KEYFRAME-BASED VISUAL-INERTIAL SLAM USING NONLINEAR OPTIMIZATION

Abstract—The fusion of visual and inertial cues has become popular in robotics due to the complementary nature of the two sensing modalities. While most fusion strategies to date rely on filtering schemes, the visual robotics community has recently turned to non-linear optimization approaches for tasks such as visual Simultaneous Localization And Mapping (SLAM), following the discovery that this comes with significant advantages in quality of performance and computational complexity. Following this trend, we present a novel approach to tightly integrate visual measurements with readings from an Inertial Measurement Unit (IMU) in SLAM. An IMU error term is integrated with the landmark reprojection error in a fully probabilistic manner, resulting to a joint non-linear cost function to be optimized. Employing the powerful concept of ‘keyframes ’ we partially marginalize old states to maintain a bounded-sized optimization window, ensuring real-time operation. Comparing against both vision-only and loosely-coupled visual-inertial algorithms, our experiments confirm the benefits of tight fusion in terms of accuracy and robustness. I

Snow and ice melt flow features on Devon Island, Nunavut, Arctic Canada as possible analogs for recent slope flow features on Mars

Based on morphologic and contextual analogs from Devon Island, Arctic Canada, the recent martian slope flow features reported by Malin and Edgett are reinterpreted as being due not necessarily to groundwater seepage but possibly to snow or ice melt

Expressive rendering of mountainous terrain

technical reportPainters and cartographers have developed artistic landscape rendering techniques for centuries. Such renderings can visualize complex three-dimensional landscapes in a pleasing and understandable way. In this work we examine a particular type of artistic depiction, panorama maps, in terms of function and style, and we develop methods to automatically generate panorama map reminiscent renderings from GIS data. In particular, we develop image-based procedural surface textures for mountainous terrain. Our methods use the structural information present in the terrain and are developed with perceptual metrics and artistic considerations in mind