3,596 research outputs found
Fair comparison of skin detection approaches on publicly available datasets
Skin detection is the process of discriminating skin and non-skin regions in
a digital image and it is widely used in several applications ranging from hand
gesture analysis to track body parts and face detection. Skin detection is a
challenging problem which has drawn extensive attention from the research
community, nevertheless a fair comparison among approaches is very difficult
due to the lack of a common benchmark and a unified testing protocol. In this
work, we investigate the most recent researches in this field and we propose a
fair comparison among approaches using several different datasets. The major
contributions of this work are an exhaustive literature review of skin color
detection approaches, a framework to evaluate and combine different skin
detector approaches, whose source code is made freely available for future
research, and an extensive experimental comparison among several recent methods
which have also been used to define an ensemble that works well in many
different problems. Experiments are carried out in 10 different datasets
including more than 10000 labelled images: experimental results confirm that
the best method here proposed obtains a very good performance with respect to
other stand-alone approaches, without requiring ad hoc parameter tuning. A
MATLAB version of the framework for testing and of the methods proposed in this
paper will be freely available from https://github.com/LorisNann
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
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