Download or read book Toward Lifelong Visual Localization and Mapping written by Hordur Johannsson and published by . This book was released on 2013 with total page 181 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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.
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.
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: 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.
Download or read book Visual Simultaneous Localization and Mapping written by Ruihao Li and published by . This book was released on 2018 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Computer Vision ECCV 2014 Workshops written by Lourdes Agapito and published by Springer. This book was released on 2015-03-18 with total page 854 pages. Available in PDF, EPUB and Kindle. Book excerpt: 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. .
Download or read book Advanced Topics in Computer Vision written by Giovanni Maria Farinella and published by Springer Science & Business Media. This book was released on 2013-09-24 with total page 437 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a broad selection of cutting-edge research, covering both theoretical and practical aspects of reconstruction, registration, and recognition. The text provides an overview of challenging areas and descriptions of novel algorithms. Features: investigates visual features, trajectory features, and stereo matching; reviews the main challenges of semi-supervised object recognition, and a novel method for human action categorization; presents a framework for the visual localization of MAVs, and for the use of moment constraints in convex shape optimization; examines solutions to the co-recognition problem, and distance-based classifiers for large-scale image classification; describes how the four-color theorem can be used for solving MRF problems; introduces a Bayesian generative model for understanding indoor environments, and a boosting approach for generalizing the k-NN rule; discusses the issue of scene-specific object detection, and an approach for making temporal super resolution video.
Download or read book Modelling and Simulation for Autonomous Systems written by Jan Mazal and published by Springer Nature. This book was released on 2023-04-30 with total page 349 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the thoroughly refereed post-conference proceedings of the 9th International Conference on Modelling and Simulation for Autonomous Systems, MESAS 2022, held MESAS 2022, Prague, Czech Republic, October 2022. The 21 full papers included in the volume were carefully reviewed and selected from 24 submissions. They are organized in the following topical sections: Modelling, Simulation Technology, methodologies and Robotics.
Download or read book Computer Vision ECCV 2018 Workshops written by Laura Leal-Taixé and published by Springer. This book was released on 2019-01-22 with total page 756 pages. Available in PDF, EPUB and Kindle. Book excerpt: The six-volume set comprising the LNCS volumes 11129-11134 constitutes the refereed proceedings of the workshops that took place in conjunction with the 15th European Conference on Computer Vision, ECCV 2018, held in Munich, Germany, in September 2018.43 workshops from 74 workshops proposals were selected for inclusion in the proceedings. The workshop topics present a good orchestration of new trends and traditional issues, built bridges into neighboring fields, and discuss fundamental technologies and novel applications.
Download or read book Robotics Research written by Cédric Pradalier and published by Springer Science & Business Media. This book was released on 2011-05-02 with total page 752 pages. Available in PDF, EPUB and Kindle. Book excerpt: This volume presents a collection of papers presented at the 14th International Symposium of Robotic Research (ISRR). ISRR is the biennial meeting of the International Foundation of Robotic Research (IFRR) and its 14th edition took place in Lucerne, Switzerland, from August 31st to September 3rd, 2009. As for the previous symposia, ISRR 2009 followed up on the successful concept of a mixture of invited contributions and open submissions. Half of the 48 presentations were therefore invited contributions from outstanding researchers selected by the IFRR officers, and half were chosen among the 66 submissions after peer review. This selection process resulted in a truly excellent technical program which, we believe, featured some of the very best of robotic research. Out of the 48 presentations, the 42 papers which were finally submitted for publication are organized in 8 sections that encompass the major research orientations in robotics: Navigation, Control & Planning, Human-Robot Interaction, Manipulation and Humanoids, Learning, Mapping, Multi-Robot Systems, and Micro-Robotics. They represent an excellent snapshot of cutting-edge research in robotics and outline future directions.
Download or read book Edge Assisted Mobile Visual SLAM written by Jingao Xu and published by Springer Nature. This book was released on with total page 199 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Simultaneous Localization and Mapping for Mobile Robots Introduction and Methods written by Fernández-Madrigal, Juan-Antonio and published by IGI Global. This book was released on 2012-09-30 with total page 497 pages. Available in PDF, EPUB and Kindle. Book excerpt: As mobile robots become more common in general knowledge and practices, as opposed to simply in research labs, there is an increased need for the introduction and methods to Simultaneous Localization and Mapping (SLAM) and its techniques and concepts related to robotics. Simultaneous Localization and Mapping for Mobile Robots: Introduction and Methods investigates the complexities of the theory of probabilistic localization and mapping of mobile robots as well as providing the most current and concrete developments. This reference source aims to be useful for practitioners, graduate and postgraduate students, and active researchers alike.
Download or read book Intelligent Autonomous Systems 11 written by Henrik I. Christensen and published by IOS Press. This book was released on 2010 with total page 296 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Download or read book Towards Autonomous Robotic Systems written by Charles Fox and published by Springer Nature. This book was released on 2021-10-30 with total page 451 pages. Available in PDF, EPUB and Kindle. Book excerpt: The volume LNAI 13054 constitutes the refereed proceedings of the 22th Annual Conference Towards Autonomous Robotic Systems, TAROS 2021, held in Lincoln, UK, in September 2021.*The 45 full papers were carefully reviewed and selected from 66 submissions. Organized in the topical sections "Algorithms" and "Systems", they discuss significant findings and advances in the following areas: artificial intelligence; mechatronics; image processing and computer vision; special purpose and application-based systems; user interfaces and human computer interaction. * The conference was held virtually due to the COVID-19 pandemic.
Download or read book Field and Service Robotics written by Marco Hutter and published by Springer. This book was released on 2017-11-01 with total page 701 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book contains the proceedings of the 11th FSR (Field and Service Robotics), which is the leading single-track conference on applications of robotics in challenging environments. This conference was held in Zurich, Switzerland from 12-15 September 2017. The book contains 45 full-length, peer-reviewed papers organized into a variety of topics: Control, Computer Vision, Inspection, Machine Learning, Mapping, Navigation and Planning, and Systems and Tools. The goal of the book and the conference is to report and encourage the development and experimental evaluation of field and service robots, and to generate a vibrant exchange and discussion in the community. Field robots are non-factory robots, typically mobile, that operate in complex and dynamic environments: on the ground (Earth or other planets), under the ground, underwater, in the air or in space. Service robots are those that work closely with humans to help them with their lives. The first FSR was held in Canberra, Australia, in 1997. Since that first meeting, FSR has been held roughly every two years, cycling through Asia, Americas, and Europe.
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 Robotic Systems Concepts Methodologies Tools and Applications written by Management Association, Information Resources and published by IGI Global. This book was released on 2020-01-03 with total page 2075 pages. Available in PDF, EPUB and Kindle. Book excerpt: Through expanded intelligence, the use of robotics has fundamentally transformed a variety of fields, including manufacturing, aerospace, medicine, social services, and agriculture. Continued research on robotic design is critical to solving various dynamic obstacles individuals, enterprises, and humanity at large face on a daily basis. Robotic Systems: Concepts, Methodologies, Tools, and Applications is a vital reference source that delves into the current issues, methodologies, and trends relating to advanced robotic technology in the modern world. Highlighting a range of topics such as mechatronics, cybernetics, and human-computer interaction, this multi-volume book is ideally designed for robotics engineers, mechanical engineers, robotics technicians, operators, software engineers, designers, programmers, industry professionals, researchers, students, academicians, and computer practitioners seeking current research on developing innovative ideas for intelligent and autonomous robotics systems.
Download or read book Simultaneous Localization and Mapping Based on Visual Sensing written by Dan Aurelian Pojar and published by . This book was released on 2013 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:
