夜间使用常规视觉摄像机运行的机器人由于噪声受限图像而在重建中面临重大挑战。先前的工作表明，爆发成像技术可用于部分克服这一问题。在本文中，我们开发了一种新型的功能检测器，该功能检测器直接在图像爆发上运行，从而在极低的光线条件下增强了基于视觉的重建。我们的方法通过在多尺度和多运动空间中共同搜索，在每次爆发中找到了定义明确的尺度和明显运动的关键点。因为我们在图像具有较高信噪比的阶段描述了这些功能，因此检测到的特征比常规嘈杂图像和突发的图像和表现出高度精确的最新特征更准确和匹配性能。我们显示了提高功能性能和摄像头姿势估计值，并在挑战光限制的场景中使用功能检测器展示了改进的结构，从而改善了结构。我们的功能Finder为在弱光方案和应用程序（包括夜间操作）中运行的机器人提供了重要的一步。

We present a method for controlling a swarm using its spectral decomposition -- that is, by describing the set of trajectories of a swarm in terms of a spatial distribution throughout the operational domain -- guaranteeing scale invariance with respect to the number of agents both for computation and for the operator tasked with controlling the swarm. We use ergodic control, decentralized across the network, for implementation. In the DARPA OFFSET program field setting, we test this interface design for the operator using the STOMP interface -- the same interface used by Raytheon BBN throughout the duration of the OFFSET program. In these tests, we demonstrate that our approach is scale-invariant -- the user specification does not depend on the number of agents; it is persistent -- the specification remains active until the user specifies a new command; and it is real-time -- the user can interact with and interrupt the swarm at any time. Moreover, we show that the spectral/ergodic specification of swarm behavior degrades gracefully as the number of agents goes down, enabling the operator to maintain the same approach as agents become disabled or are added to the network. We demonstrate the scale-invariance and dynamic response of our system in a field relevant simulator on a variety of tactical scenarios with up to 50 agents. We also demonstrate the dynamic response of our system in the field with a smaller team of agents. Lastly, we make the code for our system available.