88,281 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
Point-wise mutual information-based video segmentation with high temporal consistency
In this paper, we tackle the problem of temporally consistent boundary
detection and hierarchical segmentation in videos. While finding the best
high-level reasoning of region assignments in videos is the focus of much
recent research, temporal consistency in boundary detection has so far only
rarely been tackled. We argue that temporally consistent boundaries are a key
component to temporally consistent region assignment. The proposed method is
based on the point-wise mutual information (PMI) of spatio-temporal voxels.
Temporal consistency is established by an evaluation of PMI-based point
affinities in the spectral domain over space and time. Thus, the proposed
method is independent of any optical flow computation or previously learned
motion models. The proposed low-level video segmentation method outperforms the
learning-based state of the art in terms of standard region metrics
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