Online Appearance-Based Place Recognition and Mapping PDF Download

Author: Konstantinos A. Tsintotas
Publisher: Springer Nature
ISBN: 3031093968
Category : Technology & Engineering
Languages : en
Pages : 125

View

Book Description
This book introduces several appearance-based place recognition pipelines based on different mapping techniques for addressing loop-closure detection in mobile platforms with limited computational resources. The motivation behind this book has been the prospect that in many contemporary applications efficient methods are needed that can provide high performance under run-time and memory constraints. Thus, three different mapping techniques for addressing the task of place recognition for simultaneous localization and mapping (SLAM) are presented. The book at hand follows a tutorial-based structure describing each of the main parts needed for a loop-closure detection pipeline to facilitate the newcomers. It mainly goes through a historical review of the problem, focusing on how it was addressed during the years reaching the current age. This way, the reader is initially familiarized with each part while the place recognition paradigms follow.

Author: Emilio Garcia-Fidalgo
Publisher: Springer
ISBN: 3319759930
Category : Technology & Engineering
Languages : en
Pages : 180

View

Book Description
Mapping and localization are two essential tasks in autonomous mobile robotics. Due to the unavoidable noise that sensors present, mapping algorithms usually rely on loop closure detection techniques, which entail the correct identification of previously seen places to reduce the uncertainty of the resulting maps. This book deals with the problem of generating topological maps of the environment using efficient appearance-based loop closure detection techniques. Since the quality of a visual loop closure detection algorithm is related to the image description method and its ability to index previously seen images, several methods for loop closure detection adopting different approaches are developed and assessed. Then, these methods are used in three novel topological mapping algorithms. The results obtained indicate that the solutions proposed attain a better performance than several state-of-the-art approaches. To conclude, given that loop closure detection is also a key component in other research areas, a multi-threaded image mosaicing algorithm is proposed. This approach makes use of one of the loop closure detection techniques previously introduced in order to find overlapping pairs between images and finally obtain seamless mosaics of different environments in a reasonable amount of time.

Author: Niko Sünderhauf
Publisher: Springer Nature
ISBN: 3031240170
Category : Technology & Engineering
Languages : en
Pages : 190

View

Book Description
Simultaneous Localization and Mapping (SLAM) has been a long-standing research problem in robotics. It describes the problem of a robot mapping an unknown environment, while simultaneously localizing in it with the help of the incomplete map. This book describes a technique called Switchable Constraints.Switchable Constraints help to increase the robustness of SLAM against data association errors and in particular against false positive loop closure detections. Such false positive loop closure detections can occur when the robot erroneously assumes it re-observed a landmark it has already mapped or when the appearance of the observed surroundings is very similar to the appearance of other places in the map. Ambiguous observations and appearances are very common in human-made environments such as office floors or suburban streets, making robustness against spurious observations a key challenge in SLAM. The book summarizes the foundations of factor graph-based SLAM techniques. It explains the problem of data association errors before introducing the novel idea of Switchable Constraints. We present a mathematical derivation and probabilistic interpretation of Switchable Constraints along with evaluations on different datasets. The book shows that Switchable Constraints are applicable beyond SLAM problems and demonstrates the efficacy of this technique to improve the quality of satellite-based localization in urban environments, where multipath and non-line-of-sight situations are common error sources.

Author: Joao Miguel Sanches
Publisher: Springer
ISBN: 3642386288
Category : Computers
Languages : en
Pages : 919

View

Book Description
This book constitutes the refereed proceedings of the 6th Iberian Conference on Pattern Recognition and Image Analysis, IbPRIA 2013, held in Funchal, Madeira, Portugal, in June 2013. The 105 papers (37 oral and 68 poster ones) presented were carefully reviewed and selected from 181 submissions. The papers are organized in topical sections on computer vision, pattern recognition, image and signal, applications.

Author: Obdulia Pichardo Lagunas
Publisher: Springer
ISBN: 3319271016
Category : Computers
Languages : en
Pages : 638

View

Book Description
The two volume set LNAI 9413 + 9414 constitutes the proceedings of the 14th Mexican International Conference on Artificial Intelligence, MICAI 2015, held in Cuernavaca,. Morelos, Mexico, in October 2015. The total of 98 papers presented in these proceedings was carefully reviewed and selected from 297 submissions. They were organized in topical sections named: natural language processing; logic and multi-agent systems; bioinspired algorithms; neural networks; evolutionary algorithms; fuzzy logic; machine learning and data mining; natural language processing applications; educational applications; biomedical applications; image processing and computer vision; search and optimization; forecasting; and intelligent applications.

Author: Jinfeng Yang
Publisher: Springer
ISBN: 9811073058
Category : Computers
Languages : en
Pages : 740

View

Book Description
This three volume set, CCIS 771, 772, 773, constitutes the refereed proceedings of the CCF Chinese Conference on Computer Vision, CCCV 2017, held in Tianjin, China, in October 2017. The total of 174 revised full papers presented in three volumes were carefully reviewed and selected from 465 submissions. The papers are organized in the following topical sections: biological vision inspired visual method; biomedical image analysis; computer vision applications; deep neural network; face and posture analysis; image and video retrieval; image color and texture; image composition; image quality assessment and analysis; image restoration; image segmentation and classification; image-based modeling; object detection and classification; object identification; photography and video; robot vision; shape representation and matching; statistical methods and learning; video analysis and event recognition; visual salient detection.

Author: Jacques Blanc-Talon
Publisher: Springer
ISBN: 3319486802
Category : Computers
Languages : en
Pages : 767

View

Book Description
This book constitutes the refereed proceedings of the 17th International Conference on Advanced Concepts for Intelligent Vision Systems, ACIVS 2016, held in Lecce, Italy, in October 2016. The 64 revised full papers presented in this volume were carefully selected from 137 submissions. They deal with classical low-level image processing techniques; image and video compression; 3D; security and forensics; and evaluation methodologies.

Author: Jessie Y.C. Chen
Publisher: Springer
ISBN: 3030215652
Category : Computers
Languages : en
Pages : 591

View

Book Description
This two-volume set LNCS 11574 and 11575 constitutes the refereed proceedings of the 11th International Conference on Virtual, Augmented and Mixed Reality, VAMR 2019, held in July 2019 as part of HCI International 2019 in Orlando, FL, USA. HCII 2019 received a total of 5029 submissions, of which 1275 papers and 209 posters were accepted for publication after a careful reviewing process. The 80 papers presented in this volume were organized in topical sections named: multimodal interaction in VR, rendering, layout, visualization and navigation, avatars, embodiment and empathy in VAMR, cognitive and health issues in VAMR, VAMR and robots, VAMR in learning, training and entertainment, VAMR in aviation, industry and the military.

Author: Paul L. Rosin
Publisher: Springer Nature
ISBN: 3030286037
Category : Computers
Languages : en
Pages : 522

View

Book Description
This book focuses on the fundamentals and recent advances in RGB-D imaging as well as covering a range of RGB-D applications. The topics covered include: data acquisition, data quality assessment, filling holes, 3D reconstruction, SLAM, multiple depth camera systems, segmentation, object detection, salience detection, pose estimation, geometric modelling, fall detection, autonomous driving, motor rehabilitation therapy, people counting and cognitive service robots. The availability of cheap RGB-D sensors has led to an explosion over the last five years in the capture and application of colour plus depth data. The addition of depth data to regular RGB images vastly increases the range of applications, and has resulted in a demand for robust and real-time processing of RGB-D data. There remain many technical challenges, and RGB-D image processing is an ongoing research area. This book covers the full state of the art, and consists of a series of chapters by internationally renowned experts in the field. Each chapter is written so as to provide a detailed overview of that topic. RGB-D Image Analysis and Processing will enable both students and professional developers alike to quickly get up to speed with contemporary techniques, and apply RGB-D imaging in their own projects.

Author: Oussama Khatib
Publisher: Springer Science & Business Media
ISBN: 3642001955
Category : Technology & Engineering
Languages : en
Pages : 580

View

Book Description
By the dawn of the new millennium, robotics has undergone a major transformation in scope and dimensions. This expansion has been brought about by the maturity of the field and the advances in its related technologies. From a largely dominant industrial focus, robotics has been rapidly expanding into the challenges of the human world. The new generation of robots is expected to safely and dependably co-habitat with humans in homes, workplaces, and communities, providing support in services, entertainment, education, healthcare, manufacturing, and assistance. Beyond its impact on physical robots, the body of knowledge robotics has produced is revealing a much wider range of applications reaching across diverse research areas and scientific disciplines, such as: biomechanics, haptics, neuros- ences, virtual simulation, animation, surgery, and sensor networks among others. In return, the challenges of the new emerging areas are proving an abundant source of stimulation and insights for the field of robotics. It is indeed at the intersection of disciplines that the most striking advances happen. The goal of the series of Springer Tracts in Advanced Robotics (STAR) is to bring, in a timely fashion, the latest advances and developments in robotics on the basis of their significance and quality. It is our hope that the wider dissemination of research developments will stimulate more exchanges and collaborations among the research community and contribute to further advancement of this rapidly growing field.