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.
Location Models For Visual Place Recognition
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Author : Elena Stumm
language : en
Publisher:
Release Date : 2015
Location Models For Visual Place Recognition written by Elena Stumm and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015 with categories.
This thesis deals with the task of appearance-based mapping and place recognition for mobile robots. More specifically, this work aims to identify how location models can be improved by exploring several existing and novel location representations in order to better exploit the available visual information. Appearance-based mapping and place recognition presents a number of challenges, including making reliable data-association decisions given repetitive and self-similar scenes (perceptual aliasing), variations in view-point and trajectory, appearance changes due to dynamic elements, lighting changes, and noisy measurements. As a result, choices about how to model and compare observations of locations is crucial to achieving practical results. This includes choices about the types of features extracted from imagery, how to define the extent of a location, and how to compare locations. Along with investigating existing location models, several novel methods are developed in this work. These are developed by incorporating information about the underlying structure of the scene through the use of covisibility graphs which capture approximate geometric relationships between local landmarks in the scene by noting which ones are observed together. Previously, the range of a location generally varied between either using discrete poses or loosely defined sequences of poses, facing problems related to perceptual aliasing and trajectory invariance respectively. Whereas by working with covisibility graphs, scenes are dynamically retrieved as clusters from the graph in a way which adapts to the environmental structure and given query. The probability of a query observation coming from a previously seen location is then obtained by applying a generative model such that the uniqueness of an observation is accounted for. Behaviour with respect to observation errors, mapping errors, perceptual aliasing, and parameter sensitivity are examined, motivating the use of a novel normalization scheme and observation likelihoods representations. The normalization method presented in this work is robust to redundant locations in the map (from missed loop-closures, for example), and results in place recognition which now has sub-linear complexity in the number of locations in the map. Beginning with bag-of-words representations of locations, location models are extended in order to include more discriminative structural information from the covisibility map. This results in various representations ranging between unstructured sets of features and full graphs of features, providing a tradeoff between complexity and recognition performance.
Collaborative Appearance Based Place Recognition And Improving Place Recognition Using Detection Of Dynamic Objects
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Author : Juan Pablo Munoz
language : en
Publisher:
Release Date : 2018
Collaborative Appearance Based Place Recognition And Improving Place Recognition Using Detection Of Dynamic Objects written by Juan Pablo Munoz and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018 with categories.
Computer Vision Systems
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Author : Dimitrios Tzovaras
language : en
Publisher: Springer Nature
Release Date : 2019-11-22
Computer Vision Systems written by Dimitrios Tzovaras and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2019-11-22 with Computers categories.
This book constitutes the refereed proceedings of the 12th International Conference on Computer Vision Systems, ICVS 2019, held in Thessaloniki, Greece, in September 2019. The 72 papers presented were carefully reviewed and selected from 114 submissions. The papers are organized in the following topical sections; hardware accelerated and real time vision systems; robotic vision; vision systems applications; high-level and learning vision systems; cognitive vision systems; movement analytics and gesture recognition for human-machine collaboration in industry; cognitive and computer vision assisted systems for energy awareness and behavior analysis; and vision-enabled UAV and counter UAV technologies for surveillance and security of critical infrastructures.
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.
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.
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.