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

Object-based assessment of tree attributes of Acacia tortilis in Bou-Hedma, Tunisia

Acacia tortilis subsp. raddiana represents the most important woody species in the pre-Saharan zone. It is the only forest tree persisting on the edge of the desert. Due to tree/environment interactions, canopy sub-habitats arise, enabling an increased storage of soil water, soil nutrients and soil oxygen. Depending on their density, they can also reduce erosion and reverse desertification. Soil erosion and desertification are the main problems faced by the UNESCO Biosphere Reserve in South-Tunisia (Bou-Hedma National Park). The restoration of the original woodland cover to combat desertification (particularly) by afforestation and reforestation of Acacia tortilis goes hand in hand with a climate change in the Biosphere Reserve, also influencing rural population outside the Biosphere Reserve. In order to study the different effects of woodland restoration in Bou-Hedma, the number of Acacia trees and their attributes have to be known. High resolution satellite imagery (GeoEye-1), was used with a GEOBIA approach. Field measurement of bole diameter, crown diameter and tree height were collected at > 400 locations. After segmentation, correlations with > 200 object features and tree attributes were calculated. For crown diameter and tree height, high correlations were observed with the features area and GLCM Entropy Layer 4 (90 degrees). Relations between these features and measured tree attributes were modeled, resulting in RMSE values of resp. 1.47 m and 1.62 m for crown diameter estimation and 0.92 m for tree height. The results show that a GEOBIA working strategy is suitable for estimating tree attributes in open forests in semi-arid regions

Bayesian off-line detection of multiple change-points corrupted by multiplicative noise : application to SAR image edge detection

This paper addresses the problem of Bayesian off-line change-point detection in synthetic aperture radar images. The minimum mean square error and maximum a posteriori estimators of the changepoint positions are studied. Both estimators cannot be implemented because of optimization or integration problems. A practical implementation using Markov chain Monte Carlo methods is proposed. This implementation requires a priori knowledge of the so-called hyperparameters. A hyperparameter estimation procedure is proposed that alleviates the requirement of knowing the values of the hyperparameters. Simulation results on synthetic signals and synthetic aperture radar images are presented

Fusion of aerial images and sensor data from a ground vehicle for improved semantic mapping

This work investigates the use of semantic information to link ground level occupancy maps and aerial images. A ground level semantic map, which shows open ground and indicates the probability of cells being occupied by walls of buildings, is obtained by a mobile robot equipped with an omnidirectional camera, GPS and a laser range finder. This semantic information is used for local and global segmentation of an aerial image. The result is a map where the semantic information has been extended beyond the range of the robot sensors and predicts where the mobile robot can find buildings and potentially driveable ground

Single-Shot Global Localization via Graph-Theoretic Correspondence Matching

This paper describes a method of global localization based on graph-theoretic association of instances between a query and the prior map. The proposed framework employs correspondence matching based on the maximum clique problem (MCP). The framework is potentially applicable to other map and/or query modalities thanks to the graph-based abstraction of the problem, while many of existing global localization methods rely on a query and the dataset in the same modality. We implement it with a semantically labeled 3D point cloud map, and a semantic segmentation image as a query. Leveraging the graph-theoretic framework, the proposed method realizes global localization exploiting only the map and the query. The method shows promising results on multiple large-scale simulated maps of urban scenes