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20 results on '"Fan, Wenzheng"'

11. A tight coupling mapping method to integrate the ESKF, g2o, and point cloud alignment

Author

Bao Sheng, Xiang Haodong, Nie Mingyan, Fan Wenzheng, Chen Pengxin, and Shi Wenzhong

Subjects
Computer science, business.industry, Point cloud, Process (computing), Cloud computing, Kalman filter, Simultaneous localization and mapping, Theoretical Computer Science, Hardware and Architecture, Trajectory, Focus (optics), business, Algorithm, Software, Information Systems, Mobile mapping
Abstract

High-precision point cloud maps have drawn increasing attention due to their wide range of applications. In recent decades, point cloud maps are normally generated by simultaneous localization and mapping (SLAM) methods, which favor real-time performance over high precision. These methods generally focus on trajectory accuracy resulting in the unclearness of map accuracy. Therefore, to build a high-precision point cloud map and evaluate the mapping performance directly, this study proposes a tight coupling mapping method that integrates the error-state Kalman filter (ESKF), the general framework for graph optimization (g2o), and the point cloud alignment. An ESKF and a g2o are both used to improve the precision of the mapping process. Also, experiments based on a mobile mapping backpack prototype are conducted to verify the proposed method. Targets in the environment and a high-precision reference point cloud map are used to directly evaluate the map performance. The results indicate that the generated point cloud map is sufficiently precise and can reach the centimeter level.

Published
2021
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17. Enantioselective Copper-Catalyzed Radical Cyanation of Propargylic C-H Bonds: Easy Access to Chiral Allenyl Nitriles

Author

Lu, Ronghua, Yang, Tilong, Chen, Xin, Fan, Wenzheng, Chen, Pinhong, Lin, Zhenyang, Liu, Guosheng, Lu, Ronghua, Yang, Tilong, Chen, Xin, Fan, Wenzheng, Chen, Pinhong, Lin, Zhenyang, and Liu, Guosheng

Abstract

The first enantioselective copper-catalyzed cyanation of propargylic C-H bonds via radical relay was established using novel BoxOTMS ligands, providing an efficient and straightforward tool for the construction of structurally diverse chiral allenyl nitriles in good yields with excellent enantioselectivities. This reaction features high functional group tolerance and mild conditions. In addition, the chiral allene products can be readily converted to other chiral compounds via axis-to-center chirality transfer. © 2021 American Chemical Society.

Published
2021

20. Semantic Geometric Modelling of Unstructured Indoor Point Cloud.

Author

Shi, Wenzhong, Ahmed, Wael, Li, Na, Fan, Wenzheng, Xiang, Haodong, and Wang, Muyang

Subjects
SEMANTIC differential scale, OPTICAL scanners, THREE-dimensional printing
Abstract

A method capable of automatically reconstructing 3D building models with semantic information from the unstructured 3D point cloud of indoor scenes is presented in this paper. This method has three main steps: 3D segmentation using a new hybrid algorithm, room layout reconstruction, and wall-surface object reconstruction by using an enriched approach. Unlike existing methods, this method aims to detect, cluster, and model complex structures without having prior scanner or trajectory information. In addition, this method enables the accurate detection of wall-surface "defacements", such as windows, doors, and virtual openings. In addition to the detection of wall-surface apertures, the detection of closed objects, such as doors, is also possible. Hence, for the first time, the whole 3D modelling process of the indoor scene from a backpack laser scanner (BLS) dataset was achieved and is recorded for the first time. This novel method was validated using both synthetic data and real data acquired by a developed BLS system for indoor scenes. Evaluating our approach on synthetic datasets achieved a precision of around 94% and a recall of around 97%, while for BLS datasets our approach achieved a precision of around 95% and a recall of around 89%. The results reveal this novel method to be robust and accurate for 3D indoor modelling. [ABSTRACT FROM AUTHOR]

Published
2019
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