6,630 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
SALSA: A Novel Dataset for Multimodal Group Behavior Analysis
Studying free-standing conversational groups (FCGs) in unstructured social
settings (e.g., cocktail party ) is gratifying due to the wealth of information
available at the group (mining social networks) and individual (recognizing
native behavioral and personality traits) levels. However, analyzing social
scenes involving FCGs is also highly challenging due to the difficulty in
extracting behavioral cues such as target locations, their speaking activity
and head/body pose due to crowdedness and presence of extreme occlusions. To
this end, we propose SALSA, a novel dataset facilitating multimodal and
Synergetic sociAL Scene Analysis, and make two main contributions to research
on automated social interaction analysis: (1) SALSA records social interactions
among 18 participants in a natural, indoor environment for over 60 minutes,
under the poster presentation and cocktail party contexts presenting
difficulties in the form of low-resolution images, lighting variations,
numerous occlusions, reverberations and interfering sound sources; (2) To
alleviate these problems we facilitate multimodal analysis by recording the
social interplay using four static surveillance cameras and sociometric badges
worn by each participant, comprising the microphone, accelerometer, bluetooth
and infrared sensors. In addition to raw data, we also provide annotations
concerning individuals' personality as well as their position, head, body
orientation and F-formation information over the entire event duration. Through
extensive experiments with state-of-the-art approaches, we show (a) the
limitations of current methods and (b) how the recorded multiple cues
synergetically aid automatic analysis of social interactions. SALSA is
available at http://tev.fbk.eu/salsa.Comment: 14 pages, 11 figure
Evaluating indoor positioning systems in a shopping mall : the lessons learned from the IPIN 2018 competition
The Indoor Positioning and Indoor Navigation (IPIN) conference holds an annual competition in which indoor localization systems from different research groups worldwide are evaluated empirically. The objective of this competition is to establish a systematic evaluation methodology with rigorous metrics both for real-time (on-site) and post-processing (off-site) situations, in a realistic environment unfamiliar to the prototype developers. For the IPIN 2018 conference, this competition was held on September 22nd, 2018, in Atlantis, a large shopping mall in Nantes (France). Four competition tracks (two on-site and two off-site) were designed. They consisted of several 1 km routes traversing several floors of the mall. Along these paths, 180 points were topographically surveyed with a 10 cm accuracy, to serve as ground truth landmarks, combining theodolite measurements, differential global navigation satellite system (GNSS) and 3D scanner systems. 34 teams effectively competed. The accuracy score corresponds to the third quartile (75th percentile) of an error metric that combines the horizontal positioning error and the floor detection. The best results for the on-site tracks showed an accuracy score of 11.70 m (Track 1) and 5.50 m (Track 2), while the best results for the off-site tracks showed an accuracy score of 0.90 m (Track 3) and 1.30 m (Track 4). These results showed that it is possible to obtain high accuracy indoor positioning solutions in large, realistic environments using wearable light-weight sensors without deploying any beacon. This paper describes the organization work of the tracks, analyzes the methodology used to quantify the results, reviews the lessons learned from the competition and discusses its future
Occupancy Estimation Using Low-Cost Wi-Fi Sniffers
Real-time measurements on the occupancy status of indoor and outdoor spaces
can be exploited in many scenarios (HVAC and lighting system control, building
energy optimization, allocation and reservation of spaces, etc.). Traditional
systems for occupancy estimation rely on environmental sensors (CO2,
temperature, humidity) or video cameras. In this paper, we depart from such
traditional approaches and propose a novel occupancy estimation system which is
based on the capture of Wi-Fi management packets from users' devices. The
system, implemented on a low-cost ESP8266 microcontroller, leverages a
supervised learning model to adapt to different spaces and transmits occupancy
information through the MQTT protocol to a web-based dashboard. Experimental
results demonstrate the validity of the proposed solution in four different
indoor university spaces.Comment: Submitted to Balkancom 201
Propagation modelling and measurements in a populated indoor environment at 5.2 GHz
There are a number of significant radiowave propagation phenomena present in the populated indoor environment, including multipath fading and human body effects. The latter can be divided into shadowing and scattering caused by pedestrian movement, and antenna-body interaction with bodyworn or hand portable terminals [1]. Human occupants within indoor environments are not always stationary and their movement will lead to temporal channel variations that can strongly affect the quality of indoor wireless communication systems. Hence, populated environments remain a major challenge for wireless local area networks (WLAN) and other indoor communication systems. Therefore, it is important to develop an understanding of the potential and limitations of indoor radiowave propagation at key frequencies of interest, such as the 5.2 GHz band employed by commercial wireless LAN standards such as IEEE 802.11a and HiperLAN 2.
Although several indoor wireless models have been proposed in the literature, these temporal variations have not yet been thoroughly investigated. Therefore, we have made an important contribution to the area by conducting a systematic study of the problem, including a propagation measurement campaign and statistical channel characterization of human body effects on line-of-sight indoor propagation at 5.2 GHz.
Measurements were performed in the everyday environment of a 7.2 m wide University hallway to determine the statistical characteristics of the 5.2 GHz channel for a fixed, transverse line-of-sight (LOS) link perturbed by pedestrian movement. Data were acquired at hours of relatively high pedestrian activity, between 12.00 and 14.00. The location was chosen as a typical indoor wireless system environment that had sufficient channel variability to permit a valid statistical analysis.
The paper compares the first and second order statistics of the empirical signals with the Gaussian-derived distributions commonly used in wireless communications. The analysis shows that, as the number of pedestrians within the measurement location increases, the Ricean K-factor that best fits the Cumulative Distribution Function (CDF) of the empirical data tends to decrease proportionally, ranging from K=7 with 1 pedestrian to K=0 with 4 pedestrians. These results are consistent with previous results obtained for controlled measurement scenarios using a fixed link at 5.2 GHz in [2], where the K factor reduced as the number of pedestrians within a controlled measurement area increased. Level crossing rate results were Rice distributed, considering a maximum Doppler frequency of 8.67 Hz. While average fade duration results were significantly higher than theoretically computed Rice and Rayleigh, due to the fades caused by pedestrians.
A novel statistical model that accurately describes the 5.2 GHz channel in the considered indoor environment is proposed. For the first time, the received envelope CDF is explicitly described in terms of a quantitative measurement of pedestrian traffic within the indoor environment. The model provides an insight into the prediction of human body shadowing effects for indoor channels at 5.2 GHz
SLAM for Visually Impaired People: A Survey
In recent decades, several assistive technologies for visually impaired and
blind (VIB) people have been developed to improve their ability to navigate
independently and safely. At the same time, simultaneous localization and
mapping (SLAM) techniques have become sufficiently robust and efficient to be
adopted in the development of assistive technologies. In this paper, we first
report the results of an anonymous survey conducted with VIB people to
understand their experience and needs; we focus on digital assistive
technologies that help them with indoor and outdoor navigation. Then, we
present a literature review of assistive technologies based on SLAM. We discuss
proposed approaches and indicate their pros and cons. We conclude by presenting
future opportunities and challenges in this domain.Comment: 26 pages, 5 tables, 3 figure
Human-centric light sensing and estimation from RGBD images: the invisible light switch
Lighting design in indoor environments is of primary importance for at least two reasons: 1) people should perceive an adequate light; 2) an effective lighting design means consistent energy saving. We present the Invisible Light Switch (ILS) to address both aspects. ILS dynamically adjusts the room illumination level to save energy while maintaining constant the light level perception of the users. So the energy saving is invisible to them. Our proposed ILS leverages a radiosity model to estimate the light level which is perceived by a person within an indoor environment, taking into account the person position and her/his viewing frustum (head pose). ILS may therefore dim those luminaires, which are not seen by the user, resulting in an effective energy saving, especially in large open offices (where light may otherwise be ON everywhere for a single person). To quantify the system performance, we have collected a new dataset where people wear luxmeter devices while working in office rooms. The luxmeters measure the amount of light (in Lux) reaching the people gaze, which we consider a proxy to their illumination level perception. Our initial results are promising: in a room with 8 LED luminaires, the energy consumption in a day may be reduced from 18585 to 6206 watts with ILS (currently needing 1560 watts for operations). While doing so, the drop in perceived lighting decreases by just 200 lux, a value considered negligible when the original illumination level is above 1200 lux, as is normally the case in offices
Human-centric light sensing and estimation from RGBD images: The invisible light switch
Lighting design in indoor environments is of primary importance for at least
two reasons: 1) people should perceive an adequate light; 2) an effective
lighting design means consistent energy saving. We present the Invisible Light
Switch (ILS) to address both aspects. ILS dynamically adjusts the room
illumination level to save energy while maintaining constant the light level
perception of the users. So the energy saving is invisible to them. Our
proposed ILS leverages a radiosity model to estimate the light level which is
perceived by a person within an indoor environment, taking into account the
person position and her/his viewing frustum (head pose). ILS may therefore dim
those luminaires, which are not seen by the user, resulting in an effective
energy saving, especially in large open offices (where light may otherwise be
ON everywhere for a single person). To quantify the system performance, we have
collected a new dataset where people wear luxmeter devices while working in
office rooms. The luxmeters measure the amount of light (in Lux) reaching the
people gaze, which we consider a proxy to their illumination level perception.
Our initial results are promising: in a room with 8 LED luminaires, the energy
consumption in a day may be reduced from 18585 to 6206 watts with ILS
(currently needing 1560 watts for operations). While doing so, the drop in
perceived lighting decreases by just 200 lux, a value considered negligible
when the original illumination level is above 1200 lux, as is normally the case
in offices
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