654 research outputs found
GSLAM: Initialization-robust Monocular Visual SLAM via Global Structure-from-Motion
Many monocular visual SLAM algorithms are derived from incremental
structure-from-motion (SfM) methods. This work proposes a novel monocular SLAM
method which integrates recent advances made in global SfM. In particular, we
present two main contributions to visual SLAM. First, we solve the visual
odometry problem by a novel rank-1 matrix factorization technique which is more
robust to the errors in map initialization. Second, we adopt a recent global
SfM method for the pose-graph optimization, which leads to a multi-stage linear
formulation and enables L1 optimization for better robustness to false loops.
The combination of these two approaches generates more robust reconstruction
and is significantly faster (4X) than recent state-of-the-art SLAM systems. We
also present a new dataset recorded with ground truth camera motion in a Vicon
motion capture room, and compare our method to prior systems on it and
established benchmark datasets.Comment: 3DV 2017 Project Page: https://frobelbest.github.io/gsla
Numerical Efficiency of Inverse Simulation Methods Applied to a Wheeled Rover
Extending the navigational capability of planetary rovers is essential for increasing the scientific outputs from such exploratory missions. In this paper a navigation method based on Inverse Simulation is applied to a four wheel rover. The method calculates the required control inputs to achieve a desired, specified response. Here this is a desired trajectory defined as a series of waypoints. Inverse Simulation considers the complete system dynamics of the rover to calculate the control input using an iterative, numerical Newton - Raphson scheme. The paper provides an insight into the numerical parameters that affect the performance of the method. Also, the influence of varying the timestep and the convergence tolerance is examined in terms of the quality of the calculated control input and the resulting trajectory, as well as the execution time. From this analysis a set of parameters and recommendations to successfully apply Inverse Simulation to a rover is presented
Using state space differential geometry for nonlinear blind source separation
Given a time series of multicomponent measurements of an evolving stimulus,
nonlinear blind source separation (BSS) seeks to find a "source" time series,
comprised of statistically independent combinations of the measured components.
In this paper, we seek a source time series with local velocity cross
correlations that vanish everywhere in stimulus state space. However, in an
earlier paper the local velocity correlation matrix was shown to constitute a
metric on state space. Therefore, nonlinear BSS maps onto a problem of
differential geometry: given the metric observed in the measurement coordinate
system, find another coordinate system in which the metric is diagonal
everywhere. We show how to determine if the observed data are separable in this
way, and, if they are, we show how to construct the required transformation to
the source coordinate system, which is essentially unique except for an unknown
rotation that can be found by applying the methods of linear BSS. Thus, the
proposed technique solves nonlinear BSS in many situations or, at least,
reduces it to linear BSS, without the use of probabilistic, parametric, or
iterative procedures. This paper also describes a generalization of this
methodology that performs nonlinear independent subspace separation. In every
case, the resulting decomposition of the observed data is an intrinsic property
of the stimulus' evolution in the sense that it does not depend on the way the
observer chooses to view it (e.g., the choice of the observing machine's
sensors). In other words, the decomposition is a property of the evolution of
the "real" stimulus that is "out there" broadcasting energy to the observer.
The technique is illustrated with analytic and numerical examples.Comment: Contains 14 pages and 3 figures. For related papers, see
http://www.geocities.com/dlevin2001/ . New version is identical to original
version except for URL in the bylin
Multi-camera Realtime 3D Tracking of Multiple Flying Animals
Automated tracking of animal movement allows analyses that would not
otherwise be possible by providing great quantities of data. The additional
capability of tracking in realtime - with minimal latency - opens up the
experimental possibility of manipulating sensory feedback, thus allowing
detailed explorations of the neural basis for control of behavior. Here we
describe a new system capable of tracking the position and body orientation of
animals such as flies and birds. The system operates with less than 40 msec
latency and can track multiple animals simultaneously. To achieve these
results, a multi target tracking algorithm was developed based on the Extended
Kalman Filter and the Nearest Neighbor Standard Filter data association
algorithm. In one implementation, an eleven camera system is capable of
tracking three flies simultaneously at 60 frames per second using a gigabit
network of nine standard Intel Pentium 4 and Core 2 Duo computers. This
manuscript presents the rationale and details of the algorithms employed and
shows three implementations of the system. An experiment was performed using
the tracking system to measure the effect of visual contrast on the flight
speed of Drosophila melanogaster. At low contrasts, speed is more variable and
faster on average than at high contrasts. Thus, the system is already a useful
tool to study the neurobiology and behavior of freely flying animals. If
combined with other techniques, such as `virtual reality'-type computer
graphics or genetic manipulation, the tracking system would offer a powerful
new way to investigate the biology of flying animals.Comment: pdfTeX using libpoppler 3.141592-1.40.3-2.2 (Web2C 7.5.6), 18 pages
with 9 figure
Document Clustering Based On Max-Correntropy Non-Negative Matrix Factorization
Nonnegative matrix factorization (NMF) has been successfully applied to many
areas for classification and clustering. Commonly-used NMF algorithms mainly
target on minimizing the distance or Kullback-Leibler (KL) divergence,
which may not be suitable for nonlinear case. In this paper, we propose a new
decomposition method by maximizing the correntropy between the original and the
product of two low-rank matrices for document clustering. This method also
allows us to learn the new basis vectors of the semantic feature space from the
data. To our knowledge, we haven't seen any work has been done by maximizing
correntropy in NMF to cluster high dimensional document data. Our experiment
results show the supremacy of our proposed method over other variants of NMF
algorithm on Reuters21578 and TDT2 databasets.Comment: International Conference of Machine Learning and Cybernetics (ICMLC)
201
Autocalibration with the Minimum Number of Cameras with Known Pixel Shape
In 3D reconstruction, the recovery of the calibration parameters of the
cameras is paramount since it provides metric information about the observed
scene, e.g., measures of angles and ratios of distances. Autocalibration
enables the estimation of the camera parameters without using a calibration
device, but by enforcing simple constraints on the camera parameters. In the
absence of information about the internal camera parameters such as the focal
length and the principal point, the knowledge of the camera pixel shape is
usually the only available constraint. Given a projective reconstruction of a
rigid scene, we address the problem of the autocalibration of a minimal set of
cameras with known pixel shape and otherwise arbitrarily varying intrinsic and
extrinsic parameters. We propose an algorithm that only requires 5 cameras (the
theoretical minimum), thus halving the number of cameras required by previous
algorithms based on the same constraint. To this purpose, we introduce as our
basic geometric tool the six-line conic variety (SLCV), consisting in the set
of planes intersecting six given lines of 3D space in points of a conic. We
show that the set of solutions of the Euclidean upgrading problem for three
cameras with known pixel shape can be parameterized in a computationally
efficient way. This parameterization is then used to solve autocalibration from
five or more cameras, reducing the three-dimensional search space to a
two-dimensional one. We provide experiments with real images showing the good
performance of the technique.Comment: 19 pages, 14 figures, 7 tables, J. Math. Imaging Vi
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