1,293 research outputs found
HBST: A Hamming Distance embedding Binary Search Tree for Visual Place Recognition
Reliable and efficient Visual Place Recognition is a major building block of
modern SLAM systems. Leveraging on our prior work, in this paper we present a
Hamming Distance embedding Binary Search Tree (HBST) approach for binary
Descriptor Matching and Image Retrieval. HBST allows for descriptor Search and
Insertion in logarithmic time by exploiting particular properties of binary
Feature descriptors. We support the idea behind our search structure with a
thorough analysis on the exploited descriptor properties and their effects on
completeness and complexity of search and insertion. To validate our claims we
conducted comparative experiments for HBST and several state-of-the-art methods
on a broad range of publicly available datasets. HBST is available as a compact
open-source C++ header-only library.Comment: Submitted to IEEE Robotics and Automation Letters (RA-L) 2018 with
International Conference on Intelligent Robots and Systems (IROS) 2018
option, 8 pages, 10 figure
Affine Subspace Representation for Feature Description
This paper proposes a novel Affine Subspace Representation (ASR) descriptor
to deal with affine distortions induced by viewpoint changes. Unlike the
traditional local descriptors such as SIFT, ASR inherently encodes local
information of multi-view patches, making it robust to affine distortions while
maintaining a high discriminative ability. To this end, PCA is used to
represent affine-warped patches as PCA-patch vectors for its compactness and
efficiency. Then according to the subspace assumption, which implies that the
PCA-patch vectors of various affine-warped patches of the same keypoint can be
represented by a low-dimensional linear subspace, the ASR descriptor is
obtained by using a simple subspace-to-point mapping. Such a linear subspace
representation could accurately capture the underlying information of a
keypoint (local structure) under multiple views without sacrificing its
distinctiveness. To accelerate the computation of ASR descriptor, a fast
approximate algorithm is proposed by moving the most computational part (ie,
warp patch under various affine transformations) to an offline training stage.
Experimental results show that ASR is not only better than the state-of-the-art
descriptors under various image transformations, but also performs well without
a dedicated affine invariant detector when dealing with viewpoint changes.Comment: To Appear in the 2014 European Conference on Computer Visio
ProSLAM: Graph SLAM from a Programmer's Perspective
In this paper we present ProSLAM, a lightweight stereo visual SLAM system
designed with simplicity in mind. Our work stems from the experience gathered
by the authors while teaching SLAM to students and aims at providing a highly
modular system that can be easily implemented and understood. Rather than
focusing on the well known mathematical aspects of Stereo Visual SLAM, in this
work we highlight the data structures and the algorithmic aspects that one
needs to tackle during the design of such a system. We implemented ProSLAM
using the C++ programming language in combination with a minimal set of well
known used external libraries. In addition to an open source implementation, we
provide several code snippets that address the core aspects of our approach
directly in this paper. The results of a thorough validation performed on
standard benchmark datasets show that our approach achieves accuracy comparable
to state of the art methods, while requiring substantially less computational
resources.Comment: 8 pages, 8 figure
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High-speed multi-dimensional relative navigation for uncooperative space objects
This work proposes a high-speed Light Detection and Ranging (LIDAR) based navigation architecture that is appropriate for uncooperative relative space navigation applications. In contrast to current solutions that exploit 3D LIDAR data, our architecture transforms the odometry problem from the 3D space into multiple 2.5D ones and completes the odometry problem by utilizing a recursive filtering scheme. Trials evaluate several current state-of-the-art 2D keypoint detection and local feature description methods as well as recursive filtering techniques on a number of simulated but credible scenarios that involve a satellite model developed by Thales Alenia Space (France). Most appealing performance is attained by the 2D keypoint detector Good Features to Track (GFFT) combined with the feature descriptor KAZE, that are further combined with either the H∞ or the Kalman recursive filter. Experimental results demonstrate that compared to current algorithms, the GFTT/KAZE combination is highly appealing affording one order of magnitude more accurate odometry and a very low processing burden, which depending on the competitor method, may exceed one order of magnitude faster computation
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