A multisensor SLAM for dense maps of large scale environments under poor lighting conditions

This thesis describes the development and implementation of a multisensor large scale autonomous mapping system for surveying tasks in underground mines. The hazardous nature of the underground mining industry has resulted in a push towards autonomous solutions to the most dangerous operations, including surveying tasks. Many existing autonomous mapping techniques rely on approaches to the Simultaneous Localization and Mapping (SLAM) problem which are not suited to the extreme characteristics of active underground mining environments. Our proposed multisensor system has been designed from the outset to address the unique challenges associated with underground SLAM. The robustness, self-containment and portability of the system maximize the potential applications.The multisensor mapping solution proposed as a result of this work is based on a fusion of omnidirectional bearing-only vision-based localization and 3D laser point cloud registration. By combining these two SLAM techniques it is possible to achieve some of the advantages of both approaches – the real-time attributes of vision-based SLAM and the dense, high precision maps obtained through 3D lasers. The result is a viable autonomous mapping solution suitable for application in challenging underground mining environments.A further improvement to the robustness of the proposed multisensor SLAM system is a consequence of incorporating colour information into vision-based localization. Underground mining environments are often dominated by dynamic sources of illumination which can cause inconsistent feature motion during localization. Colour information is utilized to identify and remove features resulting from illumination artefacts and to improve the monochrome based feature matching between frames.Finally, the proposed multisensor mapping system is implemented and evaluated in both above ground and underground scenarios. The resulting large scale maps contained a maximum offset error of ±30mm for mapping tasks with lengths over 100m

The development of the quaternion wavelet transform

The purpose of this article is to review what has been written on what other authors have called quaternion wavelet transforms (QWTs): there is no consensus about what these should look like and what their properties should be. We briefly explain what real continuous and discrete wavelet transforms and multiresolution analysis are and why complex wavelet transforms were introduced; we then go on to detail published approaches to QWTs and to analyse them. We conclude with our own analysis of what it is that should define a QWT as being truly quaternionic and why all but a few of the “QWTs” we have described do not fit our definition

A Theoretically Guaranteed Quaternion Weighted Schatten p-norm Minimization Method for Color Image Restoration

Inspired by the fact that the matrix formulated by nonlocal similar patches in a natural image is of low rank, the rank approximation issue have been extensively investigated over the past decades, among which weighted nuclear norm minimization (WNNM) and weighted Schatten $p$-norm minimization (WSNM) are two prevailing methods have shown great superiority in various image restoration (IR) problems. Due to the physical characteristic of color images, color image restoration (CIR) is often a much more difficult task than its grayscale image counterpart. However, when applied to CIR, the traditional WNNM/WSNM method only processes three color channels individually and fails to consider their cross-channel correlations. Very recently, a quaternion-based WNNM approach (QWNNM) has been developed to mitigate this issue, which is capable of representing the color image as a whole in the quaternion domain and preserving the inherent correlation among the three color channels. Despite its empirical success, unfortunately, the convergence behavior of QWNNM has not been strictly studied yet. In this paper, on the one side, we extend the WSNM into quaternion domain and correspondingly propose a novel quaternion-based WSNM model (QWSNM) for tackling the CIR problems. Extensive experiments on two representative CIR tasks, including color image denoising and deblurring, demonstrate that the proposed QWSNM method performs favorably against many state-of-the-art alternatives, in both quantitative and qualitative evaluations. On the other side, more importantly, we preliminarily provide a theoretical convergence analysis, that is, by modifying the quaternion alternating direction method of multipliers (QADMM) through a simple continuation strategy, we theoretically prove that both the solution sequences generated by the QWNNM and QWSNM have fixed-point convergence guarantees.Comment: 46 pages, 10 figures; references adde

Hardware-Efficient Schemes of Quaternion Multiplying Units for 2D Discrete Quaternion Fourier Transform Processors

In this paper, we offer and discuss three efficient structural solutions for the hardware-oriented implementation of discrete quaternion Fourier transform basic operations with reduced implementation complexities. The first solution: a scheme for calculating sq product, the second solution: a scheme for calculating qt product, and the third solution: a scheme for calculating sqt product, where s is a so-called i-quaternion, t is an j-quaternion, and q is an usual quaternion. The direct multiplication of two usual quaternions requires 16 real multiplications (or two-operand multipliers in the case of fully parallel hardware implementation) and 12 real additions (or binary adders). At the same time, our solutions allow to design the computation units, which consume only 6 multipliers plus 6 two input adders for implementation of sq or qt basic operations and 9 binary multipliers plus 6 two-input adders and 4 four-input adders for implementation of sqt basic operation.Comment: 3 pages, 3 figure