Online Appearance Based Place Recognition And Mapping

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Online Appearance-Based Place Recognition and Mapping

Author : Konstantinos A. Tsintotas
Publisher : Springer Nature
ISBN 13 : 3031093968
Total Pages : 125 pages
Book Rating : 4.0/5 (31 download)

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Book Synopsis Online Appearance-Based Place Recognition and Mapping by : Konstantinos A. Tsintotas

Download or read book Online Appearance-Based Place Recognition and Mapping written by Konstantinos A. Tsintotas and published by Springer Nature. This book was released on 2022-09-01 with total page 125 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

Author : Elena Stumm
Publisher :
ISBN 13 :
Total Pages : 160 pages
Book Rating : 4.:/5 (975 download)

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Book Synopsis Location Models for Visual Place Recognition by : Elena Stumm

Download or read book Location Models for Visual Place Recognition written by Elena Stumm and published by . This book was released on 2015 with total page 160 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Methods for Appearance-based Loop Closure Detection

Author : Emilio Garcia-Fidalgo
Publisher : Springer
ISBN 13 : 3319759930
Total Pages : 180 pages
Book Rating : 4.3/5 (197 download)

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Book Synopsis Methods for Appearance-based Loop Closure Detection by : Emilio Garcia-Fidalgo

Download or read book Methods for Appearance-based Loop Closure Detection written by Emilio Garcia-Fidalgo and published by Springer. This book was released on 2018-03-14 with total page 180 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Switchable Constraints for Robust Simultaneous Localization and Mapping and Satellite-Based Localization

Author : Niko Sünderhauf
Publisher : Springer Nature
ISBN 13 : 3031240170
Total Pages : 190 pages
Book Rating : 4.0/5 (312 download)

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Book Synopsis Switchable Constraints for Robust Simultaneous Localization and Mapping and Satellite-Based Localization by : Niko Sünderhauf

Download or read book Switchable Constraints for Robust Simultaneous Localization and Mapping and Satellite-Based Localization written by Niko Sünderhauf and published by Springer Nature. This book was released on 2023-04-07 with total page 190 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Pattern Recognition and Image Analysis

Author : Joao Miguel Sanches
Publisher : Springer
ISBN 13 : 3642386288
Total Pages : 919 pages
Book Rating : 4.6/5 (423 download)

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Book Synopsis Pattern Recognition and Image Analysis by : Joao Miguel Sanches

Download or read book Pattern Recognition and Image Analysis written by Joao Miguel Sanches and published by Springer. This book was released on 2013-05-23 with total page 919 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Collaborative Appearance-Based Place Recognition and Improving Place Recognition Using Detection of Dynamic Objects

Author : Juan Pablo Munoz
Publisher :
ISBN 13 :
Total Pages : pages
Book Rating : 4.:/5 (14 download)

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Book Synopsis Collaborative Appearance-Based Place Recognition and Improving Place Recognition Using Detection of Dynamic Objects by : Juan Pablo Munoz

Download or read book Collaborative Appearance-Based Place Recognition and Improving Place Recognition Using Detection of Dynamic Objects written by Juan Pablo Munoz and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

Advances in Artificial Intelligence and Its Applications

Author : Obdulia Pichardo Lagunas
Publisher : Springer
ISBN 13 : 3319271016
Total Pages : 638 pages
Book Rating : 4.3/5 (192 download)

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Book Synopsis Advances in Artificial Intelligence and Its Applications by : Obdulia Pichardo Lagunas

Download or read book Advances in Artificial Intelligence and Its Applications written by Obdulia Pichardo Lagunas and published by Springer. This book was released on 2015-11-19 with total page 638 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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

Author : Jinfeng Yang
Publisher : Springer
ISBN 13 : 9811073058
Total Pages : 740 pages
Book Rating : 4.8/5 (11 download)

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Book Synopsis Computer Vision by : Jinfeng Yang

Download or read book Computer Vision written by Jinfeng Yang and published by Springer. This book was released on 2017-12-07 with total page 740 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Advanced Concepts for Intelligent Vision Systems

Author : Jacques Blanc-Talon
Publisher : Springer
ISBN 13 : 3319486802
Total Pages : 767 pages
Book Rating : 4.3/5 (194 download)

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Book Synopsis Advanced Concepts for Intelligent Vision Systems by : Jacques Blanc-Talon

Download or read book Advanced Concepts for Intelligent Vision Systems written by Jacques Blanc-Talon and published by Springer. This book was released on 2016-10-20 with total page 767 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Virtual, Augmented and Mixed Reality. Applications and Case Studies

Author : Jessie Y.C. Chen
Publisher : Springer
ISBN 13 : 3030215652
Total Pages : 576 pages
Book Rating : 4.0/5 (32 download)

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Book Synopsis Virtual, Augmented and Mixed Reality. Applications and Case Studies by : Jessie Y.C. Chen

Download or read book Virtual, Augmented and Mixed Reality. Applications and Case Studies written by Jessie Y.C. Chen and published by Springer. This book was released on 2019-07-10 with total page 576 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

RGB-D Image Analysis and Processing

Author : Paul L. Rosin
Publisher : Springer Nature
ISBN 13 : 3030286037
Total Pages : 524 pages
Book Rating : 4.0/5 (32 download)

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Book Synopsis RGB-D Image Analysis and Processing by : Paul L. Rosin

Download or read book RGB-D Image Analysis and Processing written by Paul L. Rosin and published by Springer Nature. This book was released on 2019-10-26 with total page 524 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Experimental Robotics

Author : Oussama Khatib
Publisher : Springer Science & Business Media
ISBN 13 : 3642001955
Total Pages : 580 pages
Book Rating : 4.6/5 (42 download)

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Book Synopsis Experimental Robotics by : Oussama Khatib

Download or read book Experimental Robotics written by Oussama Khatib and published by Springer Science & Business Media. This book was released on 2009-04-22 with total page 580 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Robotics, Computer Vision and Intelligent Systems

Author : Joaquim Filipe
Publisher : Springer Nature
ISBN 13 : 3031590570
Total Pages : 490 pages
Book Rating : 4.0/5 (315 download)

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Book Synopsis Robotics, Computer Vision and Intelligent Systems by : Joaquim Filipe

Download or read book Robotics, Computer Vision and Intelligent Systems written by Joaquim Filipe and published by Springer Nature. This book was released on with total page 490 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Advances in Service and Industrial Robotics

Author : Nikos A. Aspragathos
Publisher : Springer
ISBN 13 : 3030002322
Total Pages : 755 pages
Book Rating : 4.0/5 (3 download)

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Book Synopsis Advances in Service and Industrial Robotics by : Nikos A. Aspragathos

Download or read book Advances in Service and Industrial Robotics written by Nikos A. Aspragathos and published by Springer. This book was released on 2018-09-28 with total page 755 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume contains the proceedings of the RAAD 2018 conference, covering major areas of research and development in robotics. It provides an overview on the advances in robotics, more specifically in novel design and applications of robotic systems; dexterous grasping, handling and intelligent manipulation; intelligent cooperating and service robots; advanced robot control; human-robot interfaces; robot vision systems and visual serving techniques; mobile robots; humanoid and walking robots; field and agricultural robotics; bio-inspired and swarm robotic systems; developments towards micro and nano-scale robots; aerial, underwater and spatial robots; robot integration in holonic manufacturing; personal robots for ambient assisted living; medical robots and bionic prostheses; intelligent information technologies for cognitive robots etc. The primary audience of the work are researchers as well as engineers in robotics and mechatronics.

Smart Vehicles for Communication, Volume 2

Author : Romil Rawat
Publisher : John Wiley & Sons
ISBN 13 : 1394152256
Total Pages : 356 pages
Book Rating : 4.3/5 (941 download)

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Book Synopsis Smart Vehicles for Communication, Volume 2 by : Romil Rawat

Download or read book Smart Vehicles for Communication, Volume 2 written by Romil Rawat and published by John Wiley & Sons. This book was released on 2023-01-05 with total page 356 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Computer Vision Systems

Author : Dimitrios Tzovaras
Publisher : Springer Nature
ISBN 13 : 3030349950
Total Pages : 799 pages
Book Rating : 4.0/5 (33 download)

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Book Synopsis Computer Vision Systems by : Dimitrios Tzovaras

Download or read book Computer Vision Systems written by Dimitrios Tzovaras and published by Springer Nature. This book was released on 2019-11-22 with total page 799 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.

Towards Optimal Point Cloud Processing for 3D Reconstruction

Author : Guoxiang Zhang
Publisher : Springer Nature
ISBN 13 : 3030961109
Total Pages : 99 pages
Book Rating : 4.0/5 (39 download)

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Book Synopsis Towards Optimal Point Cloud Processing for 3D Reconstruction by : Guoxiang Zhang

Download or read book Towards Optimal Point Cloud Processing for 3D Reconstruction written by Guoxiang Zhang and published by Springer Nature. This book was released on 2022-06-03 with total page 99 pages. Available in PDF, EPUB and Kindle. Book excerpt: This SpringerBrief presents novel methods of approaching challenging problems in the reconstruction of accurate 3D models and serves as an introduction for further 3D reconstruction methods. It develops a 3D reconstruction system that produces accurate results by cascading multiple novel loop detection, sifting, and optimization methods. The authors offer a fast point cloud registration method that utilizes optimized randomness in random sample consensus for surface loop detection. The text also proposes two methods for surface-loop sifting. One is supported by a sparse-feature-based optimization graph. This graph is more robust to different scan patterns than earlier methods and can cope with tracking failure and recovery. The other is an offline algorithm that can sift loop detections based on their impact on loop optimization results and which is enabled by a dense map posterior metric for 3D reconstruction and mapping performance evaluation works without any costly ground-truth data. The methods presented in Towards Optimal Point Cloud Processing for 3D Reconstruction will be of assistance to researchers developing 3D modelling methods and to workers in the wide variety of fields that exploit such technology including metrology, geological animation and mass customization in smart manufacturing.