17,217 research outputs found
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
Design and Analysis of a Task-based Parallelization over a Runtime System of an Explicit Finite-Volume CFD Code with Adaptive Time Stepping
FLUSEPA (Registered trademark in France No. 134009261) is an advanced
simulation tool which performs a large panel of aerodynamic studies. It is the
unstructured finite-volume solver developed by Airbus Safran Launchers company
to calculate compressible, multidimensional, unsteady, viscous and reactive
flows around bodies in relative motion. The time integration in FLUSEPA is done
using an explicit temporal adaptive method. The current production version of
the code is based on MPI and OpenMP. This implementation leads to important
synchronizations that must be reduced. To tackle this problem, we present the
study of a task-based parallelization of the aerodynamic solver of FLUSEPA
using the runtime system StarPU and combining up to three levels of
parallelism. We validate our solution by the simulation (using a finite-volume
mesh with 80 million cells) of a take-off blast wave propagation for Ariane 5
launcher.Comment: Accepted manuscript of a paper in Journal of Computational Scienc
Wetting of anisotropic sinusoidal surfaces - experimental and numerical study of directional spreading
Directional wettability, i.e. variation of wetting properties depending on the surface orientation, can be achieved by anisotropic surface texturing. A new high precision process can produce homogeneous sinusoidal surfaces (in particular parallel grooves) at the micro-scale, with a nano-scale residual roughness five orders of magnitude smaller than the texture features. Static wetting experiments have shown that this pattern, even with a very small aspect ratio, can induce a strong variation of contact angle depending on the direction of observation. A comparison with numerical simulations (using Surface Evolver software) shows good agreement and could be used to predict the fluid-solid interaction and droplet behaviour on textured surfaces. Two primary mechanisms of directional spreading of water droplets on textured stainless steel surface have been identified. The first one is the mechanical barrier created by the textured surface peaks, this limits spreading in perpendicular direction to the surface anisotropy. The second one is the capillary action inside the sinusoidal grooves accelerating spreading along the grooves. Spreading has been shown to depend strongly on the history of wetting and internal drop dynamics
Fast processing of grid maps using graphical multiprocessors
Grid mapping is a very common technique used in mobile robotics to build a continuous 2D representation of the environment useful for navigation purposes. Although its computation is quite simple and fast, this algorithm uses the hypothesis of a known robot pose. In practice, this can require the re-computation of the map when the estimated robot poses change, as when a loop closure is detected. This paper presents a parallelization of a reference implementation of the grid mapping algorithm, which is suitable to be fully run on a graphics card showing huge processing speedups (up to 50×) while fully releasing the main processor, which can be very useful for many Simultaneous Localization and Mapping algorithms
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
Stereo and ToF Data Fusion by Learning from Synthetic Data
Time-of-Flight (ToF) sensors and stereo vision systems are both capable of acquiring depth information but they have complementary characteristics and issues. A more accurate representation of the scene geometry can be obtained by fusing the two depth sources. In this paper we present a novel framework for data fusion where the contribution of the two depth sources is controlled by confidence measures that are jointly estimated using a Convolutional Neural Network. The two depth sources are fused enforcing the local consistency of depth data, taking into account the estimated confidence information. The deep network is trained using a synthetic dataset and we show how the classifier is able to generalize to different data, obtaining reliable estimations not only on synthetic data but also on real world scenes. Experimental results show that the proposed approach increases the accuracy of the depth estimation on both synthetic and real data and that it is able to outperform state-of-the-art methods
Radar and RGB-depth sensors for fall detection: a review
This paper reviews recent works in the literature on the use of systems based on radar and RGB-Depth (RGB-D) sensors for fall detection, and discusses outstanding research challenges and trends related to this research field. Systems to detect reliably fall events and promptly alert carers and first responders have gained significant interest in the past few years in order to address the societal issue of an increasing number of elderly people living alone, with the associated risk of them falling and the consequences in terms of health treatments, reduced well-being, and costs. The interest in radar and RGB-D sensors is related to their capability to enable contactless and non-intrusive monitoring, which is an advantage for practical deployment and users’ acceptance and compliance, compared with other sensor technologies, such as video-cameras, or wearables. Furthermore, the possibility of combining and fusing information from The heterogeneous types of sensors is expected to improve the overall performance of practical fall detection systems. Researchers from different fields can benefit from multidisciplinary knowledge and awareness of the latest developments in radar and RGB-D sensors that this paper is discussing
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