In this paper, we present a novel benchmark for the evaluation of RGB-D SLAM systems. We recorded a large set of image sequences from a Microsoft Kinect with highly accurate and time-synchronized ground truth camera p...
详细信息
ISBN:
(纸本)9781467317375
In this paper, we present a novel benchmark for the evaluation of RGB-D SLAM systems. We recorded a large set of image sequences from a Microsoft Kinect with highly accurate and time-synchronized ground truth camera poses from a motion capture system. The sequences contain both the color and depth images in full sensor resolution (640 × 480) at video frame rate (30 Hz). The ground-truth trajectory was obtained from a motion-capture system with eight high-speed tracking cameras (100 Hz). The dataset consists of 39 sequences that were recorded in an office environment and an industrial hall. The dataset covers a large variety of scenes and camera motions. We provide sequences for debugging with slow motions as well as longer trajectories with and without loop closures. Most sequences were recorded from a handheld Kinect with unconstrained 6-DOF motions but we also provide sequences from a Kinect mounted on a Pioneer 3 robot that was manually navigated through a cluttered indoor environment. To stimulate the comparison of different approaches, we provide automatic evaluation tools both for the evaluation of drift of visual odometry systems and the global pose error of SLAM systems. The benchmark website [1] contains all data, detailed descriptions of the scenes, specifications of the data formats, sample code, and evaluation tools.
Visual servoing was introduced in robotics nearly 4 decades ago. However until now, there are still only a handful of known examples of application of this technique in addressing real word robotics problems such as d...
详细信息
ISBN:
(纸本)9781467364096
Visual servoing was introduced in robotics nearly 4 decades ago. However until now, there are still only a handful of known examples of application of this technique in addressing real word robotics problems such as disaster response, assistance for elderly or handicapped people, etc. As the world is moving towards the use of robotics to improve quality of life, it is time to assess the challenges involved in applying visual servoing to solve real world problems. This paper presents an overview of these challenges, by asking the question what are the missing components for practical visual servoing? and by providing practical possible solutions for these components. Illustration of these challenges and our current practical solutions are given using our 7-DoFs Barrett WAM Arm.
We propose an approach for dependence tree structure learning via copula. A nonparametric algorithm for copula estimation is presented. Then a Chow-Liu like method based on dependence measure via copula is proposed to...
详细信息
We propose an approach for dependence tree structure learning via copula. A nonparametric algorithm for copula estimation is presented. Then a Chow-Liu like method based on dependence measure via copula is proposed to estimate maximum spanning bivariate copula associated with bivariate dependence relations. The main advantage of the approach is that learning with empirical copula focuses on dependence relations among random variables, without the need to know the properties of individual variables as well as without the requirement to specify parametric family of entire underlying distribution for individual variables. Experiments on two real-application data sets show the effectiveness of the proposed method.
An important example of bilateral symmetry in nature is the approximate bilateral symmetry exhibited by humans. Detecting and measuring bilateral symmetry in medical images should provide benefits in a clinical enviro...
详细信息
An important example of bilateral symmetry in nature is the approximate bilateral symmetry exhibited by humans. Detecting and measuring bilateral symmetry in medical images should provide benefits in a clinical environment. This paper presents a method for detecting the dominant plane of bilateral symmetry in an image of arbitrary dimension and subsequently measuring the degree of bilateral symmetry in the image. By adapting the work of others, we provide a unique solution to the problem by using a simple representation of the data and a more sensitive measure of symmetry.
The second international conference on Human-Robot Interaction (HRI-2007) was held in Arlington, Virginia, March 9-11, 2007. The theme of the conference was "Robot as Team Member" and included posters and pa...
详细信息
Dense pixelwise prediction such as semantic segmentation is an up-to-date challenge for deep convolutional neural networks (CNNs). Many state-of-the-art approaches either tackle the loss of high-resolution information...
详细信息
Spectral imaging offers promising applications across diverse domains, including medicine and urban scene understanding, and is already established as a critical modality in remote sensing. However, variability in cha...
详细信息
This paper presents a system for hardware-in-the-loop (HiL) simulation of unmanned aerial vehicle (UAV) control algorithms implemented on a heterogeneous SoC FPGA computing platforms. The AirSim simulator running on a...
详细信息
Deep neural networks virtually dominate the domain of most modern vision systems, providing high performance at a cost of increased computational complexity. Since for those systems it is often required to operate bot...
详细信息
暂无评论