In this paper, we introduce a new method that first utilizes 3D Gaussian splatting in street-level localization problem. Robust localization with street-level real-world images such as street view is a major issue for...
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ISBN:
(数字)9798350377705
ISBN:
(纸本)9798350377712
In this paper, we introduce a new method that first utilizes 3D Gaussian splatting in street-level localization problem. Robust localization with street-level real-world images such as street view is a major issue for autonomous vehicle, augmented reality (AR) navigation, and outdoor mobile robots. The objective is to determine the position and orientation of a query image that matches a street view database composed of RGB images. However, given the limited information available in the street view images, accurately determining the location solely based on this data presents a significant challenge. To address this challenge, we propose a novel method called renderable street view map-based localization (RSM-Loc). This approach enhances the localization process by augmenting 2D street view images into a renderable 3D map using 3D Gaussian splatting, to resolve street-level localization problems. Upon receiving a query RGB image without geometry information, the proposed method renders 2D images from a pre-made renderable map and compares image pose similarities between the rendered images and the query image. Through iterations of this process, the proposed method eventually estimates the pose of the given query image. The experimental results demonstrate that RSM-Loc outperforms the baselines with neural-field-based localization. Additionally, we conduct deep analysis on the proposed method to show that our method can serve as a new concept for the street-level localization problem.
The application of robust control method is required for the design of the automatic control system of the unmanned underwater vehicle which is operated in underwater environment under great disturbance. Sliding Pertu...
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ISBN:
(纸本)9781509015740;9781509015733
The application of robust control method is required for the design of the automatic control system of the unmanned underwater vehicle which is operated in underwater environment under great disturbance. Sliding Perturbation Observer (SPO) was developed to overcome the chattering phenomenon which is a weak point of the sliding mode control. This control method can be applied to the control of underwater vehicle operating in strong environmental disturbances because it has the advantage of estimating and compensating for nonlinear components, modeling uncertainties and environmental disturbances of the system. In this study, the sliding mode control with sliding perturbation observer (SMCSPO) is simulated in an underwater vehicle to evaluate the disturbance compensation performance and compare it with a PID controller.
To test adaptation hypotheses about the evolution of animals, we need information about the behavior of phenotypically-variable individuals in a specific environment. To model behavior of ancient fish-like vertebrates...
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To test adaptation hypotheses about the evolution of animals, we need information about the behavior of phenotypically-variable individuals in a specific environment. To model behavior of ancient fish-like vertebrates, we previously combined evolutionary robotics and software simulations to create autonomous biomimetic swimmers in a simple aquatic environment competing and foraging for a single source of food. This system allowed us to test the hypothesis that selection for improved forage navigation drove the evolution of stiffer tails. In this paper, we extend our framework to evaluate more complex environments and hypotheses. Specifically, we test the hypothesis that predator-prey dynamics and the need for effective foraging strategies, operating simultaneously, were key selection pressures driving the evolution of morphological and sensory traits in early, fish-like vertebrates. Three evolvable traits were chosen because of their importance in propulsion and predator avoidance: (1) the number of vertebrae in the axial skeleton, (2) the trailing edge span of the caudal fin, and (3) the sensitivity of the sensory lateral line. To produce variable offspring, we used a genetic algorithm that rewarded parents with high fitness, allowing them to mate randomly and combine their mutated gametes. Offspring were then instantiated as autonomous embodied robots, the prey. These prey were chased by a non-evolving autonomous predator. Both kinds of robots were surface swimmers. The prey used a control architecture based on that of living fish: a two-layer subsumption architecture with predator escape over-riding steady swimming during foraging. The performance of six different prey robots in each generation was judged with a relative fitness function that rewarded a combination of high speed, rapid escape acceleration, escape responses, and the ability to stay away from the predator while at the same time staying close to the food source. This approach, which we call biomimet
Assessing advertisements, specifically on the basis of user preferences and ad quality, is crucial to the marketing industry. Although recent studies have attempted to use deep neural networks for this purpose, these ...
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High-figure of merit (FoM) plasmonic microwave resonator is researched as a non-invasive on-body sensor to monitor the human body's blood glucose variation rate in adults for biomedical applications, e.g., diabeti...
High-figure of merit (FoM) plasmonic microwave resonator is researched as a non-invasive on-body sensor to monitor the human body's blood glucose variation rate in adults for biomedical applications, e.g., diabetic patients. The resonance frequencies of the proposed sensor are measured to be around [Formula: see text] GHz and [Formula: see text] GHz over the frequency band of DC to 6GHz which are suitable for monitoring interstitial fluid (ISF) changing rate. The [Formula: see text] sensor is experimentally wrapped on the human body arm to monitor the blood glucose changing rate via amplitude and frequency variations of the sensor. Amplitude variation and frequency shift are measured to be around 7 dB and 30 MHz, respectively. The measured results demonstrate the high precision of the proposed approach to depict a valid diagram for glucose changing rate due to good impedance matching of the designed microwave sensor and human body. The sensor is shown to enhance the sensitivity by a factor of 5 compared to the conventional ones.
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