159,611 research outputs found
Real-time Monocular Object SLAM
We present a real-time object-based SLAM system that leverages the largest
object database to date. Our approach comprises two main components: 1) a
monocular SLAM algorithm that exploits object rigidity constraints to improve
the map and find its real scale, and 2) a novel object recognition algorithm
based on bags of binary words, which provides live detections with a database
of 500 3D objects. The two components work together and benefit each other: the
SLAM algorithm accumulates information from the observations of the objects,
anchors object features to especial map landmarks and sets constrains on the
optimization. At the same time, objects partially or fully located within the
map are used as a prior to guide the recognition algorithm, achieving higher
recall. We evaluate our proposal on five real environments showing improvements
on the accuracy of the map and efficiency with respect to other
state-of-the-art techniques
Robust automatic target tracking based on a Bayesian ego-motion compensation framework for airborne FLIR imagery
Automatic target tracking in airborne FLIR imagery is currently a challenge due to the camera ego-motion. This phenomenon distorts the spatio-temporal correlation of the video sequence, which dramatically reduces the tracking performance. Several works address this problem using ego-motion compensation strategies. They use a deterministic approach to compensate the camera motion assuming a specific model of geometric transformation. However, in real sequences a specific geometric transformation can not accurately describe the camera ego-motion for the whole sequence, and as consequence of this, the performance of the tracking stage can significantly decrease, even completely fail. The optimum transformation for each pair of consecutive frames depends on the relative depth of the elements that compose the scene, and their degree of texturization. In this work, a novel Particle Filter framework is proposed to efficiently manage several hypothesis of geometric transformations: Euclidean, affine, and projective. Each type of transformation is used to compute candidate locations of the object in the current frame. Then, each candidate is evaluated by the measurement model of the Particle Filter using the appearance information. This approach is able to adapt to different camera ego-motion conditions, and thus to satisfactorily perform the tracking. The proposed strategy has been tested on the AMCOM FLIR dataset, showing a high efficiency in the tracking of different types of targets in real working conditions
Optimization of micropillar sequences for fluid flow sculpting
Inertial fluid flow deformation around pillars in a microchannel is a new
method for controlling fluid flow. Sequences of pillars have been shown to
produce a rich phase space with a wide variety of flow transformations.
Previous work has successfully demonstrated manual design of pillar sequences
to achieve desired transformations of the flow cross-section, with experimental
validation. However, such a method is not ideal for seeking out complex
sculpted shapes as the search space quickly becomes too large for efficient
manual discovery. We explore fast, automated optimization methods to solve this
problem. We formulate the inertial flow physics in microchannels with different
micropillar configurations as a set of state transition matrix operations.
These state transition matrices are constructed from experimentally validated
streamtraces. This facilitates modeling the effect of a sequence of
micropillars as nested matrix-matrix products, which have very efficient
numerical implementations. With this new forward model, arbitrary micropillar
sequences can be rapidly simulated with various inlet configurations, allowing
optimization routines quick access to a large search space. We integrate this
framework with the genetic algorithm and showcase its applicability by
designing micropillar sequences for various useful transformations. We
computationally discover micropillar sequences for complex transformations that
are substantially shorter than manually designed sequences. We also determine
sequences for novel transformations that were difficult to manually design.
Finally, we experimentally validate these computational designs by fabricating
devices and comparing predictions with the results from confocal microscopy
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