In order to solve the lack of scale information in the camera pose estimated by the monocular catadioptric panoramic camera visual odometry, we propose a binocular catadioptric panoramic camera visual odometry method. By analyzing the projection model of the catadioptric panoramic camera, the calculation method of spherical parallax is analyzed in the binocular panoramic system, and then the depth information of the space point is calculated, and the camera's pose is solved through the 3D-2D feature point matching. The experimental verification on the public data set shows that our method is 23% more accurate than the monocular catadioptric panoramic camera visual odometry method.
The optical wave wavefront measurement system can perform non-contact real-time quantitative monitoring of the gas flow rate according to the gas density changes in the wind tunnel test. Since the quality of the optical surface of the wind tunnel window directly affects the acquisition accuracy of wavefront information, it is necessary to evaluate the adaptability of the opto-mechanical structure to fluid load in the development stage. To solve this problem, this paper proposes a gas flow field change model based on Finite Element Analysis (FEA). By calculating the fluid-structure coupling response of the wind tunnel window, the displacement field of the wind tunnel window and the maximum displacement of the node are obtained. It is 0.00018mm, and the result shows that the window glass has good environmental adaptability at a flow rate of 885m/s.
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