11,670 research outputs found
A Noise-Robust Method with Smoothed \ell_1/\ell_2 Regularization for Sparse Moving-Source Mapping
The method described here performs blind deconvolution of the beamforming
output in the frequency domain. To provide accurate blind deconvolution,
sparsity priors are introduced with a smooth \ell_1/\ell_2 regularization term.
As the mean of the noise in the power spectrum domain is dependent on its
variance in the time domain, the proposed method includes a variance estimation
step, which allows more robust blind deconvolution. Validation of the method on
both simulated and real data, and of its performance, are compared with two
well-known methods from the literature: the deconvolution approach for the
mapping of acoustic sources, and sound density modeling
Keyframe-based monocular SLAM: design, survey, and future directions
Extensive research in the field of monocular SLAM for the past fifteen years
has yielded workable systems that found their way into various applications in
robotics and augmented reality. Although filter-based monocular SLAM systems
were common at some time, the more efficient keyframe-based solutions are
becoming the de facto methodology for building a monocular SLAM system. The
objective of this paper is threefold: first, the paper serves as a guideline
for people seeking to design their own monocular SLAM according to specific
environmental constraints. Second, it presents a survey that covers the various
keyframe-based monocular SLAM systems in the literature, detailing the
components of their implementation, and critically assessing the specific
strategies made in each proposed solution. Third, the paper provides insight
into the direction of future research in this field, to address the major
limitations still facing monocular SLAM; namely, in the issues of illumination
changes, initialization, highly dynamic motion, poorly textured scenes,
repetitive textures, map maintenance, and failure recovery
Computational intelligence approaches to robotics, automation, and control [Volume guest editors]
No abstract available
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