Switchable Constraints For Robust Simultaneous Localization And Mapping And Satellite Based Localization
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Switchable Constraints for Robust Simultaneous Localization and Mapping and Satellite-Based Localization
Simultaneous Localization and Mapping (SLAM) has been a long-standing research problem in robotics. It describes the problem of a robot mapping an unknown environment, while simultaneously localizing in it with the help of the incomplete map. This book describes a technique called Switchable Constraints.Switchable Constraints help to increase the robustness of SLAM against data association errors and in particular against false positive loop closure detections. Such false positive loop closure detections can occur when the robot erroneously assumes it re-observed a landmark it has already mapped or when the appearance of the observed surroundings is very similar to the appearance of other places in the map. Ambiguous observations and appearances are very common in human-made environments such as office floors or suburban streets, making robustness against spurious observations a key challenge in SLAM. The book summarizes the foundations of factor graph-based SLAM techniques. It explains the problem of data association errors before introducing the novel idea of Switchable Constraints. We present a mathematical derivation and probabilistic interpretation of Switchable Constraints along with evaluations on different datasets. The book shows that Switchable Constraints are applicable beyond SLAM problems and demonstrates the efficacy of this technique to improve the quality of satellite-based localization in urban environments, where multipath and non-line-of-sight situations are common error sources.
Advanced Methods and Applications for Neurointelligence
Neurointelligence techniques play a key role in building general artificial intelligence systems. Some researchers and engineers have tried to design novel bio-inspired algorithms and hardware by mimicking the working principles of biological nervous systems. Benefiting from the progress in representational learning, neuroscience, and computational hardware, bio-inspired research has greatly contributed to the development of neurointelligence. Currently, advanced bio-inspired methods have been widely applied in robotics, visual scene understanding, medical image analysis, human-machine interaction and so on. Moreover, neurointelligence covers interdisciplinary topics with neuroscience, robotics, artificial intelligence, cognitive science, machine learning, and pattern recognition. This research topic is intended to provide a better understanding of the opportunities, challenges, and promising future directions for neurointelligence.
Towards Optimal Point Cloud Processing for 3D Reconstruction
This SpringerBrief presents novel methods of approaching challenging problems in the reconstruction of accurate 3D models and serves as an introduction for further 3D reconstruction methods. It develops a 3D reconstruction system that produces accurate results by cascading multiple novel loop detection, sifting, and optimization methods. The authors offer a fast point cloud registration method that utilizes optimized randomness in random sample consensus for surface loop detection. The text also proposes two methods for surface-loop sifting. One is supported by a sparse-feature-based optimization graph. This graph is more robust to different scan patterns than earlier methods and can cope with tracking failure and recovery. The other is an offline algorithm that can sift loop detections based on their impact on loop optimization results and which is enabled by a dense map posterior metric for 3D reconstruction and mapping performance evaluation works without any costly ground-truth data. The methods presented in Towards Optimal Point Cloud Processing for 3D Reconstruction will be of assistance to researchers developing 3D modelling methods and to workers in the wide variety of fields that exploit such technology including metrology, geological animation and mass customization in smart manufacturing.