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.

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.

Download or read book An Experimental Evaluation of Learning based Methods for Loop Closure Detection in Simultaneous Localization and Mapping written by Luis Fernando Herrera Arias and published by . This book was released on 2021 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Simultaneous Localization and Mapping (SLAM) is the capability to estimate a robot's trajectory in an initially unknown environment while reconstructing the geometry of the environment. In order to bound the accumulation of localization error in SLAM, it is crucial to recognize previously seen locations, a process called "loop closure." This allows the robot to make corrections to its localization and map estimates. This project evaluates ORB feature extraction and matching, a state-of-the-art technique to detect loop closures, against recently developed learning-based approaches. In particular, our first contribution is to benchmark established techniques based on hand-crafted descriptor matching against novel learning-based approaches based on neural networks (i.e., SuperPoint and SuperGlue). As a second contribution, we integrate a learning-based loop closure detection method as part of Kimera, a SLAM system, and demonstrate its performance in both simulated and real benchmarking datasets. Finally, we collect data on long trajectories using a Jackal robot to compare the different approaches on real-world situations beyond available datasets. Our evaluation shows that, while learning-based approaches detect many more loop closures across wider baselines, when integrated in a SLAM system, they do not lead to substantial performance improvements compared to standard ORB feature matching

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.

Download or read book Robotics written by Nicholas Roy and published by MIT Press. This book was released on 2013-07-05 with total page 501 pages. Available in PDF, EPUB and Kindle. Book excerpt: Papers from a flagship conference reflect the latest developments in the field, including work in such rapidly advancing areas as human-robot interaction and formal methods. Robotics: Science and Systems VIII spans a wide spectrum of robotics, bringing together contributions from researchers working on the mathematical foundations of robotics, robotics applications, and analysis of robotics systems. This volume presents the proceedings of the eighth annual Robotics: Science and Systems (RSS) conference, held in July 2012 at the University of Sydney. The contributions reflect the exciting diversity of the field, presenting the best, the newest, and the most challenging work on such topics as mechanisms, kinematics, dynamics and control, human-robot interaction and human-centered systems, distributed systems, mobile systems and mobility, manipulation, field robotics, medical robotics, biological robotics, robot perception, and estimation and learning in robotic systems. The conference and its proceedings reflect not only the tremendous growth of robotics as a discipline but also the desire in the robotics community for a flagship event at which the best of the research in the field can be presented.

Download or read book Intelligent Autonomous Systems 13 written by Emanuele Menegatti and published by Springer. This book was released on 2015-09-03 with total page 1669 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book describes the latest research accomplishments, innovations, and visions in the field of robotics as presented at the 13th International Conference on Intelligent Autonomous Systems (IAS), held in Padua in July 2014, by leading researchers, engineers, and practitioners from across the world. The contents amply confirm that robots, machines, and systems are rapidly achieving intelligence and autonomy, mastering more and more capabilities such as mobility and manipulation, sensing and perception, reasoning, and decision making. A wide range of research results and applications are covered, and particular attention is paid to the emerging role of autonomous robots and intelligent systems in industrial production, which reflects their maturity and robustness. The contributions have been selected through a rigorous peer-review process and contain many exciting and visionary ideas that will further galvanize the research community, spurring novel research directions. The series of biennial IAS conferences commenced in 1986 and represents a premiere event in robotics.

Download or read book ROBOT2013 First Iberian Robotics Conference written by Manuel A. Armada and published by Springer Science & Business Media. This book was released on 2013-11-12 with total page 722 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains the proceedings of the ROBOT 2013: FIRST IBERIAN ROBOTICS CONFERENCE and it can be said that included both state of the art and more practical presentations dealing with implementation problems, support technologies and future applications. A growing interest in Assistive Robotics, Agricultural Robotics, Field Robotics, Grasping and Dexterous Manipulation, Humanoid Robots, Intelligent Systems and Robotics, Marine Robotics, has been demonstrated by the very relevant number of contributions. Moreover, ROBOT2013 incorporates a special session on Legal and Ethical Aspects in Robotics that is becoming a topic of key relevance. This Conference was held in Madrid (28-29 November 2013), organized by the Sociedad Española para la Investigación y Desarrollo en Robótica (SEIDROB) and by the Centre for Automation and Robotics - CAR (Universidad Politécnica de Madrid (UPM) and Consejo Superior de Investigaciones Científicas (CSIC)), along with the co-operation of Grupo Temático de Robótica CEA-GTRob, "Sociedade Portuguesa de Robotica" (SPR), "Asociación Española de Promoción de la Investigación en Agentes Físicos" (RedAF), and partially supported by "Comunidad de Madrid under RoboCity2030 Programme".

Download or read book Proceedings of the World Conference on Intelligent and 3 D Technologies WCI3DT 2022 written by Roumen Kountchev and published by Springer Nature. This book was released on 2023-01-01 with total page 706 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book features a collection of high-quality, peer-reviewed research papers presented at first ‘World Conference on Intelligent and 3-D Technologies’ (WCI3DT 2022), held in China during May 24–26, 2022. The book provides an opportunity for the researchers and academia as well as practitioners from industry to publish their ideas and recent research development work on all aspects of 3D imaging technologies and artificial intelligence, their applications, and other related areas. The book presents ideas and the works of scientists, engineers, educators, and students from all over the world from institutions and industries.

Download or read book Introduction to Visual SLAM written by Xiang Gao and published by Springer Nature. This book was released on 2021-09-28 with total page 386 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offers a systematic and comprehensive introduction to the visual simultaneous localization and mapping (vSLAM) technology, which is a fundamental and essential component for many applications in robotics, wearable devices, and autonomous driving vehicles. The book starts from very basic mathematic background knowledge such as 3D rigid body geometry, the pinhole camera projection model, and nonlinear optimization techniques, before introducing readers to traditional computer vision topics like feature matching, optical flow, and bundle adjustment. The book employs a light writing style, instead of the rigorous yet dry approach that is common in academic literature. In addition, it includes a wealth of executable source code with increasing difficulty to help readers understand and use the practical techniques. The book can be used as a textbook for senior undergraduate or graduate students, or as reference material for researchers and engineers in related areas.

Download or read book Towards Autonomous Robotic Systems written by Abdelkhalick Mohammad and published by Springer Nature. This book was released on 2020-12-02 with total page 414 pages. Available in PDF, EPUB and Kindle. Book excerpt: The volume LNAI 12228 constitute the refereed proceedings of the 21th Annual Conference "Towards Autonomous Robotics," TAROS 20120, held in Nottingham, UK, in September 2020.* The 30 full papers and 11 short papers presented were carefully reviewed and selected from 63 submissions. The papers present and discuss significant findings and advances in autonomous robotics research and applications. They are organized in the following topical sections: soft and compliant robots; mobile robots; learning, mapping and planning; human-robot interaction; and robotic systems and applications. * The conference was held virtually due to the COVID-19 pandemic.

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:

Download or read book Advances in Harmony Search Soft Computing and Applications written by Joong Hoon Kim and published by Springer Nature. This book was released on 2019-09-20 with total page 254 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses various aspects of real-world applications of optimization algorithms, presenting insights from the 5th International Conference on Harmony Search, Soft Computing and Applications, held at Kunming, China on July 20–22, 2019. The book focuses on the recent advances in soft computing techniques such as harmony search, PSO and DE and their application to solve engineering problems. Presenting research on various real-world engineering problems concerning crowd evacuation strategies, adaptive learning systems, economic impact analysis, cyber-attack detection, urban drainage systems, water management models, feature selection and inventory systems, it is a valuable resource for researchers wanting a state-of-the-art overview of the latest advances in soft computing and related areas.

Download or read book Efficient Visual Search in Appearance based SLAM written by Kiana Hajebi and published by . This book was released on 2015 with total page 107 pages. Available in PDF, EPUB and Kindle. Book excerpt: Simultaneous localization and mapping (SLAM) in an unknown environment is a prerequisite to have a truly autonomous mobile robot. In this thesis, we focus on appearance-based visual SLAM, for which we develop a graph-based nearest-neighbor search algorithm to speed up bag-of-words (BoW) image retrieval. In appearance-based SLAM, the robot uses the visual appearance of the locations taken along its route to build the map of the environment and localizes itself within this map by recognizing places it has visited before. To solve the challenging problem of appearance-based place recognition (a.k.a. loop closure detection in the context of SLAM) in large-scale environments, we employ the bag-of-words model, because of its efficiency in image representation and retrieval. Moreover, because the complexity of BoW does not grow with the size of the dataset, as much as that of other search techniques (e.g. direct feature matching) do, it can be employed for large-scale image search applications. Although BoW provides an efficient search technique, its vector-quantization (VQ) step can be computationally expensive in order to provide sufficient discriminating power for image matching. In order to speed up the VQ process, we propose a graph-based nearest neighbor search method (GNNS) that builds a k-NN graph index, and is efficiently integrated into the SLAM system. The k-NN graph is constructed over the visual words of the vocabulary. At search time, the standard GNNS algorithm starts from a randomly sampled node in the graph and performs hill-climbing until reaching a local minimum which is then an approximate nearest neighbor of the queried feature. We modify the GNNS algorithm to be initialized judiciously by exploiting the following properties of SLAM and BoW model: (1) the sequential property of images acquired in appearance-based SLAM, (2) the perceptual aliasing problem inherent to BoW. This smart initialization of GNNS improves the speedup of the vector-quantization considerably. We experimentally show that our search method outperforms the popular KD-trees and hierarchical k-means algorithms. Furthermore, we develop a SLAM system by integrating the BoW's loop closure detection in a Bayesian filtering framework. This probabilistic framework then discards false loop closures by enforcing the temporal coherency of estimation. We run our SLAM system on different datasets to test our loop closure detection in challenging environments. The system successfully detects loop closures with 100% precision and high recall rates in real-time.

Download or read book ROBOT2022 Fifth Iberian Robotics Conference written by Danilo Tardioli and published by Springer Nature. This book was released on 2022-11-18 with total page 616 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains a selection of papers accepted for presentation and discussion at ROBOT 2022—Fifth Iberian Robotics Conference, held in Zaragoza, Spain, on November 23-25, 2022. ROBOT 2022 is part of a series of conferences that are a joint organization of SEIDROB—Sociedad Española para la Investigación y Desarrollo en Robótica/Spanish Society for Research and Development in Robotics, and SPR—Sociedade Portuguesa de Robótica/Portuguese Society for Robotic. ROBOT 2022 builds upon several previous successful events, including three biennial workshops and the four previous editions of the Iberian Robotics Conference, and is focused on presenting the research and development of new applications, on the field of Robotics, in the Iberian Peninsula, although open to research and delegates from other countries. ROBOT 2022 featured four plenary talks on state-of-the-art subjects on robotics and 15 special sessions, plus a main/general robotics track. In total, after a careful review process, 98 high-quality papers were selected for publication, with a total of 219 unique authors, from 22 countries.

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.

Download or read book Artificial Neural Networks and Machine Learning ICANN 2022 written by Elias Pimenidis and published by Springer Nature. This book was released on 2022-09-06 with total page 817 pages. Available in PDF, EPUB and Kindle. Book excerpt: The 4-volumes set of LNCS 13529, 13530, 13531, and 13532 constitutes the proceedings of the 31st International Conference on Artificial Neural Networks, ICANN 2022, held in Bristol, UK, in September 2022. The total of 255 full papers presented in these proceedings was carefully reviewed and selected from 561 submissions. ICANN 2022 is a dual-track conference featuring tracks in brain inspired computing and machine learning and artificial neural networks, with strong cross-disciplinary interactions and applications.

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.