Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

3D minutiae extraction in 3D fingerprint scans.

Traditionally, fingerprint image acquisition was based on contact. However the conventional touch-based fingerprint acquisition introduces some problems such as distortions and deformations to the fingerprint image. The most recent technology for fingerprint acquisition is touchless or 3D live scans introducing higher quality fingerprint scans. However, there is a need to develop new algorithms to match 3D fingerprints. In this dissertation, a novel methodology is proposed to extract minutiae in the 3D fingerprint scans. The output can be used for 3D fingerprint matching. The proposed method is based on curvature analysis of the surface. The method used to extract minutiae includes the following steps: smoothing; computing the principal curvature; ridges and ravines detection and tracing; cleaning and connecting ridges and ravines; and minutiae detection. First, the ridges and ravines are detected using curvature tensors. Then, ridges and ravines are traced. Post-processing is performed to obtain clean and connected ridges and ravines based on fingerprint pattern. Finally, minutiae are detected using a graph theory concept. A quality map is also introduced for 3D fingerprint scans. Since a degraded area may occur during the scanning process, especially at the edge of the fingerprint, it is critical to be able to determine these areas. Spurious minutiae can be filtered out after applying the quality map. The algorithm is applied to the 3D fingerprint database and the result is very encouraging. To the best of our knowledge, this is the first minutiae extraction methodology proposed for 3D fingerprint scans

Event-based Vision: A Survey

Event cameras are bio-inspired sensors that differ from conventional frame cameras: Instead of capturing images at a fixed rate, they asynchronously measure per-pixel brightness changes, and output a stream of events that encode the time, location and sign of the brightness changes. Event cameras offer attractive properties compared to traditional cameras: high temporal resolution (in the order of microseconds), very high dynamic range (140 dB vs. 60 dB), low power consumption, and high pixel bandwidth (on the order of kHz) resulting in reduced motion blur. Hence, event cameras have a large potential for robotics and computer vision in challenging scenarios for traditional cameras, such as low-latency, high speed, and high dynamic range. However, novel methods are required to process the unconventional output of these sensors in order to unlock their potential. This paper provides a comprehensive overview of the emerging field of event-based vision, with a focus on the applications and the algorithms developed to unlock the outstanding properties of event cameras. We present event cameras from their working principle, the actual sensors that are available and the tasks that they have been used for, from low-level vision (feature detection and tracking, optic flow, etc.) to high-level vision (reconstruction, segmentation, recognition). We also discuss the techniques developed to process events, including learning-based techniques, as well as specialized processors for these novel sensors, such as spiking neural networks. Additionally, we highlight the challenges that remain to be tackled and the opportunities that lie ahead in the search for a more efficient, bio-inspired way for machines to perceive and interact with the world