Interest point detectors for visual SLAM

In this paper we present several interest points detectors and we analyze their suitability when used as landmark extractors for vision-based simultaneous localization and mapping (vSLAM). For this purpose, we evaluate the detectors according to their repeatability under changes in viewpoint and scale. These are the desired requirements for visual landmarks. Several experiments were carried out using sequence of images captured with high precision. The sequences represent planar objects as well as 3D scenes

A comparative evaluation of interest point detectors and local descriptors for visual SLAM

Abstract In this paper we compare the behavior of different interest points detectors and descriptors under the conditions needed to be used as landmarks in vision-based simultaneous localization and mapping (SLAM). We evaluate the repeatability of the detectors, as well as the invariance and distinctiveness of the descriptors, under different perceptual conditions using sequences of images representing planar objects as well as 3D scenes. We believe that this information will be useful when selecting an appropriat

Mixtures of Shifted Asymmetric Laplace Distributions

A mixture of shifted asymmetric Laplace distributions is introduced and used for clustering and classification. A variant of the EM algorithm is developed for parameter estimation by exploiting the relationship with the general inverse Gaussian distribution. This approach is mathematically elegant and relatively computationally straightforward. Our novel mixture modelling approach is demonstrated on both simulated and real data to illustrate clustering and classification applications. In these analyses, our mixture of shifted asymmetric Laplace distributions performs favourably when compared to the popular Gaussian approach. This work, which marks an important step in the non-Gaussian model-based clustering and classification direction, concludes with discussion as well as suggestions for future work

Automatic human ear detection approach using modified adaptive search window technique

The human ear biometric recognition plays an important role in the forensics specialty and has significant impact for biometrician scientists and researchers. Actually, many ear recognition researches showed promised results, but some issues such as manual detection process, efficiency and robustness aren’t attained a certain level of maturity. Therefore, the enhancement developing approaches still continuous to achieve limited successes. We propose an efficient, reliable and simple automatic human ear detection approach. This approach implement two stages: preprocessing and ear landmarks detection. We utilized the image contrast, Laplace filter and Gaussian blurring techniques to made enhancement on all images (increasing the contrast, reduce the noisy and smoothing processes). After that, we highlighted the ear edges by using the Sobel edge detector and determining the only white pixels of ear edges by applying the image substation method. The improvement focused on using the modified adaptive search window (ASW) to detect the ear region. Furthermore, our approach is tested on Indian Institute of Technology (IIT) Delhi standard ear biometric public dataset. Experimental results presented a well average detection rate 96% for 493 image samples from 125 persons and computational time almost ≈ 0.485 seconds which is evaluated with other previous works