Lifelong Mapping And Robust Place Recognition Using Cameras
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Lifelong Mapping And Robust Place Recognition Using Cameras
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Author : Marcin Dymczyk
language : en
Publisher:
Release Date : 2019
Lifelong Mapping And Robust Place Recognition Using Cameras written by Marcin Dymczyk and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019 with categories.
Online Appearance Based Place Recognition And Mapping
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Author : Konstantinos A. Tsintotas
language : en
Publisher: Springer Nature
Release Date : 2022-09-01
Online Appearance Based Place Recognition And Mapping written by Konstantinos A. Tsintotas and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-09-01 with Technology & Engineering categories.
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.
Toward Lifelong Visual Localization And Mapping
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Author : Hordur Johannsson
language : en
Publisher:
Release Date : 2013
Toward Lifelong Visual Localization And Mapping written by Hordur Johannsson and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013 with Robotics categories.
Mobile robotic systems operating over long durations require algorithms that are robust and scale efficiently over time as sensor information is continually collected. For mobile robots one of the fundamental problems is navigation; which requires the robot to have a map of its environment, so it can plan its path and execute it. Having the robot use its perception sensors to do simultaneous localization and mapping (SLAM) is beneficial for a fully autonomous system. Extending the time horizon of operations poses problems to current SLAM algorithms, both in terms of robustness and temporal scalability. To address this problem we propose a reduced pose graph model that significantly reduces the complexity of the full pose graph model. Additionally we develop a SLAM system using two different sensor modalities: imaging sonars for underwater navigation and vision based SLAM for terrestrial applications. Underwater navigation is one application domain that benefits from SLAM, where access to a global positioning system (GPS) is not possible. In this thesis we present SLAM systems for two underwater applications. First, we describe our implementation of real-time imaging-sonar aided navigation applied to in-situ autonomous ship hull inspection using the hovering autonomous underwater vehicle (HAUV). In addition we present an architecture that enables the fusion of information from both a sonar and a camera system. The system is evaluated using data collected during experiments on SS Curtiss and USCGC Seneca. Second, we develop a feature-based navigation system supporting multi-session mapping, and provide an algorithm for re-localizing the vehicle between missions. In addition we present a method for managing the complexity of the estimation problem as new information is received. The system is demonstrated using data collected with a REMUS vehicle equipped with a BlueView forward-looking sonar. The model we use for mapping builds on the pose graph representation which has been shown to be an efficient and accurate approach to SLAM. One of the problems with the pose graph formulation is that the state space continuously grows as more information is acquired. To address this problem we propose the reduced pose graph (RPG) model which partitions the space to be mapped and uses the partitions to reduce the number of poses used for estimation. To evaluate our approach, we present results using an online binocular and RGB-Depth visual SLAM system that uses place recognition both for robustness and multi-session operation. Additionally, to enable large-scale indoor mapping, our system automatically detects elevator rides based on accelerometer data. We demonstrate long-term mapping using approximately nine hours of data collected in the MIT Stata Center over the course of six months. Ground truth, derived by aligning laser scans to existing floor plans, is used to evaluate the global accuracy of the system. Our results illustrate the capability of our visual SLAM system to map a large scale environment over an extended period of time.
Mapping And Localization In Urban Environments Using Cameras
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Author : Henning Lategahn
language : en
Publisher: KIT Scientific Publishing
Release Date : 2014
Mapping And Localization In Urban Environments Using Cameras written by Henning Lategahn and has been published by KIT Scientific Publishing this book supported file pdf, txt, epub, kindle and other format this book has been release on 2014 with Computers categories.
In this work we present a system to fully automatically create a highly accurate visual feature map from image data acquired from within a moving vehicle. Moreover, a system for high precision self localization is presented. Furthermore, we present a method to automatically learn a visual descriptor. The map relative self localization is centimeter accurate and allows autonomous driving.
Robust And Scalable Visual Simultaneous Localization And Mapping In Indoor Environments Using Rgbd Cameras
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Author : Jan Frost
language : en
Publisher:
Release Date : 2016
Robust And Scalable Visual Simultaneous Localization And Mapping In Indoor Environments Using Rgbd Cameras written by Jan Frost and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.
Switchable Constraints For Robust Simultaneous Localization And Mapping And Satellite Based Localization
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Author : Niko Sünderhauf
language : en
Publisher: Springer Nature
Release Date : 2023-04-07
Switchable Constraints For Robust Simultaneous Localization And Mapping And Satellite Based Localization written by Niko Sünderhauf and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-04-07 with Technology & Engineering categories.
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.
Robust Monocular Camera Based Localization Under Challenging Perceptual Conditions
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Author : Tayyab Naseer
language : en
Publisher:
Release Date : 2017
Robust Monocular Camera Based Localization Under Challenging Perceptual Conditions written by Tayyab Naseer and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017 with categories.
Abstract: Visual localization of autonomous vehicles is imperative to their safe navigation in particular scenarios. The paradigm of monocular camera localization encompasses broad range of applications like place recognition, loop closure detections within a SLAM framework, 6-DoF metric camera pose estimation and augmented reality. To achieve accurate and reliable pose estimates, camera-based localization approaches need to cope with wide variety of challenging perceptual conditions. These methods should be robust to variation in illumination due to day-night changes, different weather conditions and seasonal variations. An autonomous robot should be able to cope with all such variations that enables it to operate over long periods of time. In this thesis, we primarily focus on novel robust methods for long term camera-based visual localization that cope with wide variety of viewing conditions. We highlight the shortcomings of state-of-the-art feature-based methods for monocular cameras and present novel approaches to achieve reliable localization. Although, cameras provide an cost effective solution for autonomous navigation, image data is highly vulnerable to environmental conditions. The rich texture and color information in the images vary drastically over long periods of time. In this work, we develop distinctive and repeatable feature descriptions of images that allow robots to localize under a great spectrum of perceptual conditions. We also develop novel methods that leverage semantics of the environment to imitate human-like behavior in autonomous systems during localization. These methods also scale well with the large map sizes. At first, we discuss both the advantages and shortcomings of the visual information from the cameras for longterm localization. We identify the drawbacks of traditional sparse feature-based methods for longterm localization and propose dense feature descriptions to cope with the pitfalls. We show that by leveraging the sequential nature of the recorded and live data stream from the robot within a network flow graph framework enables to remove false loop closure hypothesis and achieve more precise location estimates. This enables the robot to achieve robust topological localization in a place recognition framework. Although, our approach can handle natural driving maneuvers, the restricted graph connectivity limits its advantages for short, fragmented and more complex trajectories. We discuss a novel approach to h ...
Computer Vision Eccv 2014 Workshops
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Author : Lourdes Agapito
language : en
Publisher: Springer
Release Date : 2015-03-18
Computer Vision Eccv 2014 Workshops written by Lourdes Agapito and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-03-18 with Computers categories.
The four-volume set LNCS 8925, 8926, 8927, and 8928 comprises the refereed post-proceedings of the Workshops that took place in conjunction with the 13th European Conference on Computer Vision, ECCV 2014, held in Zurich, Switzerland, in September 2014. The 203 workshop papers were carefully reviewed and selected for inclusion in the proceedings. They were presented at workshops with the following themes: where computer vision meets art; computer vision in vehicle technology; spontaneous facial behavior analysis; consumer depth cameras for computer vision; "chalearn" looking at people: pose, recovery, action/interaction, gesture recognition; video event categorization, tagging and retrieval towards big data; computer vision with local binary pattern variants; visual object tracking challenge; computer vision + ontology applies cross-disciplinary technologies; visual perception of affordance and functional visual primitives for scene analysis; graphical models in computer vision; light fields for computer vision; computer vision for road scene understanding and autonomous driving; soft biometrics; transferring and adapting source knowledge in computer vision; surveillance and re-identification; color and photometry in computer vision; assistive computer vision and robotics; computer vision problems in plant phenotyping; and non-rigid shape analysis and deformable image alignment. Additionally, a panel discussion on video segmentation is included. .
Robotics Computer Vision And Intelligent Systems
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Author : Joaquim Filipe
language : en
Publisher: Springer Nature
Release Date :
Robotics Computer Vision And Intelligent Systems written by Joaquim Filipe and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on with categories.
2021 European Conference On Mobile Robots Ecmr
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Author : IEEE Staff
language : en
Publisher:
Release Date : 2021-08-31
2021 European Conference On Mobile Robots Ecmr written by IEEE Staff and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-08-31 with categories.
ECMR is an internationally open biennial European forum, bringing together researchers and practitioners in the areas of mobile robotics and mobile human robot systems Special focus is on autonomous mobile systems and interdisciplinary approaches covering computer science, control systems, electrical engineering, mathematics, mechanical engineering, and other fields Topic of interest include, but are not limited to Mobile robot platforms Environment perception Localization and mapping, SLAM Navigation and locomotion planning Learning for mobile robotic systems Mobile manipulation Self driving vehicles Field robots Aerial robots Marine robots Distributed robotics systems Human robot interaction Micro nano autonomomobile robots