5.2 鍒嗘敮瀹氱晫鎵弿鍖归厤
鍍忕礌绾э紙pixel-accurate锛夊尮閰嶄紭鍖栧叕寮忎负锛欬br> 尉 鈭 = a r g m a x ( 尉 鈭 蠅 ) 鈭 k = 1 K M n e a r e s t ( T 尉 h k ) (BBS) \xi^*= argmax(\xi \in \omega)\sum_{k=1}^KM_{nearest}(T_\xi h_k) \tag{BBS} 尉鈭桙/span>=argmax(尉鈭圏/span>蠅)k=1鈭慄/span>K鈥婞/span>Mnearest鈥婞/span>(T尉鈥婞/span>hk鈥婞/span>)(BBS)
涓婂紡涓?span> 蠅 \omega 蠅琛ㄧず鎼滅储绐楀彛锛孅span> M n e a r e s t M_{nearest} Mnearest鈥婞/span>鏄皢杞崲鍚庣殑鍧愭爣M鎷撳睍鍒?span> R 2 R^2 R2绌洪棿銆傞€氳繃灏嗚绠楀緱鍒扮殑鍧愭爣鑸嶅叆鍒拌窛绂绘渶杩戠殑鏍呮牸涓紝鐒跺悗灏嗚鏍呮牸鐐规嫇灞曞埌鍏跺搴旂殑Pixel锛堥檮杩戣窛绂绘渶杩戠殑鍏朵粬鏍呮牸鐐癸紵锛夈€傚尮閰嶇殑璐ㄩ噺鍙互杩涗竴姝ラ€氳繃鍏紡 C S CS CS鏉ヤ紭鍖栨彁楂樸€傞€傚綋鐨勯€夊彇閬嶅巻姝ラ暱锛屽彲浠ユ湁鏁堟彁楂樻晥鐜囥€傛枃涓€夋嫨褰撴縺鍏夐浄杈句互鏈€澶х殑鎺㈡祴璺濈 d m a x d_{max} dmax鈥婞/span>鎵弿鏃剁Щ鍔ㄤ笉瓒呰繃涓€涓儚绱犵殑瀹藉害( r r r, 涔熸槸涓€涓渶灏忓垎杈ㄧ巼鏍呮牸鐨勫搴︼紵) 涓洪檺鍒舵椂瀵瑰簲鐨勬柟鍚戣浆瑙掍负瑙掑害閬嶅巻姝ラ暱 未 胃 \delta_{\theta} 未胃鈥婞/span>銆傚熀浜庝綑寮﹀畾鐞嗭紝鍙互寰楀埌锛欬span> d m a x = m a x ( k = 1 , . . . , K ) 鈭 鈭 h k 鈭 鈭 (6) d_{max} = max( k = 1, ..., K) ||h_k|| \tag6 dmax鈥婞/span>=max(k=1,...,K)鈭Ⅻ/span>鈭Ⅻ/span>hk鈥婞/span>鈭Ⅻ/span>鈭Ⅻ/span>(6) 未 胃 = a r c c o s ( 1 鈭 r 2 a d m a x 2 ) (7) \delta_{\theta }= arccos(1- \frac{r^2}{ad_{max}^2}) \tag7 未胃鈥婞/span>=arccos(1鈭扅/span>admax2鈥婞/span>r2鈥婞/span>)(7)鎺ョ潃锛屽彲浠ュ熀浜庣粰瀹氱殑浣嶇Щ鍜岃搴︽悳绱㈢獥鍙ｅぇ灏忚绠楃Н鍒嗘鏁帮紝姣斿 W x = W y = 7 m 锛 W 胃 = 30 掳 W_x=W_y=7m锛學_\theta=30\degree Wx鈥婞/span>=Wy鈥婞/span>=7m锛孅/span>W胃鈥婞/span>=30掳: w x = W x r , w y = W y r , w 胃 = W 胃 r (8) w_x=\frac{W_x}{r}, w_y=\frac{W_y}{r}, w_\theta=\frac{W_\theta}{r} \tag8 wx鈥婞/span>=rWx鈥婞/span>鈥婞/span>,wy鈥婞/span>=rWy鈥婞/span>鈥婞/span>,w胃鈥婞/span>=rW胃鈥婞/span>鈥婞/span>(8)杩欎細浜х敓涓€涓湁闄愰泦鍚圏span> 蠅 \omega 蠅锛屽熀浜庡湪褰撳墠鏈€鏂颁及璁′綅缃?span> 尉 0 \xi_0 尉0鈥婞/span>涓轰腑蹇冪殑鎼滅储绐楀彛锛欬span> 蠅 藟 = { 鈭 w x , . . . , w x } 脳 { 鈭 w y , . . . , w y } 脳 { 鈭 w 胃 , . . . , w 胃 } (9) \bar{\omega} = \{-w_x, ..., w_x \} \times \{-w_y,..., w_y \} \times \{-w_\theta,...,w_\theta \} \tag9 蠅藟={鈭扅/span>wx鈥婞/span>,...,wx鈥婞/span>}脳{鈭扅/span>wy鈥婞/span>,...,wy鈥婞/span>}脳{鈭扅/span>w胃鈥婞/span>,...,w胃鈥婞/span>}(9) 蠅 = { 尉 0 + ( r j x , r j y , 未 胃 j 胃 ) : ( j x , j y , j 胃 ) 鈭 蠅 藟 } (10) \omega = \{\xi_0 + (rj_x, rj_y, \delta_\theta j_\theta):(j_x, j_y, j_\theta) \in \bar{\omega}\} \tag{10} 蠅={尉0鈥婞/span>+(rjx鈥婞/span>,rjy鈥婞/span>,未胃鈥婞/span>j胃鈥婞/span>):(jx鈥婞/span>,jy鈥婞/span>,j胃鈥婞/span>)鈭圏/span>蠅藟}(10)鍩轰簬浼犵粺鏂规硶杩涜鏆村姏閬嶅巻瀵绘壘鏈€浼樼殑鍖归厤 尉 鈭 \xi^* 尉鈭桙/span>瀹炵幇杈冧负绠€鍗曪紝鍙涓嬭堪绠楁硶1锛屼絾鏄獥鍙ｈ秺澶э紝鎼滅储鏁堢巼瓒婃參锛欬br> 绠楁硶1:鏆村姏鍖归厤鏂规硶
涓庝笂杩版柟娉曚笉鍚岀殑鏄紝浣滆€呴噰鐢ㄤ竴绉嶅垎鏀畾鐣岀殑鏂规硶鏉ュ疄鐜板湪鏇村ぇ鐨勬悳绱㈢獥鍙ｆ湁鏁堣绠桙span> 尉 鈭 \xi^* 尉鈭桙/span>銆侟strong>绠楁硶2鎻忚堪浜嗘鏂规硶鐨勪竴鑸疄鐜拌繃绋嬨€傝鏂规硶棣栨鍦ㄦ贩鍚堟暣鍨嬬嚎鎬ц鍒掗棶棰樹腑浣跨敤[17]銆傚叧浜庤繖鏂归潰鐨勬枃鐚緝澶氾紝鍙互鍙傝[18]涓殑鏂囩尞姒傝堪銆侟br> 绠楁硶2锛氫竴鑸垎鏀畾鐣岀畻娉旤/strong>
璇ユ柟娉曠殑涓昏鎬濇兂鏄紝鍦ㄤ竴涓爲缁撴瀯閲岋紝鏍硅妭鐐硅〃绀烘墍鏈夊彲鑳界殑姒傜巼锛圏span> 蠅 \omega 蠅锛夛紝瀛╁瓙鑺傜偣琛ㄧず姒傜巼瀛愰泦銆傛瘡涓妭鐐圭殑瀛╁瓙鑺傜偣缁勬垚鍙屼翰鑺傜偣鐨勪竴涓垎鏀紝鍥犳杩欎簺瀛╁瓙鑺傜偣涓€璧峰彲浠ヨ〃绀虹浉鍚岀殑姒傜巼闆嗗悎銆傚彾鑺傜偣鏄崟鐙殑锛屾瘡涓€涓〃绀哄崟鐙殑缁撴灉銆傜畻娉曟槸涓ユ牸鐨勶紝鍙鍐呴儴鑺傜偣c鐨勫緱鍒咟span> s c o r e ( c ) score(c) score(c)鏄畠鍏冪礌锛堝叾瀛╁瓙锛夊緱鍒嗙殑涓婄晫锛屽垯鍜屾毚鍔涘尮閰嶆柟娉曚竴鏍峰彲浠ユ彁渚涚浉鍚岀殑缁撴灉銆傚湪杩欑鎯呭喌涓嬶紝鏃犺浠€涔堟椂鍊欎竴涓妭鐐规垚涓鸿竟鐣岋紝鍒欐瘮宸茬煡鐨勬渶浼樼殑缁撴灉鏇翠紭鐨勭粨鏋滀笉浼氬嚭鐜板湪鍏朵粬瀛愭爲涓€侟br>
鍏蜂綋鑰岃█锛岃鏂囦腑鐨勭畻娉曡繃绋嬪彲鍒嗕负浠ヤ笅姝ラ锛?锛夎妭鐐归€夋嫨锛圏em>node selection锛堺 2) 鍒嗘敮锛圏em>branching锛堺 3) 璁＄畻涓婄晫锛圏em>computation of upper bounds锛夈€侟/p>
1锛夎妭鐐归€夋嫨锛圏em>Node Selection锛夛細浣滆€呴噰鐢ㄦ繁搴︿紭鍏堟悳绱紙DFS锛変綔涓烘棤鍏堥獙淇℃伅涓嬬殑榛樿鎼滅储鏂瑰紡锛氭鏃舵悳绱㈡晥鐜囬珮浣庡緢澶т竴閮ㄥ垎鍙栧喅浜庢爲鐨勭粨鏋勩€傝繖鐢变袱浠朵簨鎯呭喅瀹氾細涓€涓槸濂界殑涓婄晫锛 涓€涓槸濂界殑褰撳墠缁撴灉銆傚悗鑰呭彲浠ユ湁鍔╀簬娣卞害浼樺厛鎼滅储锛岃繖鏍疯兘澶熷緢蹇殑瀵硅澶氬彾瀛愯妭鐐硅繘琛岃瘎浼拌绠椼€傚洜涓哄湪鍥炵幆閲屽姞鍏ヤ綆鍖归厤搴︾殑绾︽潫鍙兘鍙嶈€屽鑷撮敊璇紝鎵€浠ヤ綔鑰呬篃璁句簡鏈€浣庡垎鏁伴槇鍊硷紝浣庝簬姝ら槇鍊肩殑鍖归厤缁撴灉涓嶄細鍦ㄤ紭鍖栬繃绋嬩腑浣跨敤銆傚疄闄呬腑鐨勫緱鍒嗗苟涓嶄細棰戠箒瓒呰繃姝ら槇鍊硷紝杩欒兘澶熼檷浣庤妭鐐归€夋嫨鎴栬€呭鎵惧垵濮嬪惎鍙戣В鐨勯噸瑕佺▼搴︼紙杩欐牱鍙互鎻愰珮鑺傜偣鐨勭瓫閫夋晥鐜囷級銆傚熀浜庢繁搴︿紭鍏堟悳绱㈤亶鍘嗗瀛愯妭鐐圭殑椤哄簭锛
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