scholarly journals Visual and Visual-Inertial SLAM: State of the Art, Classification, and Experimental Benchmarking

2021 ◽  
Vol 2021 ◽  
pp. 1-26
Author(s):  
Myriam Servières ◽  
Valérie Renaudin ◽  
Alexis Dupuis ◽  
Nicolas Antigny
Keyword(s):  
State Of The Art ◽  
Urban Environments ◽  
Smart Devices ◽  
Use Case ◽  
New Classification ◽  
Handheld Device ◽  
Pedestrian Navigation ◽  
Localization And Mapping ◽  
Measurement Units

Simultaneous Localization and Mapping is now widely adopted by many applications, and researchers have produced very dense literature on this topic. With the advent of smart devices, embedding cameras, inertial measurement units, visual SLAM (vSLAM), and visual-inertial SLAM (viSLAM) are enabling novel general public applications. In this context, this paper conducts a review of popular SLAM approaches with a focus on vSLAM/viSLAM, both at fundamental and experimental levels. It starts with a structured overview of existing vSLAM and viSLAM designs and continues with a new classification of a dozen main state-of-the-art methods. A chronological survey of viSLAM’s development highlights the historical milestones and presents more recent methods into a classification. Finally, the performance of vSLAM is experimentally assessed for the use case of pedestrian pose estimation with a handheld device in urban environments. The performance of five open-source methods Vins-Mono, ROVIO, ORB-SLAM2, DSO, and LSD-SLAM is compared using the EuRoC MAV dataset and a new visual-inertial dataset corresponding to urban pedestrian navigation. A detailed analysis of the computation results identifies the strengths and weaknesses for each method. Globally, ORB-SLAM2 appears to be the most promising algorithm to address the challenges of urban pedestrian navigation, tested with two datasets.

scholarly journals A New PDR Navigation Device for Challenging Urban Environments

2017 ◽  
Vol 2017 ◽  
pp. 1-11 ◽  
Author(s):  
Miguel Ortiz ◽  
Mathieu De Sousa ◽  
Valerie Renaudin
Keyword(s):  
Inertial Sensors ◽  
Dead Reckoning ◽  
Urban Environments ◽  
Privacy By Design ◽  
Handheld Device ◽  
Location Data ◽  
Pedestrian Navigation ◽  
New Research ◽  
Pedestrian Dead Reckoning ◽  
Original Device

The motivations, the design, and some applications of the new Pedestrian Dead Reckoning (PDR) navigation device, ULISS (Ubiquitous Localization with Inertial Sensors and Satellites), are presented in this paper. It is an original device conceived to follow the European recommendation of privacy by design to protect location data which opens new research toward self-contained pedestrian navigation approaches. Its application is presented with an enhanced PDR algorithm to estimate pedestrian’s footpaths in an autonomous manner irrespective of the handheld device carrying mode: texting or swinging. An analysis of real-time coding issues toward a demonstrator is also conducted. Indoor experiments, conducted with 3 persons, give a 5.8% mean positioning error over the 3 km travelled distances.

scholarly journals Sensor Networks Attacks Classifications and Mitigation

2018 ◽  
Vol 2 (4) ◽  
pp. 28-43 ◽  
Author(s):  
Ahmed S. Abu Daia ◽  
Rabie A. Ramadan ◽  
Magda B. Fayek
Keyword(s):  
Wireless Sensor Networks ◽  
Sensor Networks ◽  
State Of The Art ◽  
Sensor Nodes ◽  
Wireless Sensor ◽  
Network Communication ◽  
Security Attacks ◽  
New Classification ◽  
Security Services

Wireless Sensor Networks (WSNs) are exposed to many security attacks, and it can be easily compromised. One of the main reasons for these vulnerabilities is the deployment nature, where sensor nodes are deployed without physical guarding duty. That makes the network susceptible to physical attacks. The communication nature between sensor nodes is another reason, where intruders can easily send/receive information if they are located in the network communication range. In this paper, most of the possible WSN attacks are discussed, different security services expected in WSN are explained, and trust-based solutions proposed in the literature are listed. Moreover, the state-of-the-art of the attacks’ mitigation and avoidance techniques are presented. Besides, this paper is enriched with a new classification of the WSNs attacks regarding attacks’ characteristics. It will be beneficial to researchers in the field of WSNs security if they can distinguish between different attacks that have common characteristics.

scholarly journals Moving beyond the concept of altered state of consciousness: the Non-Ordinary Mental Expressions (NOMEs)

2021 ◽  
Vol 8 (3) ◽  
pp. 615-631
Author(s):  
Enrico Facco ◽  
Fabio Fracas ◽  
Patrizio Tressoldi
Keyword(s):  
Clinical Practice ◽  
State Of The Art ◽  
The State ◽  
Altered States Of Consciousness ◽  
Altered States ◽  
Altered State ◽  
New Classification ◽  
States Of Consciousness ◽  
Altered State Of Consciousness

Aim of this paper is to review the state of the art of so-called altered states of consciousness, anomalous experiences, and exceptional human experiences, showing the need for reappraising the whole topic and gather them under one roof. The term Non-Ordinary Mental Expressions (NOMEs) and a new classification of non-pathological ostensibly odd phenomena is introduced, emphasizing their epistemological, transcultural and interdisciplinary implications with their huge  implications in medical and psychotherapeutical clinical practice. 

New Classification of Gemstone Colours

1971 ◽  
Vol 12 (7) ◽  
pp. 262-266
Author(s):  
K. F. Chudoba
Keyword(s):  
New Classification

Reductionism and holism in the philosophy of medicine

2020 ◽  
pp. 66-74
Author(s):  
E. Zakablukovskiy
Keyword(s):  
Philosophy Of Medicine ◽  
Point Of View ◽  
Social Model ◽  
Macro Level ◽  
New Classification

The article highlights certain aspects of the discussion on the topic of reductionism vs. holism in the philosophy of medicine. Classic radical reductionism is defeated by the concept of emergence. The s.c. bio-medical point of view on a malady, despite its relevance and clear benefit, is not recognized as universal as its adherents may claim, and it yields to an integral psycho-bio-social model. The author introduces a new classification of holism (vitalistic, social and individualistic) and makes appropriate recommendations to clinicians. It is social holism at the macro level that has proven effective in combating the spread of COVID-19.

scholarly journals A New Classification of Ficus

1977 ◽  
Vol 64 (2) ◽  
pp. 296 ◽  
Author(s):  
William Ramirez B.
Keyword(s):  
New Classification
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