Network Uncertainty Informed Semantic Feature Selection for Visual SLAM

In order to facilitate long-term localization using a visual simultaneous localization and mapping (SLAM) algorithm, careful feature selection can help ensure that reference points persist over long durations and the runtime and storage complexity of the algorithm remain consistent. We present SIVO (Semantically Informed Visual Odometry and Mapping), a novel information-theoretic feature selection method for visual SLAM which incorporates semantic segmentation and neural network uncertainty into the feature selection pipeline. Our algorithm selects points which provide the highest reduction in Shannon entropy between the entropy of the current state and the joint entropy of the state, given the addition of the new feature with the classification entropy of the feature from a Bayesian neural network. Each selected feature significantly reduces the uncertainty of the vehicle state and has been detected to be a static object (building, traffic sign, etc.) repeatedly with a high confidence. This selection strategy generates a sparse map which can facilitate long-term localization. The KITTI odometry dataset is used to evaluate our method, and we also compare our results against ORB_SLAM2. Overall, SIVO performs comparably to the baseline method while reducing the map size by almost 70%.Comment: Published in: 2019 16th Conference on Computer and Robot Vision (CRV

Sampling and Subspace Methods for Learning Sparse Group Structures in Computer Vision

The unprecedented growth of data in volume and dimension has led to an increased number of computationally-demanding and data-driven decision-making methods in many disciplines, such as computer vision, genomics, finance, etc. Research on big data aims to understand and describe trends in massive volumes of high-dimensional data. High volume and dimension are the determining factors in both computational and time complexity of algorithms. The challenge grows when the data are formed of the union of group-structures of different dimensions embedded in a high-dimensional ambient space. To address the problem of high volume, we propose a sampling method referred to as the Sparse Withdrawal of Inliers in a First Trial (SWIFT), which determines the smallest sample size in one grab so that all group-structures are adequately represented and discovered with high probability. The key features of SWIFT are: (i) sparsity, which is independent of the population size; (ii) no prior knowledge of the distribution of data, or the number of underlying group-structures; and (iii) robustness in the presence of an overwhelming number of outliers. We report a comprehensive study of the proposed sampling method in terms of accuracy, functionality, and effectiveness in reducing the computational cost in various applications of computer vision. In the second part of this dissertation, we study dimensionality reduction for multi-structural data. We propose a probabilistic subspace clustering method that unifies soft- and hard-clustering in a single framework. This is achieved by introducing a delayed association of uncertain points to subspaces of lower dimensions based on a confidence measure. Delayed association yields higher accuracy in clustering subspaces that have ambiguities, i.e. due to intersections and high-level of outliers/noise, and hence leads to more accurate self-representation of underlying subspaces. Altogether, this dissertation addresses the key theoretical and practically issues of size and dimension in big data analysis

Extrinsic Parameter Calibration for Line Scanning Cameras on Ground Vehicles with Navigation Systems Using a Calibration Pattern

Line scanning cameras, which capture only a single line of pixels, have been increasingly used in ground based mobile or robotic platforms. In applications where it is advantageous to directly georeference the camera data to world coordinates, an accurate estimate of the camera's 6D pose is required. This paper focuses on the common case where a mobile platform is equipped with a rigidly mounted line scanning camera, whose pose is unknown, and a navigation system providing vehicle body pose estimates. We propose a novel method that estimates the camera's pose relative to the navigation system. The approach involves imaging and manually labelling a calibration pattern with distinctly identifiable points, triangulating these points from camera and navigation system data and reprojecting them in order to compute a likelihood, which is maximised to estimate the 6D camera pose. Additionally, a Markov Chain Monte Carlo (MCMC) algorithm is used to estimate the uncertainty of the offset. Tested on two different platforms, the method was able to estimate the pose to within 0.06 m / 1.05$^{\circ}$ and 0.18 m / 2.39$^{\circ}$. We also propose several approaches to displaying and interpreting the 6D results in a human readable way.Comment: Published in MDPI Sensors, 30 October 201