Auto guide vehicle's position deviation always appears in its walking process. Current edge approaches applied in the visual navigation field are difficult to meet the high-level requirements of complex environment in factories since they are easy to be affected by noise, which results in low measurement accuracy and unsteadiness. In order to avoid the defects of edge detection algorithm, an improved detection method based on image thinning and Hough transform is proposed to solve the problem of auto guide vehicle's walking deviation. First, the image of lane line is preprocessed with gray processing, threshold segmentation, and mathematical morphology, and then, the refinement algorithm is employed to obtain the skeleton of the lane line, combined with Hough detection and line fitting, the equation of the guide line is generated, and finally, the value of auto guide vehicle's walking deviation can be calculated. The experimental results show that the methodology we proposed can deal with non-ideal factors of the actual environment such as bright area, path breaks, and clutters on road, and extract the parameters of the guide line effectively, after which the value of auto guide vehicle's walking deviation is obtained. This method is proved to be feasible for auto guide vehicle in indoor environment for visual navigation.
To investigate the possible role of interleukin (IL)-10 and IL-12 in the pathogenesis of psoriatic lesions and to supply theoretical basis for the gene therapy for psoriasis, the expression of IL-10 and IL-12 P35, P40 mRNA in 12 cases of psoriatic lesions and 6 normal skin tissues was detected by using RT-PCR technique. The results showed that the expression of IL-10 mRNA in the psoriatic lesions was significantly lower than that in the normal skin tissues (P < 0.001). The expression of IL-12 P35 was positive both in the psoriatic lesions and in the normal skin tissues. IL-12 P40 mRNA was expressed positively only in the psoriatic lesions but negatively in the normal skin tissues. It was suggested that IL-12 might take an important role in the occurrence and progression of psoriasis, but IL-10 might have certain role in the regression of psoriasis.
In order to realize state estimation for axisymmetric targets and improve the accuracy and robustness of state estimation, a state estimation method for axisymmetric targets based on beacon linear features and view relation is proposed in this paper. The depth camera is used to collect the image and depth information of the object, and the features of the beacon line are extracted by the thinning process and Hough transform. Then, the rotation matrix model based on view relation is constructed to solve the target state. Finally, an axisymmetric shore power plug is taken as the experimental object and the L–V (linear features and view relation) state estimation method is compared with the C–H and C–IPPE state estimation methods. The experimental results show that the L–V state estimation method has higher accuracy and robustness.
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