16,766 research outputs found
Visual 3-D SLAM from UAVs
The aim of the paper is to present, test and discuss the implementation of Visual SLAM techniques to images taken from Unmanned Aerial Vehicles (UAVs) outdoors, in partially structured environments. Every issue of the whole process is discussed in order to obtain more accurate localization and mapping from UAVs flights. Firstly, the issues related to the visual features of objects in the scene, their distance to the UAV, and the related image acquisition system and their calibration are evaluated for improving the whole process. Other important, considered issues are related to the image processing techniques, such as interest point detection, the matching procedure and the scaling factor. The whole system has been tested using the COLIBRI mini UAV in partially structured environments. The results that have been obtained for localization, tested against the GPS information of the flights, show that Visual SLAM delivers reliable localization and mapping that makes it suitable for some outdoors applications when flying UAVs
Learning a Bias Correction for Lidar-only Motion Estimation
This paper presents a novel technique to correct for bias in a classical
estimator using a learning approach. We apply a learned bias correction to a
lidar-only motion estimation pipeline. Our technique trains a Gaussian process
(GP) regression model using data with ground truth. The inputs to the model are
high-level features derived from the geometry of the point-clouds, and the
outputs are the predicted biases between poses computed by the estimator and
the ground truth. The predicted biases are applied as a correction to the poses
computed by the estimator.
Our technique is evaluated on over 50km of lidar data, which includes the
KITTI odometry benchmark and lidar datasets collected around the University of
Toronto campus. After applying the learned bias correction, we obtained
significant improvements to lidar odometry in all datasets tested. We achieved
around 10% reduction in errors on all datasets from an already accurate lidar
odometry algorithm, at the expense of only less than 1% increase in
computational cost at run-time.Comment: 15th Conference on Computer and Robot Vision (CRV 2018
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
Efficient 2D-3D Matching for Multi-Camera Visual Localization
Visual localization, i.e., determining the position and orientation of a
vehicle with respect to a map, is a key problem in autonomous driving. We
present a multicamera visual inertial localization algorithm for large scale
environments. To efficiently and effectively match features against a pre-built
global 3D map, we propose a prioritized feature matching scheme for
multi-camera systems. In contrast to existing works, designed for monocular
cameras, we (1) tailor the prioritization function to the multi-camera setup
and (2) run feature matching and pose estimation in parallel. This
significantly accelerates the matching and pose estimation stages and allows us
to dynamically adapt the matching efforts based on the surrounding environment.
In addition, we show how pose priors can be integrated into the localization
system to increase efficiency and robustness. Finally, we extend our algorithm
by fusing the absolute pose estimates with motion estimates from a multi-camera
visual inertial odometry pipeline (VIO). This results in a system that provides
reliable and drift-less pose estimation. Extensive experiments show that our
localization runs fast and robust under varying conditions, and that our
extended algorithm enables reliable real-time pose estimation.Comment: 7 pages, 5 figure
PinMe: Tracking a Smartphone User around the World
With the pervasive use of smartphones that sense, collect, and process
valuable information about the environment, ensuring location privacy has
become one of the most important concerns in the modern age. A few recent
research studies discuss the feasibility of processing data gathered by a
smartphone to locate the phone's owner, even when the user does not intend to
share his location information, e.g., when the Global Positioning System (GPS)
is off. Previous research efforts rely on at least one of the two following
fundamental requirements, which significantly limit the ability of the
adversary: (i) the attacker must accurately know either the user's initial
location or the set of routes through which the user travels and/or (ii) the
attacker must measure a set of features, e.g., the device's acceleration, for
potential routes in advance and construct a training dataset. In this paper, we
demonstrate that neither of the above-mentioned requirements is essential for
compromising the user's location privacy. We describe PinMe, a novel
user-location mechanism that exploits non-sensory/sensory data stored on the
smartphone, e.g., the environment's air pressure, along with publicly-available
auxiliary information, e.g., elevation maps, to estimate the user's location
when all location services, e.g., GPS, are turned off.Comment: This is the preprint version: the paper has been published in IEEE
Trans. Multi-Scale Computing Systems, DOI: 0.1109/TMSCS.2017.275146
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