将正态分布变换(NDT)应用于基于扫描匹配的SLAM中，实现了家庭服务机器人较大规模室内环境下的建图。
Normal Distributions Transform (NDT) is used in scan-matching based SLAM, and map-building is implemented in larger scale indoor environment by home service robots.
经验模式分解的主要思想类似小波变换，分解结果是由高频到低频分布的，即噪声主要集中在前几层。
EMD similars the wavelet transforms, the decomposition result is from high frequency to the low frequency distribution, namely the noise mainly concentrates in first several.
这种变色蜥蜴属飞龙科，广泛分布于亚洲。 它能根据环境的不同变换不同的体色。
The changeable lizard, an agamid lizard found widely in Asia, can be seen in different colours which reflect their moods Photograph: STR/AFP/Getty Images
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