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Purposes The sparse feature map established by using VSLAM cannot be directly used for navigation, and the existing methods of converting sparse feature maps into grid maps for navigation suffer from low accuracy of map construction, resulting in the failure to achieve accurate navigation. An improved ORB-SLAM3 navigation method is proposed based on multi-convex combined maximum correntropy criterion (MCMCC), which can realize the construction, positioning, and navigation of indoor real-time mapping on the embedded device with only a RGB-D camera. Methods The proposed method uses the back-end optimization algorithm based on MCMCC to combat the influence of non-Gaussian noises and to further improve the mapping accuracy of ORB-SLAM. Subsequently, in the process of converting the sparse feature map into a grid map, the grid map is updated with the loop detection information to improve the grid map accuracy for accurate navigation. Findings Furthermore, simulation and real scene experiments have been carried out to verify the effectiveness of the proposed method.

In order to obtain a strawberry fruit wine with strong aroma and typical flavor, the non-fermentative yeast, Torulaspora delbrueckii (Td), was sequentially co-fermented with four commercial wine yeasts (D254, K1, F15, and Aq) at a 1:1 inoculation ratio.The effects of the four mixed fermentation combinations on the physicochemical properties, volatile aromatic compounds, and consumer preferences of strawberry wines were evaluated using SPME-GC-MS and a 9-point hedonic scale.The results show that the co-fermentation of Td with different wine yeasts significantly affects the color and aroma components of strawberry wine.Sequential inoculation with Td and Aq or D254 resulted in a wine with a higher redness and saturation.For aroma, a total of 67 volatile compounds, mainly esters, alcohols and acids, were identified in the four strawberry wines.Based on the Venn diagram analysis, 19 aroma compounds were common to all four wine samples, with the Td+D254 combination producing the highest number of aroma compounds (48).The principal component analysis of major aroma compounds (ROAV>0.1) revealed that the volatile active compounds produced by Td+K1 group and Td+D254 group were similar, and closely related to octanoic acid, nonanal, and S-(-) -2-methyl-1-butanol, etc.The consumer preference test showed that the Td+D254 group of strawberry wine had strong fruity, refreshing, and floral aromas, achieving the highest preference score 6.7±1.2.Overall, the findings suggest that the combined fermentation of Td and Saccharomyces cerevisiae D254 has the potential to enhance the aromatic qualities of strawberry wine. [ABSTRACT FROM AUTHOR]