2,698 research outputs found
GASP : Geometric Association with Surface Patches
A fundamental challenge to sensory processing tasks in perception and
robotics is the problem of obtaining data associations across views. We present
a robust solution for ascertaining potentially dense surface patch (superpixel)
associations, requiring just range information. Our approach involves
decomposition of a view into regularized surface patches. We represent them as
sequences expressing geometry invariantly over their superpixel neighborhoods,
as uniquely consistent partial orderings. We match these representations
through an optimal sequence comparison metric based on the Damerau-Levenshtein
distance - enabling robust association with quadratic complexity (in contrast
to hitherto employed joint matching formulations which are NP-complete). The
approach is able to perform under wide baselines, heavy rotations, partial
overlaps, significant occlusions and sensor noise.
The technique does not require any priors -- motion or otherwise, and does
not make restrictive assumptions on scene structure and sensor movement. It
does not require appearance -- is hence more widely applicable than appearance
reliant methods, and invulnerable to related ambiguities such as textureless or
aliased content. We present promising qualitative and quantitative results
under diverse settings, along with comparatives with popular approaches based
on range as well as RGB-D data.Comment: International Conference on 3D Vision, 201
Scan matching by cross-correlation and differential evolution
Scan matching is an important task, solved in the context of many high-level problems including pose estimation, indoor localization, simultaneous localization and mapping and others. Methods that are accurate and adaptive and at the same time computationally efficient are required to enable location-based services in autonomous mobile devices. Such devices usually have a wide range of high-resolution sensors but only a limited processing power and constrained energy supply. This work introduces a novel high-level scan matching strategy that uses a combination of two advanced algorithms recently used in this field: cross-correlation and differential evolution. The cross-correlation between two laser range scans is used as an efficient measure of scan alignment and the differential evolution algorithm is used to search for the parameters of a transformation that aligns the scans. The proposed method was experimentally validated and showed good ability to match laser range scans taken shortly after each other and an excellent ability to match laser range scans taken with longer time intervals between them.Web of Science88art. no. 85
Scalable Estimation of Precision Maps in a MapReduce Framework
This paper presents a large-scale strip adjustment method for LiDAR mobile
mapping data, yielding highly precise maps. It uses several concepts to achieve
scalability. First, an efficient graph-based pre-segmentation is used, which
directly operates on LiDAR scan strip data, rather than on point clouds.
Second, observation equations are obtained from a dense matching, which is
formulated in terms of an estimation of a latent map. As a result of this
formulation, the number of observation equations is not quadratic, but rather
linear in the number of scan strips. Third, the dynamic Bayes network, which
results from all observation and condition equations, is partitioned into two
sub-networks. Consequently, the estimation matrices for all position and
orientation corrections are linear instead of quadratic in the number of
unknowns and can be solved very efficiently using an alternating least squares
approach. It is shown how this approach can be mapped to a standard key/value
MapReduce implementation, where each of the processing nodes operates
independently on small chunks of data, leading to essentially linear
scalability. Results are demonstrated for a dataset of one billion measured
LiDAR points and 278,000 unknowns, leading to maps with a precision of a few
millimeters.Comment: ACM SIGSPATIAL'16, October 31-November 03, 2016, Burlingame, CA, US
Dynamical Analysis of Nearby ClustErs. Automated astrometry from the ground: precision proper motions over wide field
The kinematic properties of the different classes of objects in a given
association hold important clues about its member's history, and offer a unique
opportunity to test the predictions of the various models of stellar formation
and evolution. DANCe (standing for Dynamical Analysis of Nearby ClustErs) is a
survey program aimed at deriving a comprehensive and homogeneous census of the
stellar and substellar content of a number of nearby (<1kpc) young (<500Myr)
associations. Whenever possible, members will be identified based on their
kinematics properties, ensuring little contamination from background and
foreground sources. Otherwise, the dynamics of previously confirmed members
will be studied using the proper motion measurements. We present here the
method used to derive precise proper motion measurements, using the Pleiades
cluster as a test bench. Combining deep wide field multi-epoch panchromatic
images obtained at various obervatories over up to 14 years, we derive accurate
proper motions for the sources present in the field of the survey. The datasets
cover ~80 square degrees, centered around the Seven Sisters. Using new tools,
we have computed a catalog of 6116907 unique sources, including proper motion
measurements for 3577478 of them. The catalogue covers the magnitude range
between i=12~24mag, achieving a proper motion accuracy <1mas/yr for sources as
faint as i=22.5mag. We estimate that our final accuracy reaches 0.3mas/yr in
the best cases, depending on magnitude, observing history, and the presence of
reference extragalactic sources for the anchoring onto the ICRS.Comment: Accepted for publication in A&
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