69 research outputs found
An efficient RANSAC hypothesis evaluation using sufficient statistics for RGB-D pose estimation
Achieving autonomous flight in GPS-denied environments begins with pose estimation in three-dimensional space, and this is much more challenging in an MAV in a swarm robotic system due to limited computational resources. In vision-based pose estimation, outlier detection is the most time-consuming step. This usually involves a RANSAC procedure using the reprojection-error method for hypothesis evaluation. Realignment-based hypothesis evaluation method is observed to be more accurate, but the considerably slower speed makes it unsuitable for robots with limited resources. We use sufficient statistics of least-squares minimisation to speed up this process. The additive nature of these sufficient statistics makes it possible to compute pose estimates in each evaluation by reusing previously computed statistics. Thus estimates need not be calculated from scratch each time. The proposed method is tested on standard RANSAC, Preemptive RANSAC and R-RANSAC using benchmark datasets. The results show that the use of sufficient statistics speeds up the outlier detection process with realignment hypothesis evaluation for all RANSAC variants, achieving an execution speed of up to 6.72 times
Effect of leadership support, work conditions and job security on job satisfaction in a medical college
A Flexible Tri-carboxylic Acid Derived Zinc(II) 3D Helical Metal-Organic-Framework and a Cadmium(II) Interwoven 2D Layered Framework Solid
Numerical Simulation on the Laser Induced Oxygen Spark under Different Ambient Conditions
A Fluorescent 1,3-Diaminonaphthalimide Conjugate of Calix[4]arene for Sensitive and Selective Detection of Trinitrophenol: Spectroscopy, Microscopy, and Computational Studies, and Its Applicability using Cellulose Strips
A pair of novel Cd(II) enantiomers based on lactate derivatives: Synthesis, crystal structures and properties
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