12,495 research outputs found
Scan matching by cross-correlation and differential evolution
Scan matching is an important task, solved in the context of many high-level problems including pose estimation, indoor localization, simultaneous localization and mapping and others. Methods that are accurate and adaptive and at the same time computationally efficient are required to enable location-based services in autonomous mobile devices. Such devices usually have a wide range of high-resolution sensors but only a limited processing power and constrained energy supply. This work introduces a novel high-level scan matching strategy that uses a combination of two advanced algorithms recently used in this field: cross-correlation and differential evolution. The cross-correlation between two laser range scans is used as an efficient measure of scan alignment and the differential evolution algorithm is used to search for the parameters of a transformation that aligns the scans. The proposed method was experimentally validated and showed good ability to match laser range scans taken shortly after each other and an excellent ability to match laser range scans taken with longer time intervals between them.Web of Science88art. no. 85
Spectral analysis for long-term robotic mapping
This paper presents a new approach to mobile robot mapping in long-term scenarios. So far, the environment models used in mobile robotics have been tailored to capture static scenes and dealt with the environment changes by means of ‘memory decay’. While these models keep up with slowly changing environments, their utilization in dynamic, real world
environments is difficult.
The representation proposed in this paper models the environment’s spatio-temporal dynamics by its frequency spectrum. The spectral representation of the time domain allows to identify, analyse and remember regularly occurring environment processes in a computationally efficient way. Knowledge of the periodicity of the different environment processes constitutes the model predictive capabilities, which are especially useful for long-term mobile robotics scenarios.
In the experiments presented, the proposed approach is applied to data collected by a mobile robot patrolling an indoor
environment over a period of one week. Three scenarios are investigated, including intruder detection and 4D mapping. The results indicate that the proposed method allows to represent arbitrary timescales with constant (and low) memory requirements, achieving compression rates up to 106 . Moreover, the representation allows for prediction of future environment’s state with ∼ 90% precision
Robust Detection of Moving Human Target in Foliage-Penetration Environment Based on Hough Transform
Attention has been focused on the robust moving human target detection in foliage-penetration environment, which presents a formidable task in a radar system because foliage is a rich scattering environment with complex multipath propagation and time-varying clutter. Generally, multiple-bounce returns and clutter are additionally superposed to direct-scatter echoes. They obscure true target echo and lead to poor visual quality time-range image, making target detection particular difficult. Consequently, an innovative approach is proposed to suppress clutter and mitigate multipath effects. In particular, a clutter suppression technique based on range alignment is firstly applied to suppress the time-varying clutter and the instable antenna coupling. Then entropy weighted coherent integration (EWCI) algorithm is adopted to mitigate the multipath effects. In consequence, the proposed method effectively reduces the clutter and ghosting artifacts considerably. Based on the high visual quality image, the target trajectory is detected robustly and the radial velocity is estimated accurately with the Hough transform (HT). Real data used in the experimental results are provided to verify the proposed method
End-to-End Simulation of 5G mmWave Networks
Due to its potential for multi-gigabit and low latency wireless links,
millimeter wave (mmWave) technology is expected to play a central role in 5th
generation cellular systems. While there has been considerable progress in
understanding the mmWave physical layer, innovations will be required at all
layers of the protocol stack, in both the access and the core network.
Discrete-event network simulation is essential for end-to-end, cross-layer
research and development. This paper provides a tutorial on a recently
developed full-stack mmWave module integrated into the widely used open-source
ns--3 simulator. The module includes a number of detailed statistical channel
models as well as the ability to incorporate real measurements or ray-tracing
data. The Physical (PHY) and Medium Access Control (MAC) layers are modular and
highly customizable, making it easy to integrate algorithms or compare
Orthogonal Frequency Division Multiplexing (OFDM) numerologies, for example.
The module is interfaced with the core network of the ns--3 Long Term Evolution
(LTE) module for full-stack simulations of end-to-end connectivity, and
advanced architectural features, such as dual-connectivity, are also available.
To facilitate the understanding of the module, and verify its correct
functioning, we provide several examples that show the performance of the
custom mmWave stack as well as custom congestion control algorithms designed
specifically for efficient utilization of the mmWave channel.Comment: 25 pages, 16 figures, submitted to IEEE Communications Surveys and
Tutorials (revised Jan. 2018
Movers and Shakers: Kinetic Energy Harvesting for the Internet of Things
Numerous energy harvesting wireless devices that will serve as building
blocks for the Internet of Things (IoT) are currently under development.
However, there is still only limited understanding of the properties of various
energy sources and their impact on energy harvesting adaptive algorithms.
Hence, we focus on characterizing the kinetic (motion) energy that can be
harvested by a wireless node with an IoT form factor and on developing energy
allocation algorithms for such nodes. In this paper, we describe methods for
estimating harvested energy from acceleration traces. To characterize the
energy availability associated with specific human activities (e.g., relaxing,
walking, cycling), we analyze a motion dataset with over 40 participants. Based
on acceleration measurements that we collected for over 200 hours, we study
energy generation processes associated with day-long human routines. We also
briefly summarize our experiments with moving objects. We develop energy
allocation algorithms that take into account practical IoT node design
considerations, and evaluate the algorithms using the collected measurements.
Our observations provide insights into the design of motion energy harvesters,
IoT nodes, and energy harvesting adaptive algorithms.Comment: 15 pages, 11 figure
Semantically Guided Depth Upsampling
We present a novel method for accurate and efficient up- sampling of sparse
depth data, guided by high-resolution imagery. Our approach goes beyond the use
of intensity cues only and additionally exploits object boundary cues through
structured edge detection and semantic scene labeling for guidance. Both cues
are combined within a geodesic distance measure that allows for
boundary-preserving depth in- terpolation while utilizing local context. We
model the observed scene structure by locally planar elements and formulate the
upsampling task as a global energy minimization problem. Our method determines
glob- ally consistent solutions and preserves fine details and sharp depth
bound- aries. In our experiments on several public datasets at different levels
of application, we demonstrate superior performance of our approach over the
state-of-the-art, even for very sparse measurements.Comment: German Conference on Pattern Recognition 2016 (Oral
- …