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Feature-based visual simultaneous localization and mapping: a survey

Rana Azzam, Tarek Taha, Shoudong Huang, Yahya Zweiri
2020 SN Applied Sciences  
Visual simultaneous localization and mapping (SLAM) has attracted high attention over the past few years.  ...  In this paper, a comprehensive survey of the state-of-the-art feature-based visual SLAM approaches is presented.  ...  In our review, we classify the state-of-the-art featurebased visual SLAM solutions based on the features used to perform localization and mapping.  ... 
doi:10.1007/s42452-020-2001-3 fatcat:g7445is2cbdmdmllewkyp7giby

Semantics Aware Dynamic SLAM Based on 3D MODT

Muhammad Sualeh, Gon-Woo Kim
2021 Sensors  
The dynamic regions of the scene are handled by making use of Visual-LiDAR based MODT (Multiple Object Detection and Tracking).  ...  by exploiting the advances in computer vision and data-driven approaches.  ...  In this work, LiDAR data are only used for spatial object tracking and exploitation of a classified point cloud for dynamic mask generation.  ... 
doi:10.3390/s21196355 pmid:34640672 fatcat:eee42kzkmveyhdk2gzw2uir4za

Coarse Semantic-based Motion Removal for Robust Mapping in Dynamic Environments

Shuo Wang, Xudong Lv, Junbao Li, Dong Ye
2020 IEEE Access  
Then important processing called semantic data association is presented for motion removal in frame tracking thread and local mapping thread.  ...  SLAM in dynamic environments is still a severe challenge for most feature-based SLAM systems. Moving objects will lead to terrible errors in the calculation of frame tracking and local mapping.  ...  ACKNOWLEDGMENT (Shuo Wang and Xudong Lv contributed equally to this work.)  ... 
doi:10.1109/access.2020.2989317 fatcat:uyebw54jr5bctn3ztcu4lmqcda

A survey of image semantics-based visual simultaneous localization and mapping: Application-oriented solutions to autonomous navigation of mobile robots

Linlin Xia, Jiashuo Cui, Ran Shen, Xun Xu, Yiping Gao, Xinying Li
2020 International Journal of Advanced Robotic Systems  
This article presents a detailed review of recent advances in semantic simultaneous localization and mapping, which mainly covers the treatments in terms of perception, robustness, and accuracy.  ...  Specifically, the concept of "semantic extractor" and the framework of "modern visual simultaneous localization and mapping" are initially presented.  ...  Bowman et al. 49 found a defect of such semantics associations in application, that is, invalid data association of objects' semantics greatly affects the results of localization and mapping.  ... 
doi:10.1177/1729881420919185 fatcat:zatdrexf2zdydihx7smi4gmlvi

A Survey on Data Association Methods in VSLAM

S.Sri Vidhya, C.B Akki, Prakash S
2015 International Journal of Engineering Trends and Technoloy  
The objective of this article is to provide new researchers in the field of visual SLAM a brief and comprehensible review of data association categories in VSLAM.  ...  Visual SLAM (simultaneous localization and mapping) refers to the problem of using images, as the only source of external information, in order to establish the position of a robot, a vehicle, or a moving  ...  Acknowledgement This work is part of Aeronautics Research and Development Board, Government of India. Authors wholeheartedly express their gratitude for having shared the work.  ... 
doi:10.14445/22315381/ijett-v30p216 fatcat:2nu2mzpebrbplhexue3dnl66fy

An Online Semantic Mapping System for Extending and Enhancing Visual SLAM [article]

Thorsten Hempel, Ayoub Al-Hamadi
2022 arXiv   pre-print
We propose tracklets of locally associated object observations to handle ambiguous and false predictions and an uncertainty-based greedy association scheme for an accelerated processing time.  ...  We present a real-time semantic mapping approach for mobile vision systems with a 2D to 3D object detection pipeline and rapid data association for generated landmarks.  ...  Acknowledgement This work was funded by the German Federal Ministry of Education and Research (BMBF) under Grant Nos. 03ZZ0448L (RoboAssist) and 03ZZ04X02B (RoboLab) within the Zwanzig20 Alliance 3Dsensation  ... 
arXiv:2203.03944v1 fatcat:tku33uioanhqjhqgqrklgdwhae

A real-time semantic visual SLAM approach with points and objects

Peiyu Guan, Zhiqiang Cao, Erkui Chen, Shuang Liang, Min Tan, Junzhi Yu
2020 International Journal of Advanced Robotic Systems  
Visual simultaneously localization and mapping (SLAM) is important for self-localization and environment perception of service robots, where semantic SLAM can provide a more accurate localization result  ...  In this article, we propose a real-time PO-SLAM approach with the combination of both point and object measurements.  ...  Funding The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: ORCID iD Peiyu Guan 0003-1909-1953  ... 
doi:10.1177/1729881420905443 fatcat:tr3umzm67zdkpowtnwxkoihamy

Map Representation for Robots

Chuho Yi
2012 The Smart Computing Review  
In this paper, we first look at the state of existing research for map representations used in mapbuilding and localization.  ...  Therefore, many researchers have proposed various different methods over a long period of time, and continue to do so today.  ...  They use visual pattern recognition to recognize objects and estimate rough metric data [23] . Figure 10 (b) provides a graphical representation of this process.  ... 
doi:10.6029/smartcr.2012.01.002 fatcat:qqwhg5jjafftnpz3ogcriiguh4

A Wearable Navigation Device for Visually Impaired People Based on the Real-Time Semantic Visual SLAM System

Zhuo Chen, Xiaoming Liu, Masaru Kojima, Qiang Huang, Tatsuo Arai
2021 Sensors  
In this paper, we proposed a wearable navigation device for the visually impaired by integrating the semantic visual SLAM (Simultaneous Localization And Mapping) and the newly launched powerful mobile  ...  It ensures that the computing platform understands the surrounding environment in real-time and can feed it back to the visually impaired in the form of voice broadcast.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s21041536 pmid:33672146 fatcat:kgxtcvbnwbharnjwbxer43ll4a

An Overview on Visual SLAM: From Tradition to Semantic

Weifeng Chen, Guangtao Shang, Aihong Ji, Chengjun Zhou, Xiyang Wang, Chonghui Xu, Zhenxiong Li, Kai Hu
2022 Remote Sensing  
Visual SLAM (VSLAM) has been developing rapidly due to its advantages of low-cost sensors, the easy fusion of other sensors, and richer environmental information.  ...  Deep learning has promoted the development of computer vision, and the combination of deep learning and SLAM has attracted more and more attention.  ...  This scheme solves the problem of visual SLAM localization in the environment of outdoor lighting changes.  ... 
doi:10.3390/rs14133010 fatcat:g45tav2qc5gchp46n6eunjvb2i

A survey: which features are required for dynamic visual simultaneous localization and mapping?

Zewen Xu, Zheng Rong, Yihong Wu
2021 Visual Computing for Industry, Biomedicine, and Art  
This article presents a survey on dynamic SLAM from the perspective of feature choices. A discussion of the advantages and disadvantages of different visual features is provided in this article.  ...  AbstractIn recent years, simultaneous localization and mapping in dynamic environments (dynamic SLAM) has attracted significant attention from both academia and industry.  ...  Authors' contributions All authors read and approved the final manuscript. Authors' information  ... 
doi:10.1186/s42492-021-00086-w fatcat:7tfm7sqb7za45nnzhn3fpiqcti

Accurate Location in Dynamic Traffic Environment Using Semantic Information and Probabilistic Data Association

Kaixin Yang, Weiwei Zhang, Chuanchang Li, Xiaolan Wang
2022 Sensors  
This paper presents a coordinated positioning strategy that is composed of semantic information and probabilistic data association, which improves the accuracy of SLAM in dynamic traffic settings.  ...  This approach assigns semantic labels to landmarks observed in the environment and is used to correct false negatives in data association.  ...  Conflicts of Interest: The authors declare no conflict of interest. Sensors 2022, 22, 5042  ... 
doi:10.3390/s22135042 pmid:35808536 pmcid:PMC9269809 fatcat:3gm76woj2jekdpbunx5c5ndzvi

A Multi-Feature Fusion Slam System Attaching Semantic In-Variant to Points and Lines

Gang Li, Yawen Zeng, Huilan Huang, Shaojian Song, Bin Liu, Xiang Liao
2021 Sensors  
The traditional simultaneous localization and mapping (SLAM) system uses static points of the environment as features for real-time localization and mapping.  ...  In complex scenarios containing rich line segments, the description of line segments is not strongly differentiated, which can lead to incorrect association of line segment data, thus introducing errors  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s21041196 pmid:33567708 pmcid:PMC7916065 fatcat:2xkothd7lvbd3k22fx227x4czi

Simultaneous Localization, Mapping and Moving Object Tracking

Chieh-Chih Wang, Charles Thorpe, Sebastian Thrun, Martial Hebert, Hugh Durrant-Whyte
2007 The international journal of robotics research  
Based on the SLAM with DATMO framework, we propose practical algorithms which deal with issues of perception modeling, data association, and moving object detection.  ...  Simultaneous localization, mapping and moving object tracking (SLAMMOT) involves both simultaneous localization and mapping (SLAM) in dynamic environments and detecting and tracking these dynamic objects  ...  Acknowledgment Thanks to the members of the CMU Navlab group for their excellent work on building and maintaining the Navlab11 vehicles, and for their helps on collecting data.  ... 
doi:10.1177/0278364907081229 fatcat:37fszo6ic5htfdtisibop4mymm

SLAM in a dynamic large outdoor environment using a laser scanner

Huijing Zhao, Masaki Chiba, Ryosuke Shibasaki, Xiaowei Shao, Jinshi Cui, Hongbin Zha
2008 2008 IEEE International Conference on Robotics and Automation  
module but across the processing in a framework of SLAM with moving object detection and tracking.  ...  Algorithms are developed, where GPS data and control inputs are used to diagnose pose error and guide to achieve a global accuracy; Classification of laser points and objects are conducted not in an independent  ...  In order to prevent interference from the data of moving objects in SLAM, z (y) k are first extracted through data association based on the prediction of existing moving objects y − k−1 and vehicle pose  ... 
doi:10.1109/robot.2008.4543407 dblp:conf/icra/ZhaoCSSCZ08 fatcat:q36bhyur3jbhthvt64tulap7n4
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