Probabilistic RGB-D Odometry based on Points, Lines and Planes Under Depth Uncertainty

This work proposes a robust visual odometry method for structured environments that combines point features with line and plane segments, extracted through an RGB-D camera. Noisy depth maps are processed by a probabilistic depth fusion framework based on Mixtures of Gaussians to denoise and derive the depth uncertainty, which is then propagated throughout the visual odometry pipeline. Probabilistic 3D plane and line fitting solutions are used to model the uncertainties of the feature parameters and pose is estimated by combining the three types of primitives based on their uncertainties. Performance evaluation on RGB-D sequences collected in this work and two public RGB-D datasets: TUM and ICL-NUIM show the benefit of using the proposed depth fusion framework and combining the three feature-types, particularly in scenes with low-textured surfaces, dynamic objects and missing depth measurements.Comment: Major update: more results, depth filter released as opensource, 34 page

Simultaneous multislice acquisition with multi-contrast segmented EPI for separation of signal contributions in dynamic contrast-enhanced imaging

We present a method to efficiently separate signal in magnetic resonance imaging (MRI) into a base signal S0, representing the mainly T1-weighted component without T2*-relaxation, and its T2*-weighted counterpart by the rapid acquisition of multiple contrasts for advanced pharmacokinetic modelling. This is achieved by incorporating simultaneous multislice (SMS) imaging into a multi-contrast, segmented echo planar imaging (EPI) sequence to allow extended spatial coverage, which covers larger body regions without time penalty. Simultaneous acquisition of four slices was combined with segmented EPI for fast imaging with three gradient echo times in a preclinical perfusion study. Six female domestic pigs, German-landrace or hybrid-form, were scanned for 11 minutes respectively during administration of gadolinium-based contrast agent. Influences of reconstruction methods and training data were investigated. The separation into T1- and T2*-dependent signal contributions was achieved by fitting a standard analytical model to the acquired multi-echo data. The application of SMS yielded sufficient temporal resolution for the detection of the arterial input function in major vessels, while anatomical coverage allowed perfusion analysis of muscle tissue. The separation of the MR signal into T1- and T2*-dependent components allowed the correction of susceptibility related changes. We demonstrate a novel sequence for dynamic contrast-enhanced MRI that meets the requirements of temporal resolution (Δt < 1.5 s) and image quality. The incorporation of SMS into multi-contrast, segmented EPI can overcome existing limitations of dynamic contrast enhancement and dynamic susceptibility contrast methods, when applied separately. The new approach allows both techniques to be combined in a single acquisition with a large spatial coverage

Simultaneous completion and spatiotemporal grouping of corrupted motion tracks

Given an unordered list of 2D or 3D point trajectories corrupted by noise and partial observations, in this paper we introduce a framework to simultaneously recover the incomplete motion tracks and group the points into spatially and temporally coherent clusters. This advances existing work, which only addresses partial problems and without considering a unified and unsupervised solution. We cast this problem as a matrix completion one, in which point tracks are arranged into a matrix with the missing entries set as zeros. In order to perform the double clustering, the measurement matrix is assumed to be drawn from a dual union of spatiotemporal subspaces. The bases and the dimensionality for these subspaces, the affinity matrices used to encode the temporal and spatial clusters to which each point belongs, and the non-visible tracks, are then jointly estimated via augmented Lagrange multipliers in polynomial time. A thorough evaluation on incomplete motion tracks for multiple-object typologies shows that the accuracy of the matrix we recover compares favorably to that obtained with existing low-rank matrix completion methods, specially under noisy measurements. In addition, besides recovering the incomplete tracks, the point trajectories are directly grouped into different object instances, and a number of semantically meaningful temporal primitive actions are automatically discoveredThis work has been partially supported by the Spanish State Research Agency through the María de Maeztu Seal of Excellence to IRI MDM-2016-0656, by the Spanish Ministry of Science and Innovation under project HuMoUR TIN2017-90086-R and the Salvador de Madariaga grant PRX19/00626, and by the ERA-net CHIST-ERA project IPALM PCI2019-103386.Peer ReviewedPostprint (published version

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