ID 原文 译文
40746 将所提方法在数据集BSDS500上通过评价指标进行性能评价。 The performance of the proposed method is evaluated by the evaluation index on the data set BSDS500.
40747 实验结果表明，所提方法能够在数据集BSDS500上达到很好的性能。 Experimental results show that the proposed method can achieve good performance on BSDS500.
40748 楼梯是室内移动机器人面对的主要障碍之一，攀爬过程中需要估计机器人相对于楼梯的位姿。 Stairs are one of the main obstacles faced by indoor mobile robots.It is necessary to estimate the pose of the robot relative to the stairs during the climbing process.
40749 大多数室内定位的方法均应用于二维空间平面，而攀爬楼梯属于三维空间的运动， Most indoor positioning methods are applied to a two-dimensional space plane, and climbing stairs is a movement in three-dimensional space.
40750 多了高度上的位移，为位姿估计带来了很大的挑战。 Compared with the addition of height displacement in two-dimensional space, this brings great challenges to pose estimation.
40751 本文提出了一种基于二维图像和部分深度信息的机器人攀爬楼梯时的位姿估计方法。 A pose estimation method for robots climbing stairs based on two-dimensional images and partial depth information is proposed in this paper.
40752 该方法利用水平楼梯边沿线与楼梯台阶的高度和宽度边沿相交的特性，提出三线相交法来检测楼梯边沿点。 The method takes advantage of the characteristics of the intersection of the edge line of the horizontal staircase and the edge line where the height and width of the stair step are located, and proposes a three-line intersection method to detect the edge point of the staircase.
40753 然后结合边沿点的深度信息得到其在相机坐标系下的三维坐标，建立楼梯坐标系并求解位姿。 Then combine the depth information of the edge point to get its three-dimensional coordinates in the camera coordinate system, and use the coordinates to establish the staircase coordinate system and solve the pose.
40754 同时，利用边沿点到相机距离的周期变化特性实现行走楼梯阶数的计数。 At the same time, the periodic variation characteristic of the distance from the edge point to the camera is used to count the steps of walking stairs.
40755 最后利用kinect相机在楼梯上的移动模拟机器人的攀爬并对提出的方法进行测试，结果显示了其有效性和实用性。 Finally, the kinect camera is used to move on the stairs to simulate the climbing of the robot and the proposed method is tested.The results show its effectiveness and practicability.