In recent years, how to achieve stable localization and construct high-quality dense maps in large-scale scenes has become a research highlight. In large-scale scenes, for the consideration of the mapping accuracy and...
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In recent years, how to achieve stable localization and construct high-quality dense maps in large-scale scenes has become a research highlight. In large-scale scenes, for the consideration of the mapping accuracy and efficiency, multi-agent systems rather than single-agent ones are usually employed. Currently, as far as we know, collaborative VI-SLAM (Visual Inertial Simultaneous Localization And Mapping) systems applicable to multi-agent systems are still sporadic, and systems those can achieve a good balance among the localization accuracy, the mapping density, and the transmission efficiency are temporarily lacking. In this paper, we propose a novel centralized collaborative VI-SLAM framework, namely TES-CVIDS (Transmission Efficient Sub-map based Collaborative Visual-Inertial Dense SLAM). In TES-CVIDS, instead of the original RGBD images, the compact sub-maps are transmitted, effectively reducing the transmission data redundancy. After that, the server completes key-frame processing, hierarchical pose-graph optimization, and global dense map construction in three separate threads. Besides, thanks to our depth search mechanism, the geometry information of all key-frames can be recovered on the server-end. Thus, sub-maps can be regenerated after the global pose-graph optimization to maintain the consistency between the localization and the mapping. Both the qualitative and the quantitative experimental results corroborate the superior performance of our TES-CVIDS. To make our results reproducible, the source code has been released at https://***/TES-CVIDS-MainPage/. IEEE
Despite the advancement of technology, the modern healthcare system still has many limitations. In order to address many unresolved issues, the world is moving toward digitalized systems, including the healthcare syst...
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Agriculture plays a major role in developing countries like India, however the food security still remains a vital issue. Most of the crops get wasted due to lack of storage facility, transportation, and plant disease...
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Extensive scientific investigation is necessary because every government wants to construct smart cities. This is why examining how researchers approach this area of study is critical. This study investigates global r...
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Wireless Ad Hoc Networks consist of devices that are wirelessly *** Ad Hoc Networks(MANETs),Internet of Things(IoT),and Vehicular Ad Hoc Networks(VANETs)are the main domains of wireless ad hoc *** is used in wireless ...
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Wireless Ad Hoc Networks consist of devices that are wirelessly *** Ad Hoc Networks(MANETs),Internet of Things(IoT),and Vehicular Ad Hoc Networks(VANETs)are the main domains of wireless ad hoc *** is used in wireless ad hoc *** is based on Transmission Control Protocol(TCP)/Internet Protocol(IP)network where clients and servers interact with each other with the help of IP in a pre-defined *** fetches data from a fixed *** redundancy,mobility,and location dependency are the main issues of the IP network *** these factors result in poor performance of wireless ad hoc *** main disadvantage of IP is that,it does not provide in-network ***,there is a need to move towards a new network that overcomes these *** Data Network(NDN)is a network that overcomes these *** is a project of Information-centric Network(ICN).NDN provides in-network caching which helps in fast response to user *** NDN in wireless ad hoc network provides many benefits such as caching,mobility,scalability,security,and *** considering the certainty,in this survey paper,we present a comprehensive survey on Caching Strategies in NDN-based Wireless *** cachingmechanism-based results are also *** the last,we also shed light on the challenges and future directions of this promising field to provide a clear understanding of what caching-related problems exist in NDN-based wireless ad hoc networks.
Since the list update problem was applied to data compression as an effective encoding technique, numerous deterministic algorithms have been studied and analyzed. A powerful strategy, Move-to-Front (MTF), involves mo...
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This research discusses the method of dataset collection automatization for microwave filter synthesis by integrating machine learning techniques, thus reducing development time. Utilizing the 3D electromagnetic analy...
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computer vision is defined in this study and one of the applications demonstrated is crop yield prediction in agricultural automation. Here we have emphasized on its use for computer vision for the agricultural domain...
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In recent decades,several optimization algorithms have been developed for selecting the most energy efficient clusters in order to save power during trans-mission to a shorter distance while restricting the Primary Us...
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In recent decades,several optimization algorithms have been developed for selecting the most energy efficient clusters in order to save power during trans-mission to a shorter distance while restricting the Primary Users(PUs)*** Cognitive Radio(CR)system is based on the Adaptive Swarm Distributed Intelligent based Clustering algorithm(ASDIC)that shows better spectrum sensing among group of multiusers in terms of sensing error,power sav-ing,and convergence *** this research paper,the proposed ASDIC algorithm develops better energy efficient distributed cluster based sensing with the optimal number of clusters on their *** this research,multiple random Sec-ondary Users(SUs),and PUs are considered for ***,the pro-posed ASDIC algorithm improved the convergence speed by combining the multi-users clustered communication compared to the existing optimization *** results showed that the proposed ASDIC algorithm reduced the node power of 9.646%compared to the existing ***,ASDIC algorithm reduced 24.23%of SUs average node power compared to the existing *** of detection is higher by reducing the Signal-to-Noise Ratio(SNR)to 2 dB *** proposed ASDIC delivers low false alarm rate compared to other existing optimization algorithms in the primary *** results showed that the proposed ASDIC algorithm effectively solves the multimodal optimization problems and maximizes the performance of net-work capacity.
As the number of possibilities for WSNs progressively grows, more people are trying to address the issues that are limiting their growth in the form of two main significant power consumption and delay. The principal s...
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