Online Appearance Based Place Recognition And Mapping

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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.

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.

Methods For Appearance Based Loop Closure Detection

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Author : Emilio Garcia-Fidalgo
language : en
Publisher: Springer
Release Date : 2018-03-14

Methods For Appearance Based Loop Closure Detection written by Emilio Garcia-Fidalgo and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018-03-14 with Technology & Engineering categories.

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.

Pattern Recognition And Image Analysis

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Author : Joao Miguel Sanches
language : en
Publisher: Springer
Release Date : 2013-05-23

Pattern Recognition And Image Analysis written by Joao Miguel Sanches and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013-05-23 with Computers categories.

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.

Advances In Artificial Intelligence And Its Applications

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Author : Obdulia Pichardo Lagunas
language : en
Publisher: Springer
Release Date : 2015-11-19

Advances In Artificial Intelligence And Its Applications written by Obdulia Pichardo Lagunas and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-11-19 with Computers categories.

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.

Computer Vision

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Author : Jinfeng Yang
language : en
Publisher: Springer
Release Date : 2017-12-07

Computer Vision written by Jinfeng Yang and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-12-07 with Computers categories.

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.

Virtual Augmented And Mixed Reality Applications And Case Studies

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Author : Jessie Y.C. Chen
language : en
Publisher: Springer
Release Date : 2019-07-10

Virtual Augmented And Mixed Reality Applications And Case Studies written by Jessie Y.C. Chen and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-07-10 with Computers categories.

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.

Experimental Robotics

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Author : Oussama Khatib
language : en
Publisher: Springer Science & Business Media
Release Date : 2009-04-22

Experimental Robotics written by Oussama Khatib and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2009-04-22 with Technology & Engineering categories.

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.

Advanced Concepts For Intelligent Vision Systems

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Author : Jacques Blanc-Talon
language : en
Publisher: Springer
Release Date : 2016-10-20

Advanced Concepts For Intelligent Vision Systems written by Jacques Blanc-Talon and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-10-20 with Computers categories.

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.

Autonomous Vehicles Volume 2

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Author : Romil Rawat
language : en
Publisher: John Wiley & Sons
Release Date : 2023-01-05

Autonomous Vehicles Volume 2 written by Romil Rawat and has been published by John Wiley & Sons this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-01-05 with Technology & Engineering categories.

AUTONOMOUS VEHICLES The companion to Autonomous Vehicles Volume 1: Using Machine Intelligence, this second volume in the two-volume set covers intelligent techniques utilized for designing, controlling, and managing vehicular systems based on advanced algorithms of computing like machine learning, artificial intelligence, data analytics, and Internet of Things (IoT) with prediction approaches to avoid accidental damages, security threats, and theft. Besides communicating with other vehicles, self-driving cars connected to a 5G network will also be able to communicate with different infrastructure elements that make up our roads and other transportation and communication systems. Similarly, an unmanned aerial vehicle (UAV), an aircraft without any human pilot, crew, or passengers on board, can operate under remote control by a human operator, as a remotely-piloted aircraft (RPA), or with various degrees of autonomy. These include autopilot assistance and fully autonomous aircraft that have no provision for human intervention. Transportation is a necessary, but often painful process. With fully autonomous driving, passengers will be freed to accomplish their own goals, turning the dead hours of driving into fruitful hours of learning, working, engaging, and relaxing. Similarly, UAVs can perform functions that human-operated aircraft cannot, whether because of the environment or high-risk situations. The purpose of the book is to present the needs, designs, and applications of autonomous vehicles. The topics covered range from mechanical engineering to computer science engineering, both areas playing vital roles in programming, managing, generating alerts, and GPS position, artificial intelligence-based prediction of path and events, as well as other high-tech tools, are covered in this book, as well. Whether for the student, veteran engineer, or another industry professional, this book, and its companion volume, are must-haves for any library.