患者的TH01、vWA和FAG基因座的等位基因的分布与该地区健康人群比较差异有统计学意义(P<0·01)。在个别等位基因比较中,胃腺癌人群TH01-7的基因频率为0·0385,健康人群TH01-7的基因频率为0·2642,两者差异有统计学意义(P<0·01),相对危险度(RR)=0·1115;胃腺癌人群vWA-15基因频率0·0513,健康人群vWA-15的基因频率0·2927,两者差异有统计学意义(P<0·01),RR=0·1307;胃腺癌人群FAG-18的基因频率为0·1026,健康人群FAG-18的基因频率为0·0163,两者差异有统计学意义(P<0·01),RR=6·8998。结论TH01-7与胃腺癌相关联,其附近可能存在胃腺癌抗性基因;vWA-15附近有可能存在与胃腺癌相关的抗性基因;FAG-18与胃腺癌相关联,其附近可能存在胃腺癌易感基因。Objective To compare the gene frequencies of 15 STR loci between patients with primary gastric adencarcinomas and the unrelated locals from Xiamen in order to search for the genes correlated to the gastric adencarcinomas.Methods The control group consisted of 123 unrelated locals and the testing group was composed of 39 gastric adencarcinomas suffers. All genotypes of the sample DNA were analyzed by gene scan technology and multiplex PCR method with 4-colored fluorescence-labeled primers. All the polymorphic alleles of these 15 STR loci in unrelated healthy locals and patients with primary gastric adencarcinomas had been investigated. The sensitive or resistant genetic factors were inferred according to the statistical difference with distribution of allele frequencies.Results It showed that there were statistic differences (P<0.01)between controls and testing groups in allele frequencies of the three loci: TH01, vWA and FAG. The further exploration of the separated locus revealed that the gene frequency of TH01-7 in the gastric adencarcinomas suffers was 0.0385,but 0.2642 in the control group[P<0.01 and relative risk(RR)=0.1115];the gene frequency of vWA-15 in the gastric adencarcinomas suffers was 0.0513,but 0.2927 in the control group(P<0.01 and RR=0.1307);the gene frequency of FAG-18 in the gastric adencarcinomas suffers was 0.1026,but 0.0163 in the control group(P<0.01 and RR= 6.8998). Conclusions It is very possible that TH01 alleles may be associated with gastric adencarcinomas and it is possible that there is a resistant gene to gastric adencarcinomas near the region of TH01-7 locus; there is a resistant gene of gastric adencarcinomas near the region of vWA-15 locus; FAG alleles may be associated with gastric adencarcinomas and perhaps there is a sensitive gene of gastric adencarcinomas near FAG-18 locus

A Literature Review of Consumer Superstition and Prospects

迷信历来是消费情境中的普遍现象。随着信息时代的来临,缺乏足够辨别能力的消费者越来越容易被迷信信念所影响。近年来,消费者迷信也引起了学界的广泛关注。本文从消费者迷信的内涵、分类、影响因素和作用机制、结果变量以及应对策略几个方面批判性地梳理了国内外相关研究成果,并在此基础上指出了未来研究方向。Superstition is always very ubiquitous in consumer behavior context. With the advent of information age, undiscerning consumers are more and more susceptible to the superstitious beliefs.Recently, consumer superstition attracts more and more attention from the academia. This paper critically reviews related research in the aspects of definition, classification, influencing factors,mechanisms, outcome variables and coping strategy and points out the directions in future research