4,065 research outputs found
Towards a Scalable Dynamic Spatial Database System
With the rise of GPS-enabled smartphones and other similar mobile devices,
massive amounts of location data are available. However, no scalable solutions
for soft real-time spatial queries on large sets of moving objects have yet
emerged. In this paper we explore and measure the limits of actual algorithms
and implementations regarding different application scenarios. And finally we
propose a novel distributed architecture to solve the scalability issues.Comment: (2012
Leveraging Deep Visual Descriptors for Hierarchical Efficient Localization
Many robotics applications require precise pose estimates despite operating
in large and changing environments. This can be addressed by visual
localization, using a pre-computed 3D model of the surroundings. The pose
estimation then amounts to finding correspondences between 2D keypoints in a
query image and 3D points in the model using local descriptors. However,
computational power is often limited on robotic platforms, making this task
challenging in large-scale environments. Binary feature descriptors
significantly speed up this 2D-3D matching, and have become popular in the
robotics community, but also strongly impair the robustness to perceptual
aliasing and changes in viewpoint, illumination and scene structure. In this
work, we propose to leverage recent advances in deep learning to perform an
efficient hierarchical localization. We first localize at the map level using
learned image-wide global descriptors, and subsequently estimate a precise pose
from 2D-3D matches computed in the candidate places only. This restricts the
local search and thus allows to efficiently exploit powerful non-binary
descriptors usually dismissed on resource-constrained devices. Our approach
results in state-of-the-art localization performance while running in real-time
on a popular mobile platform, enabling new prospects for robotics research.Comment: CoRL 2018 Camera-ready (fix typos and update citations
Energy Efficient Rectangular Indexing for Mobile Peer-to-Peer Environment
Now a days in wireless environment there are many challenges. One of them which is need to be addressed in mobile Peer-to-Peer environment is getting the information of interest quickly and efficiently. Wherein whenever the node tries to get the desired data it has to wait too long or have to contact to unnecessary nodes which are not having their data of interest. This causes the node to waste the limited power resources and incurs more cost in terms of energy wastage. Here we proposed an energy efficient rectangular indexing called PMBR (Peer-to-Peer Minimum Bounding Rectangle) which allows the user to get the information of interest in energy efficient manner. We proposed algorithms namely PMBR_DSS, PMBR_HB and PMBR_CP and processed Nearest Neighbor & Range type queries. The experimental results carried out shows that the proposed algorithm PMBR_CP provides the efficient, quick and assured access to information of interest by saving the scarce power resources
Detection-by-Localization: Maintenance-Free Change Object Detector
Recent researches demonstrate that self-localization performance is a very
useful measure of likelihood-of-change (LoC) for change detection. In this
paper, this "detection-by-localization" scheme is studied in a novel
generalized task of object-level change detection. In our framework, a given
query image is segmented into object-level subimages (termed "scene parts"),
which are then converted to subimage-level pixel-wise LoC maps via the
detection-by-localization scheme. Our approach models a self-localization
system as a ranking function, outputting a ranked list of reference images,
without requiring relevance score. Thanks to this new setting, we can
generalize our approach to a broad class of self-localization systems. Our
ranking based self-localization model allows to fuse self-localization results
from different modalities via an unsupervised rank fusion derived from a field
of multi-modal information retrieval (MMR).Comment: 7 pages, 3 figures, Technical repor
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