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高斯混合粒子Cardinalized概率假设密度滤波被动测角多目标跟踪 认领 引用 被引量：5
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作者 张俊根 姬红兵 《控制理论与应用》 EI CAS CSCD 北大核心 2011年第1期46-52,共7页
为解决目标数未知或随时间变化的多目标跟踪问题,通常将多目标状态和观测数据表示为随机集形式,通过Cardinalized概率假设密度(CPHD)滤波,递推计算目标的强度(即概率假设密度,PHD)及目标数的概率分布.然而对于被动测角的非线性跟踪问题,... 为解决目标数未知或随时间变化的多目标跟踪问题,通常将多目标状态和观测数据表示为随机集形式,通过Cardinalized概率假设密度(CPHD)滤波,递推计算目标的强度(即概率假设密度,PHD)及目标数的概率分布.然而对于被动测角的非线性跟踪问题,CPHD无法获得闭合解.为此,本文提出一种新的高斯混合粒子CPHD算法,利用高斯混合近似PHD,避免了用聚类确定目标状态,同时,将拟蒙特卡罗(QMC)积分方法引入计算目标状态的预测和更新分布,取得了良好的效果. 展开更多
关键词 多目标跟踪 随机集 Cardinalized概率假设密度 被动测角 拟蒙特卡罗
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Convolution Kernels Implementation of Cardinalized Probability Hypothesis Density Filter 认领 引用
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作者 Yue MA Jian-zhang ZHU +1 位作者 Qian-qing QIN Yi-jun HU 《Acta Mathematicae Applicatae Sinica》 SCIE CSCD 2013年第4期739-748,共10页
The probability hypothesis density （PHD） propagates the posterior intensity in place of the poste- rior probability density of the multi-target state. The cardinalized PHD （CPHD） recursion is a generalization of P... The probability hypothesis density （PHD） propagates the posterior intensity in place of the poste- rior probability density of the multi-target state. The cardinalized PHD （CPHD） recursion is a generalization of PHD recursion, which jointly propagates the posterior intensity function and posterior cardinality distribution. A number of sequential Monte Carlo （SMC） implementations of PHD and CPHD filters （also known as SMC- PHD and SMC-CPHD filters, respectively） for general non-linear non-Gaussian models have been proposed. However, these approaches encounter the limitations when the observation variable is analytically unknown or the observation noise is null or too small. In this paper, we propose a convolution kernel approach in the SMC-CPHD filter. The simuIation results show the performance of the proposed filter on several simulated case studies when compared to the SMC-CPHD filter. 展开更多
关键词 random finite set （RFS） probability hypothesis density （PHD） filter cardinalized probability hypothesis density （CPHD） filter convolution kernel
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Long time hybrid integration of radar rotating target 认领 引用 被引量：1
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作者 SONG Zhiyong XU Yuntao 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2025年第6期1477-1487,共11页
In the traditional radar unmanned aerial vehicle(UAV)detection process,coherent integration and micro-Doppler(m-D)parameter estimation are carried out separately.The target discrimination process needs to obtain the p... In the traditional radar unmanned aerial vehicle(UAV)detection process,coherent integration and micro-Doppler(m-D)parameter estimation are carried out separately.The target discrimination process needs to obtain the position information of the target,which will lose energy.In this paper,a long time integration method of radar signal based on rotating target radon Fourier transform(RTRFT)is proposed.This method modifies the distance and frequency terms in the traditional generalized radon Fourier transform(GRFT),and adds the frequency sinusoidal modulation term.Then,based on the cardinality balanced multi-target multi-Bernoulli(CBMeMBer)filter,the position of the target is detected in the high-dimensional space obtained by RTRFT.This method can combine coherent integration and micro-motion parameter estimation.Simulation experiments show that the proposed method can estimate the main translational parameters and rotational micro-motion parameters of the target while detecting the target,and the target detection performance is improved. 展开更多
关键词 long time coherent integration(LTCI) cardinality balanced multi-agent multi-Bernoulli filter signal detection unmanned aerial vehicle(UAV) generalized radon Fourier transform(GRFT)
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LW-CQ:ML-Driven Cardinality Estimation for Complex Queries 认领 引用
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作者 Jiye Qiu DongHua Yang +3 位作者 Mengmeng Li Haifeng Guo Hongqiang Wang Hongzhi Wang 《国际计算机前沿大会会议论文集》 2025年第1期417-427,共11页
Cardinality estimation is crucial for query optimization,but traditional methods struggle with complex queries.We propose LW-CQ,a lightweight machine learning-based algorithm that improves cardinality estimation for c... Cardinality estimation is crucial for query optimization,but traditional methods struggle with complex queries.We propose LW-CQ,a lightweight machine learning-based algorithm that improves cardinality estimation for complex queries by enhancing the LW-XGB method.LW-CQ introduces four feature-level improvements and extends support for disjunctive queries and LIKE predicates.Experimental results show that LW-CQ achieves competitive accuracy while significantly reducing training and inference time,making it a promising solution for real-world database applications. 展开更多
关键词 Cardinality Estimation Machine Learning Complex Queries
Labeled box-particle CPHD filter for multiple extended targets tracking 认领 引用 被引量：4
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作者 ZOU Zhibin SONG Liping CHENG Xuan 《Journal of Systems Engineering and Electronics》 SCIE CSCD 2019年第1期57-67,共11页
In multiple extended targets tracking, replacing traditional multiple measurements with a rectangular region of the nonzero volume in the state space inspired by the box-particle idea is exactly suitable to deal with ... In multiple extended targets tracking, replacing traditional multiple measurements with a rectangular region of the nonzero volume in the state space inspired by the box-particle idea is exactly suitable to deal with extended targets, without distinguishing the measurements originating from the true targets or clutter.Based on our recent work on extended box-particle probability hypothesis density(ET-BP-PHD) filter, we propose the extended labeled box-particle cardinalized probability hypothesis density(ET-LBP-CPHD) filter, which relaxes the Poisson assumptions of the extended target probability hypothesis density(PHD) filter in target numbers, and propagates not only the intensity function but also cardinality distribution. Moreover, it provides the identity of individual target by adding labels to box-particles. The proposed filter can improve the precision of estimating target number meanwhile achieve targets' tracks. The effectiveness and reliability of the proposed algorithm are verified by the simulation results. 展开更多
关键词 extended target multiple targets tracking labled boxparticle cardinalized probability hypothesis density (CPHD).
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Cardinality compensation method based on information-weighted consensus filter using data clustering for multi-target tracking 认领 引用 被引量：4
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作者 Sunyoung KIM Changho KANG Changook PARK 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2019年第9期2164-2173,共10页
In this paper, a cardinality compensation method based on Information-weighted Consensus Filter(ICF) using data clustering is proposed in order to accurately estimate the cardinality of the Cardinalized Probability Hy... In this paper, a cardinality compensation method based on Information-weighted Consensus Filter(ICF) using data clustering is proposed in order to accurately estimate the cardinality of the Cardinalized Probability Hypothesis Density(CPHD) filter. Although the joint propagation of the intensity and the cardinality distribution in the CPHD filter process allows for more reliable estimation of the cardinality(target number) than the PHD filter, tracking loss may occur when noise and clutter are high in the measurements in a practical situation. For that reason, the cardinality compensation process is included in the CPHD filter, which is based on information fusion step using estimated cardinality obtained from the CPHD filter and measured cardinality obtained through data clustering. Here, the ICF is used for information fusion. To verify the performance of the proposed method, simulations were carried out and it was confirmed that the tracking performance of the multi-target was improved because the cardinality was estimated more accurately as compared to the existing techniques. 展开更多
关键词 Cardinality compensation Cardinalized probability hypothesis density filter Data clustering Information-weighted consensus filter Multi-target tracking
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Combination of symptoms, syndrome and disease: Treatment of refractory diabetic gastroparesis 认领 引用 被引量：17
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作者 Jun-Ling Li Min Li +5 位作者 Bing Pang Qiang Zhou Jia-Xing Tian Hong-Xing Liu Xi-Yan Zhao Xiao-Lin Tong 《World Journal of Gastroenterology》 SCIE CAS 2014年第26期8674-8680,共7页
AIM: To assess effect of combination of symptoms, syndrome and disease on treatment of diabetic gastroparesis with severe nausea and vomiting.
关键词 Diabetic gastroparesis Refractory nausea and vomiting Traditional Chinese medicine Treatment Gastroparesis Cardinal Symptom Index
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Laparoscopic lateral lymph node dissection in two fascial spaces for locally advanced lower rectal cancer 认领 引用 被引量：14
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作者 Hui-Hong Jiang Hai-Long Liu +6 位作者 A-Jian Li Wen-Chao Wang Liang Lv Jian Peng Zhi-Hui Pan Yi Chang Mou-Bin Lin 《World Journal of Gastroenterology》 SCIE CAS 2021年第24期3654-3667,共14页
BACKGROUND The procedure for lateral lymph node(LLN)dissection(LLND)is complicated and can result in complications.We developed a technique for laparoscopic LLND based on two fascial spaces to simplify the procedure.A... BACKGROUND The procedure for lateral lymph node(LLN)dissection(LLND)is complicated and can result in complications.We developed a technique for laparoscopic LLND based on two fascial spaces to simplify the procedure.AIM To clarify the anatomical basis of laparoscopic LLND in two fascial spaces and to evaluate its efficacy and safety in treating locally advanced low rectal cancer(LALRC).METHODS Cadaveric dissection was performed on 24 pelvises,and the fascial composition related to LLND was observed and described.Three dimensional-laparoscopic total mesorectal excision with LLND was performed in 20 patients with LALRC,and their clinical data were analyzed.RESULTS The cadaver study showed that the fascia propria of the rectum,urogenital fascia,vesicohypogastric fascia and parietal fascia lie side by side in a medial-lateral direction constituting the dissection plane for curative rectal cancer surgery,and the last three fasciae formed two spaces(Latzko's pararectal space and paravesical space)which were the surgical area for LLND.Laparoscopic LLND in two fascial spaces was performed successfully in all 20 patients.The median operating time,blood loss and postoperative hospitalization were 178(152-243)min,55(25-150)mL and 10(7-20)d,respectively.The median number of harvested LLNs was 8.6(6-12),and pathologically positive LLN metastasis was confirmed in 7(35.0%)cases.Postoperative complications included lower limb pain in 1 case and lymph leakage in 1 case.CONCLUSION Our preliminary surgical experience suggests that laparoscopic LLND based on fascial spaces is a feasible,effective and safe procedure for treating LALRC. 展开更多
关键词 Locally advanced low rectal cancer Lateral lymph node dissection Fascial anatomy Visceral fascia Vesicohypogastric fascia Cardinal ligament
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带形状因子的C^2连续五次Cardinal样条与Catmull-Rom样条 认领 引用 被引量：9
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作者 李军成 刘成志 易叶青 《计算机辅助设计与图形学学报》 EI CSCD 北大核心 2016年第11期1821-1831,共11页
针对三次Cardinal样条与Catmull-Rom样条的不足,提出带形状因子的C^2连续五次Cardinal样条与Catmull-Rom样条.首先构造一组带2个形状因子的五次Cardinal样条基函数;然后基于该组基函数定义带形状因子的五次Cardinal样条曲线与曲面,并讨... 针对三次Cardinal样条与Catmull-Rom样条的不足,提出带形状因子的C^2连续五次Cardinal样条与Catmull-Rom样条.首先构造一组带2个形状因子的五次Cardinal样条基函数;然后基于该组基函数定义带形状因子的五次Cardinal样条曲线与曲面,并讨论五次Cardinal样条函数的保单调插值;最后研究对应的一元与二元五次Catmull-Rom样条插值函数,并给出最优一元与二元五次Catmull-Rom样条插值函数的确定方法.实例结果表明,五次Cardinal样条与Catmull-Rom样条无需任何条件即可达到C^2连续,且其形状还可通过自带的形状因子进行灵活地调整,利用最优五次Catmull-Rom样条插值函数可获得满意的插值效果. 展开更多
关键词 Cardinal样条 Catmull-Rom样条 插值样条 形状因子 C2连续
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A BiLSTM cardinality estimator in complex database systems based on attention mechanism 认领 引用 被引量：4
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作者 Qiang Zhou Guoping Yang +6 位作者 Haiquan Song Jin Guo Yadong Zhang Shengjie Wei Lulu Qu Louis Alberto Gutierrez Shaojie Qiao 《CAAI Transactions on Intelligence Technology》 SCIE EI 2022年第3期537-546,共10页
An excellent cardinality estimation can make the query optimiser produce a good execution plan.Although there are some studies on cardinality estimation,the prediction results of existing cardinality estimators are in... An excellent cardinality estimation can make the query optimiser produce a good execution plan.Although there are some studies on cardinality estimation,the prediction results of existing cardinality estimators are inaccurate and the query efficiency cannot be guaranteed as well.In particular,they are difficult to accurately obtain the complex relationships between multiple tables in complex database systems.When dealing with complex queries,the existing cardinality estimators cannot achieve good results.In this study,a novel cardinality estimator is proposed.It uses the core techniques with the BiLSTM network structure and adds the attention mechanism.First,the columns involved in the query statements in the training set are sampled and compressed into bitmaps.Then,the Word2vec model is used to embed the word vectors about the query statements.Finally,the BiLSTM network and attention mechanism are employed to deal with word vectors.The proposed model takes into consideration not only the correlation between tables but also the processing of complex predicates.Extensive experiments and the evaluation of BiLSTM-Attention Cardinality Estimator(BACE)on the IMDB datasets are conducted.The results show that the deep learning model can significantly improve the quality of cardinality estimation,which is a vital role in query optimisation for complex databases. 展开更多
关键词 attention BiLSTM cardinality estimation complex database systems query optimiser Word2vec
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基于GPS和车辙的三维路面重构 认领 引用 被引量：8
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作者 马荣贵 汪花梅 《同济大学学报（自然科学版）》 EI CAS CSCD 北大核心 2012年第10期1517-1521,共5页
提出了一种基于地理定位系统(GPS)和横断面车辙数据的路面三维重构模型.针对GPS和车辙的采样间隔不同,首先采用Cardinal插值算法对非等间距的离散GPS点插值,并按间距需求选取等间距的插值点,然后将序列化后的GPS插值数据与车辙数据融合... 提出了一种基于地理定位系统(GPS)和横断面车辙数据的路面三维重构模型.针对GPS和车辙的采样间隔不同,首先采用Cardinal插值算法对非等间距的离散GPS点插值,并按间距需求选取等间距的插值点,然后将序列化后的GPS插值数据与车辙数据融合,构造出在三维空间中用于绘制三角形网格的顶点矩阵,最后实现了三维重构路面的绘制.实验表明用该方法重构的三维路面在路面车辙、坑槽及拥包的检测方面有很好的应用价值. 展开更多
关键词 道路工程 三维路面重构 Cardinal插值 车辙 地 理定位系统
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基于Cardinal样条插值和三角面片的叶片静态建模 认领 引用 被引量：10
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作者 邓旭阳 周淑秋 +1 位作者 郭新宇 苑春颖 《计算机工程与应用》 北大核心 2004年第25期199-200,204,共2页
提出了采用三角面片和Cardinal样条插值的方法对植物叶片静态建模的一种方法,该方法的优点是使用的型质点少,而生成的图形具有较强的真实感,具有实用价值。并给出了基于玉米叶片的建模结果。
关键词 Cardinal样务 角面片 片静态建模
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基于Cardinal的虚拟场景自动漫游算法 认领 引用 被引量：3
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作者 罗立宏 张群英 +1 位作者 冯开平 左宗义 《桂林工学院学报》 北大核心 2007年第2期278-281,共4页
对于虚拟场景自动漫游功能,存在改进的折线法和Hermite样条插值法,这两种方法都不能彻底消除漫游中摄像机抖动的现象.为了彻底克服抖动,提出以Cardinal样条插值算法为基础的新方法:先用Cardinal插值计算出足够密的曲线点,再根据这些点... 对于虚拟场景自动漫游功能,存在改进的折线法和Hermite样条插值法,这两种方法都不能彻底消除漫游中摄像机抖动的现象.为了彻底克服抖动,提出以Cardinal样条插值算法为基础的新方法:先用Cardinal插值计算出足够密的曲线点,再根据这些点在曲线上筛选等弧长的点,并用文件储存.在自动漫游的时候再根据等弧长的点和漫游速度切换摄像机.对于网络的应用,可用XML格式储存.基于Cardinal的方法可以彻底克服摄像机的抖动,使漫游曲线非常平滑.给出了一个Web应用的实例. 展开更多
关键词 虚拟现实 自动漫游 算法 Cardinal样条 插值
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Novel Distance Measures on Hesitant Fuzzy Sets Based on Equal-Probability Transformation and Their Application in Decision Making on Intersection Traffic Control 认领 引用 被引量：1
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作者 Fangwei Zhang Yi Zhao +2 位作者 Jun Ye Shuhong Wang Jingyi Hu 《Computer Modeling in Engineering & Sciences》 SCIE EI 2023年第5期1589-1602,共14页
The purpose of this study is to reduce the uncertainty in the calculation process on hesitant fuzzy sets(HFSs).The innovation of this study is to unify the cardinal numbers of hesitant fuzzy elements(HFEs)in a special... The purpose of this study is to reduce the uncertainty in the calculation process on hesitant fuzzy sets(HFSs).The innovation of this study is to unify the cardinal numbers of hesitant fuzzy elements(HFEs)in a special way.Firstly,a probability density function is assigned for any given HFE.Thereafter,equal-probability transformation is introduced to transform HFEs with different cardinal numbers on the condition into the same probability density function.The characteristic of this transformation is that the higher the consistency of the membership degrees in HFEs,the higher the credibility of the mentioned membership degrees is,then,the bigger the probability density values for them are.According to this transformation technique,a set of novel distance measures on HFSs is provided.Finally,an illustrative example of intersection traffic control is introduced to show the usefulness of the given distance measures.The example also shows that this study is a good complement to operation theories on HFSs. 展开更多
关键词 Hesitant fuzzy sets equal-probability mapping distance measure intersection traffic control cardinality theory
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三维巷道场景中虚拟漫游路径优化研究 认领 引用 被引量：5
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作者 程芳 徐华 《计算机技术与发展》 2018年第2期140-144,共5页
虚拟漫游技术是虚拟现实的重要部分,越来越多地运用到矿山等各领域,而对矿井巷道路径的研究是虚拟漫游的关键因素之一。为增强漫游的真实感,避免视觉抖动和场景跳跃现象,对场景漫游路径进行优化设计。首先通过对三维矿井巷道空间数据的... 虚拟漫游技术是虚拟现实的重要部分,越来越多地运用到矿山等各领域,而对矿井巷道路径的研究是虚拟漫游的关键因素之一。为增强漫游的真实感,避免视觉抖动和场景跳跃现象,对场景漫游路径进行优化设计。首先通过对三维矿井巷道空间数据的分析,构建了三维矿井巷道模型,并在基于OpenGL的视点变换的基础上绘制三维巷道模型,实现对矿井巷道的视点追踪。然后在此基础上,运用线性等分插值和Cardinal样条曲线相结合的拟合算法,对视点追踪路径进行了优化,解决了漫游过程中视点跳跃现象和失真现象。矿井巷道的实际场景应用表明,该方法实现了漫游过程中自然平滑的运动,达到了视觉上场景的平稳移动,并能够适用于其他虚拟场景,实现场景虚拟漫游。 展开更多
关键词 三维巷道 虚拟漫游 视点追踪 路径优化 Cardinal
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优化张力参数与边界条件的平面三次Cardinal样条 认领 引用 被引量：1
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作者 李军成 刘成志 易叶青 《浙江大学学报（理学版）》 CAS CSCD 北大核心 2019年第2期161-167,共7页
当数据点给定时,三次Cardinal样条的张力参数和边界条件均为自由变量,因此可对这些自由变量进行优化,以得到满足某种特定要求的最佳三次Cardinal样条。讨论了如何通过优化张力参数与边界条件使得构造的平面三次Cardinal样条尽可能光顺... 当数据点给定时,三次Cardinal样条的张力参数和边界条件均为自由变量,因此可对这些自由变量进行优化,以得到满足某种特定要求的最佳三次Cardinal样条。讨论了如何通过优化张力参数与边界条件使得构造的平面三次Cardinal样条尽可能光顺。首先,分析了三次Cardinal参数样条曲线形状的影响因素;然后,利用曲率变化能极小对三次Cardinal参数样条曲线的张力参数与边界条件进行优化,获得张力参数与边界条件的唯一解;最后,给出了对应三次Cardinal样条函数的张力参数与边界条件的优化方法。实例表明,经曲率变化极小优化张力参数与边界条件后的三次Cardinal样条比三次Catmull-Rom样条更为光顺,插值效果更好。 展开更多
关键词 三次Cardinal样条 张力参数 边界条件 曲率变化极小 三次Catmull-Rom样条
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三次C-Cardinal样条曲线及曲面 认领 引用 被引量：5
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作者 吴晓勤 严秀坤 《计算机工程与科学》 2006年第2期48-50,共3页
本文给出了一组特殊的基函数,由此生成的曲线称为三次C-Cardinal样条曲线,是Cardinal样条曲线的推广,形状调整依赖于参数λ和α。当α→0时,所给的曲线是Cardinal样条曲线。运用张量积讨论了曲面的情形,具有与曲线完全类似的性质。实例... 本文给出了一组特殊的基函数,由此生成的曲线称为三次C-Cardinal样条曲线,是Cardinal样条曲线的推广,形状调整依赖于参数λ和α。当α→0时,所给的曲线是Cardinal样条曲线。运用张量积讨论了曲面的情形,具有与曲线完全类似的性质。实例表明,该曲线/面可用于曲线曲面造型。 展开更多
关键词 C-曲线 Cardinal样条 插值
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变系数分数阶对流扩散方程的一种算子矩阵方法 认领 引用 被引量：2
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作者 朱晓钢 聂玉峰 《应用数学和力学》 CSCD 北大核心 2018年第1期104-112,共9页
研究带Caputo分数阶导数的变系数对流扩散方程的数值解法.基于Chebyshev cardinal函数,推导Riemann-Liouville分数阶积分的一个有效算子矩阵,以之为基础,提出了变系数分数阶对流扩散方程的一种新的算子矩阵法.该方法将方程的求解转化成... 研究带Caputo分数阶导数的变系数对流扩散方程的数值解法.基于Chebyshev cardinal函数,推导Riemann-Liouville分数阶积分的一个有效算子矩阵,以之为基础,提出了变系数分数阶对流扩散方程的一种新的算子矩阵法.该方法将方程的求解转化成矩阵的代数运算,具有计算量小和易于编程等特点.给出数值算例并与一些现有的方法进行比较,结果表明该方法是收敛的且在计算精度上占有优势. 展开更多
关键词 分数阶微积分 Chebyshev cardinal函数 分数阶对流扩散方程 算子矩阵方法
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实时虚拟场景漫游路径的优化算法 认领 引用 被引量：2
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作者 赵晓东 石程豪 《高技术通讯》 CAS 2021年第5期509-515,共7页
传统的虚拟路径漫游是在固定方向路径上的漫游,而实时任意方向上的虚拟路径漫游在路径曲线处有抖动问题且计算量大,使得虚拟现实(V R)场景运行缓慢、晃动和卡顿,给人带来视觉上的晕眩感。针对以上问题提出了基于Dynapath算法、微分路径... 传统的虚拟路径漫游是在固定方向路径上的漫游,而实时任意方向上的虚拟路径漫游在路径曲线处有抖动问题且计算量大,使得虚拟现实(V R)场景运行缓慢、晃动和卡顿,给人带来视觉上的晕眩感。针对以上问题提出了基于Dynapath算法、微分路径及改进的Cardinal曲线插值算法相结合的优化算法。使用Dynapath算法规划实时路径和等时间微分路径,并对微分线段等截距处进行初步平滑处理。最后对该路径使用改进的Cardinal曲线插值算法拟合出该曲线。测试结果表明,本文算法对实时任意方向虚拟漫游路径的拟合程度优于其他方法,曲线平滑去抖动效果好、计算量小、FPS值稳定。 展开更多
关键词 Dynapath算法 Cardinal曲线插值算法 实时虚拟路径漫游 去抖动 平滑处理
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Modeling the special intersections for enhanced digital map 认领 引用 被引量：1
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作者 Ni Peizhou Li Xu +1 位作者 Xia Liang Huang Liang 《Journal of Southeast University(English Edition)》 EI CAS 2020年第3期264-272,共9页
A new lane-level road modeling method based on cardinal spline is proposed for the special intersections which are covered by vegetation or artificial landscape in their central regions.First,cardinal spline curves ar... A new lane-level road modeling method based on cardinal spline is proposed for the special intersections which are covered by vegetation or artificial landscape in their central regions.First,cardinal spline curves are used to fit the virtual lanes inside special intersections,and an initial road model is established using a series of control points and tension parameters.Then,the progressive optimization algorithm is proposed to determine the final road model based on the initial model.The algorithm determines reasonable control points and optimal tension parameters according to the degree of road curvature changes,so as to achieve a balance between the efficiency and reliability of the road model.Finally,the proposed intersection model is verified and evaluated through experiments.The results show that this method can effectively describe the lane-level topological relationship and geometric details of this kind of special intersection where the central area is covered by vegetation or artificial landscape,and can achieve a good balance between the efficiency and reliability of the road model. 展开更多
关键词 enhanced digital map lane-level intersection model cardinal spline
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