125,121 research outputs found
RadarSLAM: Radar based Large-Scale SLAM in All Weathers
Numerous Simultaneous Localization and Mapping (SLAM) algorithms have been
presented in last decade using different sensor modalities. However, robust
SLAM in extreme weather conditions is still an open research problem. In this
paper, RadarSLAM, a full radar based graph SLAM system, is proposed for
reliable localization and mapping in large-scale environments. It is composed
of pose tracking, local mapping, loop closure detection and pose graph
optimization, enhanced by novel feature matching and probabilistic point cloud
generation on radar images. Extensive experiments are conducted on a public
radar dataset and several self-collected radar sequences, demonstrating the
state-of-the-art reliability and localization accuracy in various adverse
weather conditions, such as dark night, dense fog and heavy snowfall
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A words-of-interest model of sketch representation for image retrieval
In this paper we propose a method for sketch-based image retrieval. Sketch is a magical medium which is capable of conveying semantic messages for user. Itās in accordance with userās cognitive psychology to retrieve images with sketch. In order to narrow down the semantic gap between the user and the images in database, we preprocess all the images into sketches by the coherent line drawing algorithm. During the process of sketches extraction, saliency maps are used to filter out the redundant background information, while preserve the important semantic information. We use a variant of Words-of-Interest model to retrieve relevant images for the user according to the query. Words-of-Interest (WoI) model is based on Bag-ofvisual Words (BoW) model, which has been proven successfully for information retrieval. Bag-of-Words ignores the spatial relationships among visual words, which are important for sketch representation. Our method takes advantage of the spatial information of the query to select words of interest. Experimental results demonstrate that our sketch-based retrieval method achieves a good tradeoff between retrieval accuracy and semantic representation of usersā query
Efficient Image-Space Extraction and Representation of 3D Surface Topography
Surface topography refers to the geometric micro-structure of a surface and
defines its tactile characteristics (typically in the sub-millimeter range).
High-resolution 3D scanning techniques developed recently enable the 3D
reconstruction of surfaces including their surface topography. In his paper, we
present an efficient image-space technique for the extraction of surface
topography from high-resolution 3D reconstructions. Additionally, we filter
noise and enhance topographic attributes to obtain an improved representation
for subsequent topography classification. Comprehensive experiments show that
the our representation captures well topographic attributes and significantly
improves classification performance compared to alternative 2D and 3D
representations.Comment: Initial version of the paper accepted at the IEEE ICIP Conference
201
Force field feature extraction for ear biometrics
The overall objective in defining feature space is to reduce the dimensionality of the original pattern space, whilst maintaining discriminatory power for classification. To meet this objective in the context of ear biometrics a new force field transformation treats the image as an array of mutually attracting particles that act as the source of a Gaussian force field. Underlying the force field there is a scalar potential energy field, which in the case of an ear takes the form of a smooth surface that resembles a small mountain with a number of peaks joined by ridges. The peaks correspond to potential energy wells and to extend the analogy the ridges correspond to potential energy channels. Since the transform also turns out to be invertible, and since the surface is otherwise smooth, information theory suggests that much of the information is transferred to these features, thus confirming their efficacy. We previously described how field line feature extraction, using an algorithm similar to gradient descent, exploits the directional properties of the force field to automatically locate these channels and wells, which then form the basis of characteristic ear features. We now show how an analysis of the mechanism of this algorithmic approach leads to a closed analytical description based on the divergence of force direction, which reveals that channels and wells are really manifestations of the same phenomenon. We further show that this new operator, with its own distinct advantages, has a striking similarity to the Marr-Hildreth operator, but with the important difference that it is non-linear. As well as addressing faster implementation, invertibility, and brightness sensitivity, the technique is also validated by performing recognition on a database of ears selected from the XM2VTS face database, and by comparing the results with the more established technique of Principal Components Analysis. This confirms not only that ears do indeed appear to have potential as a biometric, but also that the new approach is well suited to their description, being robust especially in the presence of noise, and having the advantage that the ear does not need to be explicitly extracted from the background
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