Keyframe-based monocular SLAM: design, survey, and future directions

Extensive research in the field of monocular SLAM for the past fifteen years has yielded workable systems that found their way into various applications in robotics and augmented reality. Although filter-based monocular SLAM systems were common at some time, the more efficient keyframe-based solutions are becoming the de facto methodology for building a monocular SLAM system. The objective of this paper is threefold: first, the paper serves as a guideline for people seeking to design their own monocular SLAM according to specific environmental constraints. Second, it presents a survey that covers the various keyframe-based monocular SLAM systems in the literature, detailing the components of their implementation, and critically assessing the specific strategies made in each proposed solution. Third, the paper provides insight into the direction of future research in this field, to address the major limitations still facing monocular SLAM; namely, in the issues of illumination changes, initialization, highly dynamic motion, poorly textured scenes, repetitive textures, map maintenance, and failure recovery

DCTM: Discrete-Continuous Transformation Matching for Semantic Flow

Techniques for dense semantic correspondence have provided limited ability to deal with the geometric variations that commonly exist between semantically similar images. While variations due to scale and rotation have been examined, there lack practical solutions for more complex deformations such as affine transformations because of the tremendous size of the associated solution space. To address this problem, we present a discrete-continuous transformation matching (DCTM) framework where dense affine transformation fields are inferred through a discrete label optimization in which the labels are iteratively updated via continuous regularization. In this way, our approach draws solutions from the continuous space of affine transformations in a manner that can be computed efficiently through constant-time edge-aware filtering and a proposed affine-varying CNN-based descriptor. Experimental results show that this model outperforms the state-of-the-art methods for dense semantic correspondence on various benchmarks

Nonlocal Myriad Filters for Cauchy Noise Removal

The contribution of this paper is two-fold. First, we introduce a generalized myriad filter, which is a method to compute the joint maximum likelihood estimator of the location and the scale parameter of the Cauchy distribution. Estimating only the location parameter is known as myriad filter. We propose an efficient algorithm to compute the generalized myriad filter and prove its convergence. Special cases of this algorithm result in the classical myriad filtering, respective an algorithm for estimating only the scale parameter. Based on an asymptotic analysis, we develop a second, even faster generalized myriad filtering technique. Second, we use our new approaches within a nonlocal, fully unsupervised method to denoise images corrupted by Cauchy noise. Special attention is paid to the determination of similar patches in noisy images. Numerical examples demonstrate the excellent performance of our algorithms which have moreover the advantage to be robust with respect to the parameter choice

P?=NP as minimization of degree 4 polynomial, integration or Grassmann number problem, and new graph isomorphism problem approaches

While the P vs NP problem is mainly approached form the point of view of discrete mathematics, this paper proposes reformulations into the field of abstract algebra, geometry, fourier analysis and of continuous global optimization - which advanced tools might bring new perspectives and approaches for this question. The first one is equivalence of satisfaction of 3-SAT problem with the question of reaching zero of a nonnegative degree 4 multivariate polynomial (sum of squares), what could be tested from the perspective of algebra by using discriminant. It could be also approached as a continuous global optimization problem inside $[0,1]^n$, for example in physical realizations like adiabatic quantum computers. However, the number of local minima usually grows exponentially. Reducing to degree 2 polynomial plus constraints of being in $\{0,1\}^n$, we get geometric formulations as the question if plane or sphere intersects with $\{0,1\}^n$. There will be also presented some non-standard perspectives for the Subset-Sum, like through convergence of a series, or zeroing of $\int_0^{2\pi} \prod_i \cos(\varphi k_i) d\varphi$ fourier-type integral for some natural $k_i$. The last discussed approach is using anti-commuting Grassmann numbers $\theta_i$, making $(A \cdot \textrm{diag}(\theta_i))^n$ nonzero only if $A$ has a Hamilton cycle. Hence, the P$\ne$NP assumption implies exponential growth of matrix representation of Grassmann numbers. There will be also discussed a looking promising algebraic/geometric approach to the graph isomorphism problem -- tested to successfully distinguish strongly regular graphs with up to 29 vertices.Comment: 19 pages, 8 figure

Automatic Image Segmentation by Dynamic Region Merging

This paper addresses the automatic image segmentation problem in a region merging style. With an initially over-segmented image, in which the many regions (or super-pixels) with homogeneous color are detected, image segmentation is performed by iteratively merging the regions according to a statistical test. There are two essential issues in a region merging algorithm: order of merging and the stopping criterion. In the proposed algorithm, these two issues are solved by a novel predicate, which is defined by the sequential probability ratio test (SPRT) and the maximum likelihood criterion. Starting from an over-segmented image, neighboring regions are progressively merged if there is an evidence for merging according to this predicate. We show that the merging order follows the principle of dynamic programming. This formulates image segmentation as an inference problem, where the final segmentation is established based on the observed image. We also prove that the produced segmentation satisfies certain global properties. In addition, a faster algorithm is developed to accelerate the region merging process, which maintains a nearest neighbor graph in each iteration. Experiments on real natural images are conducted to demonstrate the performance of the proposed dynamic region merging algorithm.Comment: 28 pages. This paper is under review in IEEE TI