26,733 research outputs found
Keyframe-based visual–inertial odometry using nonlinear optimization
Combining visual and inertial measurements has become popular in mobile robotics, since the two sensing modalities offer complementary characteristics that make them the ideal choice for accurate visual–inertial odometry or simultaneous localization and mapping (SLAM). While historically the problem has been addressed with filtering, advancements in visual estimation suggest that nonlinear optimization offers superior accuracy, while still tractable in complexity thanks to the sparsity of the underlying problem. Taking inspiration from these findings, we formulate a rigorously probabilistic cost function that combines reprojection errors of landmarks and inertial terms. The problem is kept tractable and thus ensuring real-time operation by limiting the optimization to a bounded window of keyframes through marginalization. Keyframes may be spaced in time by arbitrary intervals, while still related by linearized inertial terms. We present evaluation results on complementary datasets recorded with our custom-built stereo visual–inertial hardware that accurately synchronizes accelerometer and gyroscope measurements with imagery. A comparison of both a stereo and monocular version of our algorithm with and without online extrinsics estimation is shown with respect to ground truth. Furthermore, we compare the performance to an implementation of a state-of-the-art stochastic cloning sliding-window filter. This competitive reference implementation performs tightly coupled filtering-based visual–inertial odometry. While our approach declaredly demands more computation, we show its superior performance in terms of accuracy
Kpc-scale Properties of Emission-line Galaxies
We perform a detailed study of the resolved properties of emission-line
galaxies at kpc-scale to investigate how small-scale and global properties of
galaxies are related. 119 galaxies with high-resolution Keck/DEIMOS spectra are
selected to cover a wide range in morphologies over the redshift range
0.2<z<1.3. Using the HST/ACS and HST/WFC3 imaging data taken as a part of the
CANDELS project, for each galaxy we perform SED fitting per resolution element,
producing resolved rest-frame U-V color, stellar mass, star formation rate, age
and extinction maps. We develop a technique to identify blue and red "regions"
within individual galaxies, using their rest-frame color maps. As expected, for
any given galaxy, the red regions are found to have higher stellar mass surface
densities and older ages compared to the blue regions. Furthermore, we quantify
the spatial distribution of red and blue regions with respect to both redshift
and stellar mass, finding that the stronger concentration of red regions toward
the centers of galaxies is not a significant function of either redshift or
stellar mass. We find that the "main sequence" of star forming galaxies exists
among both red and blue regions inside galaxies, with the median of blue
regions forming a tighter relation with a slope of 1.1+/-0.1 and a scatter of
~0.2 dex compared to red regions with a slope of 1.3+/-0.1 and a scatter of
~0.6 dex. The blue regions show higher specific Star Formation Rates (sSFR)
than their red counterparts with the sSFR decreasing since z~1, driver
primarily by the stellar mass surface densities rather than the SFRs at a giver
resolution element.Comment: 17 pages, 17 figures, Submitted to the Ap
Sparsity Invariant CNNs
In this paper, we consider convolutional neural networks operating on sparse
inputs with an application to depth upsampling from sparse laser scan data.
First, we show that traditional convolutional networks perform poorly when
applied to sparse data even when the location of missing data is provided to
the network. To overcome this problem, we propose a simple yet effective sparse
convolution layer which explicitly considers the location of missing data
during the convolution operation. We demonstrate the benefits of the proposed
network architecture in synthetic and real experiments with respect to various
baseline approaches. Compared to dense baselines, the proposed sparse
convolution network generalizes well to novel datasets and is invariant to the
level of sparsity in the data. For our evaluation, we derive a novel dataset
from the KITTI benchmark, comprising 93k depth annotated RGB images. Our
dataset allows for training and evaluating depth upsampling and depth
prediction techniques in challenging real-world settings and will be made
available upon publication
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
Motion adaptation and attention: A critical review and meta-analysis
The motion aftereffect (MAE) provides a behavioural probe into the mechanisms underlying motion perception, and has been used to study the effects of attention on motion processing. Visual attention can enhance detection and discrimination of selected visual signals. However, the relationship between attention and motion processing remains contentious: not all studies find that attention increases MAEs. Our meta-analysis reveals several factors that explain superficially discrepant findings. Across studies (37 independent samples, 76 effects) motion adaptation was significantly and substantially enhanced by attention (Cohen's d = 1.12, p < .0001). The effect more than doubled when adapting to translating (vs. expanding or rotating) motion. Other factors affecting the attention-MAE relationship included stimulus size, eccentricity and speed. By considering these behavioural analyses alongside neurophysiological work, we conclude that feature-based (rather than spatial, or object-based) attention is the biggest driver of sensory adaptation. Comparisons between naïve and non-naïve observers, different response paradigms, and assessment of 'file-drawer effects' indicate that neither response bias nor publication bias are likely to have significantly inflated the estimated effect of attention
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