($width) AND $width .= 'px';
        $style = " style=\"width: $width\"";
    }
    $value = $value ? $value : date('H:i');
    $s = "<input type=\"time\" name=\"$name\" id=\"$name\" class=\"form-control\" value=\"$value\" $style />";
    return $s;
}

// form_date('start', '2018-07-05') 为空则当前日期
function form_date($name, $value = 0, $width = FALSE)
{
    $style = '';
    if (FALSE !== $width) {
        is_numeric($width) AND $width .= 'px';
        $style = " style=\"width: $width\"";
    }
    $value = $value ? $value : date('Y-m-d');
    $s = "<input type=\"date\" name=\"$name\" id=\"$name\" class=\"form-control\" value=\"$value\" $style />";
    return $s;
}

/**用法
 *
 * echo form_radio_yes_no('radio1', 0);
 * echo form_checkbox('aaa', array('无', '有'), 0);
 *
 * echo form_radio_yes_no('aaa', 0);
 * echo form_radio('aaa', array('无', '有'), 0);
 * echo form_radio('aaa', array('a'=>'aaa', 'b'=>'bbb', 'c'=>'ccc', ), 'b');
 *
 * echo form_select('aaa', array('a'=>'aaa', 'b'=>'bbb', 'c'=>'ccc', ), 'a');
 */


?>�组保留的标签 余下为需要删除的标签
                unset($oldtag[$key]);
            }
        }
    }
    

    if (!empty($oldtag)) {
        $tagids = array();
        foreach ($oldtag as $tagid => $tagname) {
            $tagids[] = $tagid;
        }

        well_oldtag_delete($tagids, $tid);
    }

    $r = well_tag_process($tid, $fid, $create_tag, $tagarr);

    

    return $r;
}

// 删除标签和绑定的主题
function well_oldtag_delete($tagids, $tid)
{
    

    $pagesize = count($tagids);
    $arrlist = well_tag_find_by_tagids($tagids, 1, $pagesize);

    

    $delete_tagids = array(); // 删除
    $tagids = array();
    $n = 0;
    foreach ($arrlist as $val) {
        ++$n;
        
        if (1 == $val['count']) {
            // 只有一个主题
            $delete_tagids[] = $val['tagid'];
            
        } else {
            $tagids[] = $val['tagid'];
        }
        
    }

    

    !empty($delete_tagids) and well_tag_delete($delete_tagids);

    $arlist = well_tag_thread_find_by_tid($tid, 1, $n);
    if ($arlist) {
        $ids = array();
        foreach ($arlist as $val) $ids[] = $val['id'];

        well_tag_thread_delete($ids);
    }

    !empty($tagids) and well_tag_update($tagids, array('count-' => 1));

    
}

// 标签数据处理 $arr=新提交的数组 $tagarr=保留的旧标签
function well_tag_process($tid, $fid, $new_tags = array(), $tagarr = array())
{
    if (empty($tid)) return '';

    

    // 新标签处理入库
    if ($new_tags) {

        

        $threadarr = array();
        $tagids = array();
        $i = 0;
        $size = 5;
        $n = count($tagarr);
        $n = $n > $size ? $size : $size - $n;

        

        foreach ($new_tags as $name) {
            ++$i;
            $name = trim($name);
            $name = stripslashes($name);
            $name = strip_tags($name);
            $name = str_replace(array('&nbsp;', '#', "@", "$", "%", "^", '&', '·', '<', '>', '；', '`', '~', '!', '￥', '……', ';', '?', '？', '-', '—', '_', '=', '+', '.', '{', '}', '|', ':', '：', '、', '/', '。', '[', ']', '【', '】', '‘', '	', '    ', '  ', '   ', '    '), '', $name);
            $name = htmlspecialchars($name, ENT_QUOTES);
            if ($name && $i <= $n) {
                
                // 查询标签
                $read = well_tag_read_name($name);
                
                if ($read) {
                    // 存在 count+1
                    $tagids[] = $read['tagid'];
                    
                } else {
                    // 入库
                    $arr = array('name' => $name, 'count' => 1);
                    
                    $tagid = well_tag_create($arr);
                    FALSE === $tagid and message(-1, lang('create_failed'));
                    $read = array('tagid' => $tagid, 'name' => $name);
                    
                }

                $tag_thread = array('tagid' => $read['tagid'], 'tid' => $tid);

                

                $threadarr[] = $tag_thread;

                

                $tagarr[$read['tagid']] = $read['name'];
            }
        }

        

        !empty($threadarr) and tag_thread_big_insert($threadarr);

        !empty($tagids) and well_tag_update($tagids, array('count+' => 1));
    }

    

    $json = empty($tagarr) ? '' : xn_json_encode($tagarr);

    

    return $json;
}




?>return $r;
}

/**
 * @param int $page 页数
 * @param int $pagesize 每页显示数量
 * @return mixed
 */
function link_find($page = 1, $pagesize = 100)
{
    
    $arr = link__find($cond = array(), array('rank' => -1), $page, $pagesize);
    
    return $arr;
}

/**
 * @param $id
 * @return bool 返回FALSE失败 TRUE成功
 */
function link_delete($id)
{
    if (empty($id)) return FALSE;
    
    $r = link__delete(array('id' => $id));
    link_delete_cache();
    
    return $r;
}

//--------------------------kv + cache--------------------------
/**
 * @return mixed 返回全部友情链接
 */
function link_get($page = 1, $pagesize = 100)
{
    $g_link = website_get('friends_link');
    if (empty($g_link)) {
        $g_link = link_find($page, $pagesize);
        $g_link AND website_set('friends_link', $g_link);
    }
    return $g_link;
}

// delete kv and cache
function link_delete_cache()
{
    website_set('friends_link', '');
    return TRUE;
}




?>   $v = implode(",", $v);
        $temp[] = $v;
    }
    // 去掉重复的字符串,也就是重复的一维数组
    $temp = array_unique($temp);
    // 再将拆开的数组重新组装
    $output = array();
    foreach ($temp as $k => $v) {
        if ($stkeep) $k = $starr[$k];
        if ($ndformat) {
            $temparr = explode(",", $v);
            foreach ($temparr as $ndkey => $ndval) $output[$k][$ndarr[$ndkey]] = $ndval;
        } else $output[$k] = explode(",", $v);
    }
    return $output;
}

// 合并二维数组 如重复 值以第一个数组值为准
function array2_merge($array1, $array2, $key = '')
{
    if (empty($array1) || empty($array2)) return NULL;
    $arr = array();
    foreach ($array1 as $k => $v) {
        isset($v[$key]) ? $arr[$v[$key]] = array_merge($v, $array2[$k]) : $arr[] = array_merge($v, $array2[$k]);
    }
    return $arr;
}

/*
 * 对二维数组排序 两个数组必须有一个相同的键值
 * $array1 需要排序数组
 * $array2 按照该数组key排序
 * */
function array2_sort_key($array1, $array2, $key = '')
{
    if (empty($array1) || empty($array2)) return NULL;
    $arr = array();
    foreach ($array2 as $k => $v) {
        if (isset($v[$key]) && $v[$key] == $array1[$v[$key]][$key]) {
            $arr[$v[$key]] = $array1[$v[$key]];
        } else {
            $arr[] = $v;
        }
    }

    return $arr;
}




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<div class="betaflare-com main"><div class="betaflare-com top-bar"><div class="betaflare-com crumbs"><a href="/">首页</a><a href="/biancheng">编程</a><span>正文内容</span></div><form method="post" class="search-form" action="/operate/search.html" ><button class="mcico mico-search" type="submit"></button><input type="text" class="search-input" name="keyword" placeholder="关键词" /><input type="hidden" name="range" value="1"></form></div><div class="betaflare-com post-wrap"><div class="betaflare-com post-header"><h1 class="post-title">云计算实战应用案例精讲-【自动驾驶】多模态融合智能检测方法及 SLAM 车载实现（论文篇）</h1><div class="betaflare-com post-meta"><ul class="post-categories"><li><a href="/biancheng">编程</a></li></ul><span>更新时间：2024-09-16</span><span><i class="mcico mico-huo"></i>99</span><div class="betaflare-com tag-wrap post-header-tags"></div></div></div><div class="betaflare-com post-content"><blockquote style="padding: 0px; margin: 0;" class="author_bq"><a href="/user/1.html" title="admin"><div class="betaflare-com video_docimg"><img src="/upload/avatar/000/1.png?1696565124"></div><div class="betaflare-com video_docinfo"><div><span>admin</span><span class="professional">管理员组</span></div><p class="video_hospital">文章数量:1516870</p></div></a></blockquote><p ><strong>目录</strong></p> 
<p  style="margin-left:0px;">基于多模态融合的人机协同模型与算法研究</p> 
<p  style="margin-left:40px;">感知与识别技术</p> 
<p  style="margin-left:80px;">2.1 手势信息的感知与识别</p> 
<p  style="margin-left:80px;">2.2 语音信息的感知与识别</p> 
<p  style="margin-left:80px;">2.3 场景对象的感知与识别</p> 
<p  style="margin-left:80px;">2.4 游戏积木的感知与识别</p> 
<p  style="margin-left:40px;">自适应多模态融合算法</p> 
<p  style="margin-left:80px;">3.1 引言</p> 
<p  style="margin-left:80px;">3.2 多模态融合总体框架</p> 
<p  style="margin-left:80px;">3.3 自适应多模态融合算法</p> 
<p  style="margin-left:80px;">3.5 实验结果分析与比较</p> 
<p  style="margin-left:40px;">复合权重强化学习的人机协同算法</p> 
<p  style="margin-left:80px;">4.1 引言</p> 
<p  style="margin-left:80px;">4.2 算法总体框架</p> 
<p  style="margin-left:80px;">4.3 复合权重强化学习的人机协同算法</p> 
<p  style="margin-left:80px;">4.4 算法描述</p> 
<p  style="margin-left:80px;">4.5 算法分析</p> 
<p  style="margin-left:80px;">4.6 实验结果分析</p> 
<p  style="margin-left:80px;">4.7 用户评价</p> 
<p  style="margin-left:40px;">基于人机协同模型与算法的助老应用实验</p> 
<p  style="margin-left:80px;">5.1 模型框架</p> 
<p  style="margin-left:80px;">5.2 助老陪护实验</p> 
<p  style="margin-left:80px;">5.3 实验操作场景及交互过程</p> 
<p  style="margin-left:0px;">&nbsp;多模态融合智能检测方法及 SLAM 车载实现</p> 
<p  style="margin-left:40px;">车载系统总体设计</p> 
<p  style="margin-left:80px;">2.1 简述</p> 
<p  style="margin-left:80px;">2.2 车载硬件系统设计</p> 
<p  style="margin-left:80px;">2.3 车载软件系统设计</p> 
<p  style="margin-left:40px;">传感器联合标定</p> 
<p  style="margin-left:80px;">3.1 相机坐标系定义与参数标定</p> 
<p  style="margin-left:80px;">3.2 激光雷达与相机外参标定</p> 
<p  style="margin-left:40px;">激光雷达与视觉传感器多模态检测</p> 
<p  style="margin-left:80px;">4.1 基于激光雷达的人体检测</p> 
<p  style="margin-left:80px;">4.2 基于 RGB-D 相机的人体识别</p> 
<p  style="margin-left:80px;">4.3 基于 YOLOv5 的行人检测</p> 
<p  style="margin-left:80px;">4.4 基于 TX2 的 YOLOv5 部署</p> 
<p  style="margin-left:40px;">多模态融合与跟踪</p> 
<p  style="margin-left:80px;">5.1 行人测量的数据关联</p> 
<p  style="margin-left:80px;">5.2 行人的状态估计</p> 
<p  style="margin-left:80px;">5.3 车载系统参数与轨迹管理器</p> 
<p  style="margin-left:80px;">5.4 车载系统评估与可视化</p> 
<p  style="margin-left:80px;">5.5 车载系统的场景应用</p> 
<hr > 
<p></p> 
<h2 >基于多模态融合的人机协同模型与算法研究</h2> 
<h3 ><span style="color:#000000;"><strong>感知与识别技术 </strong></span></h3> 
 
 
 <span style="color:#000000;">针对助老陪护应用场景，为了使智能机器人更好地实现交互，本文选择了语音、手 </span> 
 
 
 <span style="color:#000000;">势和场景对象进行融合识别。针对助老陪护的现实特点，为了达到更自然的交互效果， </span> 
 
 
 <span style="color:#000000;">本文识别了老年人日常生活陪护和心理陪护游戏中的四种模态信息。在手势识别方面， </span><p class="tag">
                本文标签：
                <a style="margin-right: 10px" href="/tag/118313.html" target="_blank">实战</a><a style="margin-right: 10px" href="/tag/893096.html" target="_blank">检测方法</a><a style="margin-right: 10px" href="/tag/821824.html" target="_blank">多模</a><a style="margin-right: 10px" href="/tag/5435.html" target="_blank">案例</a><a style="margin-right: 10px" href="/tag/820442.html" target="_blank">智能</a></p><div class="betaflare-com copyright"><blockquote><p>
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