11,292 research outputs found
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
Eye-CU: Sleep Pose Classification for Healthcare using Multimodal Multiview Data
Manual analysis of body poses of bed-ridden patients requires staff to
continuously track and record patient poses. Two limitations in the
dissemination of pose-related therapies are scarce human resources and
unreliable automated systems. This work addresses these issues by introducing a
new method and a new system for robust automated classification of sleep poses
in an Intensive Care Unit (ICU) environment. The new method,
coupled-constrained Least-Squares (cc-LS), uses multimodal and multiview (MM)
data and finds the set of modality trust values that minimizes the difference
between expected and estimated labels. The new system, Eye-CU, is an affordable
multi-sensor modular system for unobtrusive data collection and analysis in
healthcare. Experimental results indicate that the performance of cc-LS matches
the performance of existing methods in ideal scenarios. This method outperforms
the latest techniques in challenging scenarios by 13% for those with poor
illumination and by 70% for those with both poor illumination and occlusions.
Results also show that a reduced Eye-CU configuration can classify poses
without pressure information with only a slight drop in its performance.Comment: Ten-page manuscript including references and ten figure
Multi-View Face Recognition From Single RGBD Models of the Faces
This work takes important steps towards solving the following problem of current interest: Assuming that each individual in a population can be modeled by a single frontal RGBD face image, is it possible to carry out face recognition for such a population using multiple 2D images captured from arbitrary viewpoints? Although the general problem as stated above is extremely challenging, it encompasses subproblems that can be addressed today. The subproblems addressed in this work relate to: (1) Generating a large set of viewpoint dependent face images from a single RGBD frontal image for each individual; (2) using hierarchical approaches based on view-partitioned subspaces to represent the training data; and (3) based on these hierarchical approaches, using a weighted voting algorithm to integrate the evidence collected from multiple images of the same face as recorded from different viewpoints. We evaluate our methods on three datasets: a dataset of 10 people that we created and two publicly available datasets which include a total of 48 people. In addition to providing important insights into the nature of this problem, our results show that we are able to successfully recognize faces with accuracies of 95% or higher, outperforming existing state-of-the-art face recognition approaches based on deep convolutional neural networks
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