121,083 research outputs found
Robust Dense Mapping for Large-Scale Dynamic Environments
We present a stereo-based dense mapping algorithm for large-scale dynamic
urban environments. In contrast to other existing methods, we simultaneously
reconstruct the static background, the moving objects, and the potentially
moving but currently stationary objects separately, which is desirable for
high-level mobile robotic tasks such as path planning in crowded environments.
We use both instance-aware semantic segmentation and sparse scene flow to
classify objects as either background, moving, or potentially moving, thereby
ensuring that the system is able to model objects with the potential to
transition from static to dynamic, such as parked cars. Given camera poses
estimated from visual odometry, both the background and the (potentially)
moving objects are reconstructed separately by fusing the depth maps computed
from the stereo input. In addition to visual odometry, sparse scene flow is
also used to estimate the 3D motions of the detected moving objects, in order
to reconstruct them accurately. A map pruning technique is further developed to
improve reconstruction accuracy and reduce memory consumption, leading to
increased scalability. We evaluate our system thoroughly on the well-known
KITTI dataset. Our system is capable of running on a PC at approximately 2.5Hz,
with the primary bottleneck being the instance-aware semantic segmentation,
which is a limitation we hope to address in future work. The source code is
available from the project website (http://andreibarsan.github.io/dynslam).Comment: Presented at IEEE International Conference on Robotics and Automation
(ICRA), 201
Network Uncertainty Informed Semantic Feature Selection for Visual SLAM
In order to facilitate long-term localization using a visual simultaneous
localization and mapping (SLAM) algorithm, careful feature selection can help
ensure that reference points persist over long durations and the runtime and
storage complexity of the algorithm remain consistent. We present SIVO
(Semantically Informed Visual Odometry and Mapping), a novel
information-theoretic feature selection method for visual SLAM which
incorporates semantic segmentation and neural network uncertainty into the
feature selection pipeline. Our algorithm selects points which provide the
highest reduction in Shannon entropy between the entropy of the current state
and the joint entropy of the state, given the addition of the new feature with
the classification entropy of the feature from a Bayesian neural network. Each
selected feature significantly reduces the uncertainty of the vehicle state and
has been detected to be a static object (building, traffic sign, etc.)
repeatedly with a high confidence. This selection strategy generates a sparse
map which can facilitate long-term localization. The KITTI odometry dataset is
used to evaluate our method, and we also compare our results against ORB_SLAM2.
Overall, SIVO performs comparably to the baseline method while reducing the map
size by almost 70%.Comment: Published in: 2019 16th Conference on Computer and Robot Vision (CRV
Practical application of pseudospectral optimization to robot path planning
To obtain minimum time or minimum energy trajectories for robots it is necessary to employ planning methods which adequately consider the platformās dynamic properties. A variety of sampling, graph-based or local receding-horizon optimisation methods have previously been proposed. These typically use simpliļ¬ed kino-dynamic models to avoid the signiļ¬cant computational burden of solving this problem in a high dimensional state-space. In this paper we investigate solutions from the class of pseudospectral optimisation methods which have grown in favour amongst the optimal control community in recent years. These methods have high computational efficiency and rapid convergence properties. We present a practical application of such an approach to the robot path planning problem to provide a trajectory considering the robotās dynamic properties. We extend the existing literature by augmenting the path constraints with sensed obstacles rather than predeļ¬ned analytical functions to enable real world application
SkipNet: Learning Dynamic Routing in Convolutional Networks
While deeper convolutional networks are needed to achieve maximum accuracy in
visual perception tasks, for many inputs shallower networks are sufficient. We
exploit this observation by learning to skip convolutional layers on a
per-input basis. We introduce SkipNet, a modified residual network, that uses a
gating network to selectively skip convolutional blocks based on the
activations of the previous layer. We formulate the dynamic skipping problem in
the context of sequential decision making and propose a hybrid learning
algorithm that combines supervised learning and reinforcement learning to
address the challenges of non-differentiable skipping decisions. We show
SkipNet reduces computation by 30-90% while preserving the accuracy of the
original model on four benchmark datasets and outperforms the state-of-the-art
dynamic networks and static compression methods. We also qualitatively evaluate
the gating policy to reveal a relationship between image scale and saliency and
the number of layers skipped.Comment: ECCV 2018 Camera ready version. Code is available at
https://github.com/ucbdrive/skipne
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