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Wheeled robots have been widely used in People’s Daily life. Accurate positioning is the premise of autonomous navigation. In this paper, an optimization-based visual-inertial-wheel odometer tightly coupled system is proposed, which solves the problem of failure of visual inertia initialization due to unobservable scale.The aim of this paper is to achieve robust localization of visually challenging scenes.

During system initialization, the wheel odometer measurement and visual-inertial odometry (VIO) fusion are initialized using maximum a posteriori (MAP). Aiming at the visual challenge scene, a fusion method of wheel odometer and inertial measurement unit (IMU) measurement is proposed, which can still be robust initialization in the scene without visual features. To solve the problem of low track accuracy caused by cumulative errors of VIO, the local and global positioning accuracy is improved by integrating wheel odometer data. The system is validated on a public data set.

The results show that our system performs well in visual challenge scenarios, can achieve robust initialization with high efficiency and improves the state estimation accuracy of wheeled robots.

To realize robust initialization of wheeled robot, wheel odometer measurement and vision-inertia fusion are initialized using MAP. Aiming at the visual challenge scene, a fusion method of wheel odometer and IMU measurement is proposed. To improve the accuracy of state estimation of wheeled robot, wheel encoder measurement and plane constraint information are added to local and global BA, so as to achieve refined scale estimation.

Information is presented in various modalities such as text and images, and it can quickly and widely spread on social networks and among the general public through key communication nodes involved in public opinion events. Therefore, by tracking and identifying key nodes of public opinion, we can determine the direction of public opinion evolution and timely and effectively control public opinion events or curb the spread of false information.

This paper introduces a novel multimodal semantic enhanced representation based on multianchor mapping semantic community (MAMSC) for identifying key nodes in public opinion. MAMSC consists of four core components: multimodal data feature extraction module, feature vector dimensionality reduction module, semantic enhanced representation module and semantic community (SC) recognition module. On this basis, we combine the method of community discovery in complex networks to analyze the aggregation characteristics of different semantic anchors and construct a three-layer network module for public opinion node recognition in the SC with strong, medium and weak associations.

The experimental results show that compared with its variants and the baseline models, the MAMSC model has better recognition accuracy. This study also provides more systematic, forward-looking and scientific decision-making support for controlling public opinion and curbing the spread of false information.

We creatively combine the construction of variant autoencoder with multianchor mapping to enhance semantic representation and construct a three-layer network module for public opinion node recognition in the SC with strong, medium and weak associations. On this basis, our constructed MAMSC model achieved the best results compared to the baseline models and ablation evaluation models, with a precision of 91.21%.