31,903 research outputs found
Robust Estimation Framework with Semantic Measurements
Conventional simultaneous localization and mapping (SLAM) algorithms rely on geometric measurements and require loop-closure detections to correct for drift accumulated over a vehicle trajectory. Semantic measurements can add measurement redundancy and provide an alternative form of loop closure. We propose two different estimation algorithms that incorporate semantic measurements provided by vision-based object classifiers. An a priori map of regions where the objects can be detected is assumed. The first estimation framework is posed as a maximum-likelihood problem, where the likelihood function for semantic measurements is derived from the confusion matrices of the object classifiers. The second estimation framework is comprised of two parts: 1) a continuous-state estimation formulation that includes semantic measurements as a form of state constraints and 2) a discrete-state estimation formulation used to compute the certainty of object detection measurements using a Hidden Markov Model (HMM). The advantages of incorporating semantic measurements in these frameworks are demonstrated in numerical simulations. In particular, the proposed estimation algorithms improve upon the robustness and accuracy of conventional SLAM algorithms
Robust Estimation Framework with Semantic Measurements
Conventional simultaneous localization and mapping (SLAM) algorithms rely on geometric measurements and require loop-closure detections to correct for drift accumulated over a vehicle trajectory. Semantic measurements can add measurement redundancy and provide an alternative form of loop closure. We propose two different estimation algorithms that incorporate semantic measurements provided by vision-based object classifiers. An a priori map of regions where the objects can be detected is assumed. The first estimation framework is posed as a maximum-likelihood problem, where the likelihood function for semantic measurements is derived from the confusion matrices of the object classifiers. The second estimation framework is comprised of two parts: 1) a continuous-state estimation formulation that includes semantic measurements as a form of state constraints and 2) a discrete-state estimation formulation used to compute the certainty of object detection measurements using a Hidden Markov Model (HMM). The advantages of incorporating semantic measurements in these frameworks are demonstrated in numerical simulations. In particular, the proposed estimation algorithms improve upon the robustness and accuracy of conventional SLAM algorithms
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
Efficient Constellation-Based Map-Merging for Semantic SLAM
Data association in SLAM is fundamentally challenging, and handling ambiguity
well is crucial to achieve robust operation in real-world environments. When
ambiguous measurements arise, conservatism often mandates that the measurement
is discarded or a new landmark is initialized rather than risking an incorrect
association. To address the inevitable `duplicate' landmarks that arise, we
present an efficient map-merging framework to detect duplicate constellations
of landmarks, providing a high-confidence loop-closure mechanism well-suited
for object-level SLAM. This approach uses an incrementally-computable
approximation of landmark uncertainty that only depends on local information in
the SLAM graph, avoiding expensive recovery of the full system covariance
matrix. This enables a search based on geometric consistency (GC) (rather than
full joint compatibility (JC)) that inexpensively reduces the search space to a
handful of `best' hypotheses. Furthermore, we reformulate the commonly-used
interpretation tree to allow for more efficient integration of clique-based
pairwise compatibility, accelerating the branch-and-bound max-cardinality
search. Our method is demonstrated to match the performance of full JC methods
at significantly-reduced computational cost, facilitating robust object-based
loop-closure over large SLAM problems.Comment: Accepted to IEEE International Conference on Robotics and Automation
(ICRA) 201
Multi-Estimator Full Left Ventricle Quantification through Ensemble Learning
Cardiovascular disease accounts for 1 in every 4 deaths in United States.
Accurate estimation of structural and functional cardiac parameters is crucial
for both diagnosis and disease management. In this work, we develop an ensemble
learning framework for more accurate and robust left ventricle (LV)
quantification. The framework combines two 1st-level modules: direct estimation
module and a segmentation module. The direct estimation module utilizes
Convolutional Neural Network (CNN) to achieve end-to-end quantification. The
CNN is trained by taking 2D cardiac images as input and cardiac parameters as
output. The segmentation module utilizes a U-Net architecture for obtaining
pixel-wise prediction of the epicardium and endocardium of LV from the
background. The binary U-Net output is then analyzed by a separate CNN for
estimating the cardiac parameters. We then employ linear regression between the
1st-level predictor and ground truth to learn a 2nd-level predictor that
ensembles the results from 1st-level modules for the final estimation.
Preliminary results by testing the proposed framework on the LVQuan18 dataset
show superior performance of the ensemble learning model over the two base
modules.Comment: Jiasha Liu, Xiang Li and Hui Ren contribute equally to this wor
EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association
Object-level data association and pose estimation play a fundamental role in
semantic SLAM, which remain unsolved due to the lack of robust and accurate
algorithms. In this work, we propose an ensemble data associate strategy for
integrating the parametric and nonparametric statistic tests. By exploiting the
nature of different statistics, our method can effectively aggregate the
information of different measurements, and thus significantly improve the
robustness and accuracy of data association. We then present an accurate object
pose estimation framework, in which an outliers-robust centroid and scale
estimation algorithm and an object pose initialization algorithm are developed
to help improve the optimality of pose estimation results. Furthermore, we
build a SLAM system that can generate semi-dense or lightweight object-oriented
maps with a monocular camera. Extensive experiments are conducted on three
publicly available datasets and a real scenario. The results show that our
approach significantly outperforms state-of-the-art techniques in accuracy and
robustness. The source code is available on:
https://github.com/yanmin-wu/EAO-SLAM.Comment: Accepted to IROS 2020. Project Page:
https://yanmin-wu.github.io/project/eaoslam/; Code:
https://github.com/yanmin-wu/EAO-SLA
Dynamic Body VSLAM with Semantic Constraints
Image based reconstruction of urban environments is a challenging problem
that deals with optimization of large number of variables, and has several
sources of errors like the presence of dynamic objects. Since most large scale
approaches make the assumption of observing static scenes, dynamic objects are
relegated to the noise modeling section of such systems. This is an approach of
convenience since the RANSAC based framework used to compute most multiview
geometric quantities for static scenes naturally confine dynamic objects to the
class of outlier measurements. However, reconstructing dynamic objects along
with the static environment helps us get a complete picture of an urban
environment. Such understanding can then be used for important robotic tasks
like path planning for autonomous navigation, obstacle tracking and avoidance,
and other areas. In this paper, we propose a system for robust SLAM that works
in both static and dynamic environments. To overcome the challenge of dynamic
objects in the scene, we propose a new model to incorporate semantic
constraints into the reconstruction algorithm. While some of these constraints
are based on multi-layered dense CRFs trained over appearance as well as motion
cues, other proposed constraints can be expressed as additional terms in the
bundle adjustment optimization process that does iterative refinement of 3D
structure and camera / object motion trajectories. We show results on the
challenging KITTI urban dataset for accuracy of motion segmentation and
reconstruction of the trajectory and shape of moving objects relative to ground
truth. We are able to show average relative error reduction by a significant
amount for moving object trajectory reconstruction relative to state-of-the-art
methods like VISO 2, as well as standard bundle adjustment algorithms
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