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1 00D F

2 1 2 Visual SLAM 2 Visual SLAM

3 Kedall Poisso M/M/c Visual SLAM Visual SLAM

4 1-1 -

5 x y y 1 x y = a + bx x y x y y x x, x,, 1, 2 3 L x 1 y = a + b x + b x + b x + L + b x x 1, x2, x3, L, x y a y b b, b,, 1, 2 3 L b R R y ŷ R 2 R 2-2 -

6 0.60 y 60 x 1 2 R R R 1 ( 1 R ) 1 k 1 2 AIC log e ( 1 R ) + 2 k Rh 1 ( ) ( )( ) k R ( + 1)( k 1) - 3 -

7 Kedall - 4 -

8 Kedall Kedall A/B/c 2 / 3 A 2 B c A B Kedall 4 M Markov D Determiistic Er Erlag r G Geeral M/M/1 M lack of memory Markov D 5 Er r r=1 r G 3.3 Poisso ( 0,T ] 3.1 ( 0,T ] S1 S2 S3 S 1 S 0 T - 5 -

9 3.1 S S, S,, S j +1 (, S ), ( S, S ) ( S, S ) ( S,T ) , L, 1, x 1, 2 3 L S j S 1 S 1 { S x} P > 1 = T T x = 1 α x (3.1) α T = T α α x { S > x} e α P (3.2) 1 k k Poisso Poisso α arrival rate Poisso t ( ) a, a + t Nt α t Poisso p k = P { N = k} t = ( α t) k! k e α t, k = 0, 1, 2, K (3.3) 3.4 M/M/c M/M/1-6 -

10 Poisso λ µ 1 λ 1 µ ρ 1 1 λ = µ λ = µ (3.4) ρ 0 < ρ < t Q t t 1 λ t + ο( t) µ t + ο( t) ( t) 2 ο t t 0 ο( t) t 0 () t t + t Q t t = P r Q t + t = t + t ( + ) { ( ) } 3 t 1 t 1 0 t t t +1 t 0 1 { Q( t + t) } P = r = P { Q( t) = } [ P {( 0, 0 )} + P {( 1, 1 )}] r r r - 7 -

11 { Q( t) = 1} P {(1, 0) } + P { Q( t) = 1} P {(0, 1) } + P (3.5) r r r + P r { ( a, b) } ( t t + t), a b t t + t r 1 (1, 0) (0, 0) (1, 1) (0, 1) +1 (x, y)xy 3.2 (3.5) P r { Q( t + t) = } = P P r { Q( t) = } = P (3.5) P 2 { ( 1 λ t)( 1 µ t) + λµ ( t) } + P 1λ t( 1 t) + + ( 1 λ t) µ t = P µ P 1 ( t ) ( 1 λ µ ) P + µ P λp 1 1 = ( λ + µ ) P λ 1 t ο P µ (3.6) (3.6) P + P 1 (3.7) (3.7) 3.3 P P 1 P P +1

12 3.3 = 0(3.5) P r Q t + t = 0 { ( ) } = P r { Q( t) = 0} [ Pr { (0, 0) } + Pr {(1, 1) }] P { Q( t) = 1} P {(0, 1) } + (3.8) r r (3.8) 2 ( 1 λ ) + P ( λ ) µ P λ P P + 0 = µ = 0 P1 λp 0 (3.9) (3.7)(3.9)(3.9) (3.7) P P λ = P 0 = ρ P 0 (3.10) µ 0 < ρ < 1 1 ρ = ρ = 0 1 (3.10)(3.11) (3.11) P = 1 ρ (3.12) 0 P = ρ ( 1 ρ) P ( = 1,2, L ) (3.13) c M/M/c λ, λ = λ ( = 0, 1, K 2, ) µ (3.14) µ = µ ( 1 < c) µ cµ ( c) c = (3.15) ( + µ ) P = λp 1 + ( + 1 ) µ P + 1 ( 1 < c) λ (3.16a) ( + c µ ) P = λp 1 + cµ P + 1 ( c) λ (3.16b) - 9 -

13 µ P = (3.16c) 1 λp0 M/M/1 P c ρ P = P0! ( 0 < c) c c ρ P = P0 c! ( c) (3.17) ρ, P 0 ρ λ cµ = (3.18) P 0 = c 1 = 0 c ρ! + c c 1 c ρ ( c 1 )! ( 1 ρ) 1 (3.19) M/M/1 L Lq L (3.13) L = = cρ P = c P + = 0 = 0 = c + 1 c 1 = cρ + P + cρ P + = 0 = 0 = c + 1 = c + 1 ( c) P P ( c) P (3.20) (3.20) 3 2 L q (3.20) L = cρ + (3.21) L q c Π = ( 1 ρ ) ρ Π L = q = c = 0 0 P ( 1 ρ ) Π = 1 + ρ ( c) P = c + 1 P

14 = ρ 1 Π 2 ( ρ ) ( 1 ρ ) ρ = Π (3.22) 1 ρ (3.22) ρ L = cρ + Π (3.23) 1 ρ M/M/c Π (3.17)(3.19) Π = c ( cρ ) P0! ( ρ ) c c P0 P = ρ = (3.24) c! c = c = c 1 γ t W ( 1 ρ ) µ ct { γ > t} = Πe P (3.25) 1 W q = E 1 ρ cµ ( γ ) Π ( ) q (3.26)

15 :0021:

16 ( 4.2 ) R 2 R 2 5. R

17 R 4.1 R

18 4.3 R 2 79%

19 = T D D D D D D D D [ ] = = [ ] 4.3 1[]

20 % 1 5%

21

22 :00 12:00 13:0015:

23 4.4 Visual SLAM Visual SLAM Visual SLAM Project Maitaier Visual SLAM CREATE 0 SELECT QUEUE 3 ACTIVITY 30 Poisso GOON ACTIVITY ENTRANCE GATE 1 ENTRANCE GATE AWAIT

24 QUEUE FREE ACTIVITY 10 2 ACTIVITY 5 AWAIT QUEUE ACTIVITY FREE AWAIT 1 1 ACTIVITY 5 ACTIVITY 15 3 FREE AWAIT 1 1 GOON ACTIVITY EXIT GATE 1 COLCT TRIMINATE

25 4.4.3 Visual SLAM / /

26

27

28

29

30 /

31

32

33 a. b. c

34 :00 16: :

35 :

36 5 1 Visual SLAM 1 R Visual SLAM

37 - 34 -

38 [1] Excel 2003 [2] 1991 [3]

64 3 g=9.85 m/s 2 g=9.791 m/s 2 36, km ( ) 1 () 2 () m/s : : a) b) kg/m kg/m k

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