scholarly journals Robust Landmark Estimation and Unscented Particle Sampling for SLAM in Dynamic Outdoor Environment

2010 ◽  
Vol 22 (2) ◽  
pp. 140-149 ◽  
Author(s):  
Atsushi Sakai ◽  
◽  
Teppei Saitoh ◽  
Yoji Kuroda
Keyword(s):  
Data Management ◽  
Feature Detection ◽  
Data Association ◽  
Position Estimation ◽  
Outdoor Environment ◽  
Unscented Transformation ◽  
Particle Sampling ◽  
Localization And Mapping ◽  
Outdoor Environments ◽  
Stable Feature

In this paper, we propose a set of techniques for accurate and practical Simultaneous Localization And Mapping (SLAM) in dynamic outdoor environments. The techniques are categorized into Landmark estimation and Unscented particle sampling. Landmark estimation features stable feature detection and data management for estimating landmarks accurately, robustly, and at a low-calculation cost. The stable feature detection removes dynamic objects and sensor noise with scan subtraction, detects feature points sparsely and evenly, and sets data association parameters with landmark density. The data management calculates landmark existence probability and spurious landmarks are removed, utilizes landmark exclusivity for data association, and predicts importance weights using the observation range. Unscented particle sampling is based on Unscented Transformation for accurate SLAM. Simulation results of SLAM using our landmark estimation and experimental results of our SLAM in dynamic outdoor environments are presented and discussed. The results show that our landmark estimation decrease SLAM calculation time and maximum position error by 80% compared to conventional landmark estimation, and position estimation of SLAM with Unscented particle sampling ismore accurate than FastSLAM2.0 in dynamic outdoor environments.

The Green Building Environment of the Gymnasium

2018 ◽  
Vol 878 ◽  
pp. 202-209 ◽  
Author(s):  
Feng Qian ◽  
Li Yang
Keyword(s):  
Natural Ventilation ◽  
Residential Buildings ◽  
Green Building ◽  
Residential Area ◽  
Simulation Software ◽  
Living Environment ◽  
Outdoor Environment ◽  
Residential Areas ◽  
Outdoor Environments ◽  
Area Planning

The natural ventilation of residential areas has placed more and more emphasis on residential area planning, according to the relationship between natural ventilation environments and the layout of architecture, we can reduce the energy consumption and the adverse effect of wind outdoors, improve the living environment and quality of life, making harmony between human and the nature. In this paper, we use Air-Pak to simulate the wind environment of residential areas. Through analyzing and simulating the air field which forms when the wind blows around the residential buildings by Air-Pak, we explain the advantage of the combination of computer simulation software and residential area planning. And we give some advice to the layout of the outdoor environment early in the residential planning area by the simulation of outdoor environments of buildings.

scholarly journals A Study of Visual Descriptors for Outdoor Navigation Using Google Street View Images

2016 ◽  
Vol 2016 ◽  
pp. 1-12 ◽  
Author(s):  
L. Fernández ◽  
L. Payá ◽  
O. Reinoso ◽  
L. M. Jiménez ◽  
M. Ballesta
Keyword(s):  
Visual Information ◽  
Visual Navigation ◽  
Urban Environments ◽  
Outdoor Environment ◽  
Localization Algorithm ◽  
Google Street View ◽  
Street View ◽  
Visual Descriptors ◽  
Outdoor Environments ◽  
Panoramic Images

A comparative analysis between several methods to describe outdoor panoramic images is presented. The main objective consists in studying the performance of these methods in the localization process of a mobile robot (vehicle) in an outdoor environment, when a visual map that contains images acquired from different positions of the environment is available. With this aim, we make use of the database provided by Google Street View, which contains spherical panoramic images captured in urban environments and their GPS position. The main benefit of using these images resides in the fact that it permits testing any novel localization algorithm in countless outdoor environments anywhere in the world and under realistic capture conditions. The main contribution of this work consists in performing a comparative evaluation of different methods to describe images to solve the localization problem in an outdoor dense map using only visual information. We have tested our algorithms using several sets of panoramic images captured in different outdoor environments. The results obtained in the work can be useful to select an appropriate description method for visual navigation tasks in outdoor environments using the Google Street View database and taking into consideration both the accuracy in localization and the computational efficiency of the algorithm.

scholarly journals Professionals’ experiences of using an improvement programme: applying quality improvement work in preschool contexts

2020 ◽  
Vol 9 (3) ◽  
pp. e000933
Author(s):  
Sofia Kjellström ◽  
Ann-Christine Andersson ◽  
Tobias Samuelsson
Keyword(s):  
Quality Improvement ◽  
Public Health Intervention ◽  
Outdoor Environment ◽  
Outdoor Environments ◽  
Improvement Interventions ◽  
Improvement Programme ◽  
Physical Changes ◽  
Breakthrough Series Collaborative ◽  
Quality Tools ◽  
Breakthrough Series

BackgroundImprovement work can be used in preschools to enrich outdoor environment for children’s better health. Effective improvement work can facilitate the necessary changes, but little is known about professionals’ experiences of participation in improvement interventions. The aim was to evaluate how preschool staff experience quality improvement work, using the Breakthrough Series Collaborative improvement programme, to enhance outdoor environments.MethodsAn improvement intervention using a breakthrough collaborative was performed at 9 preschools in Sweden and examined with a longitudinal mixed method design. Staff completed questionnaires on 4 occasions (n=45 participants) and interviews took place after the intervention (n=16 participants).ResultsThe intervention was successful in the sense that the staff were content with the learning seminars, and they had triggered physical changes in the outdoor environment. They integrated the quality improvement work with their ordinary work and increasingly involved the children. The staff tested improvement tools but did not find them entirely appropriate for their work, because they preferred existing methods for reflection.ConclusionsThe challenges in quality improvement work seem to be similar across contexts. Using the Breakthrough Series Collaborative in a public health intervention is promising but needs to be integrated with preunderstandings, current reflections and quality tools and models.

scholarly journals Walls talk: Microbial biogeography of homes spanning urbanization

2016 ◽  
Vol 2 (2) ◽  
pp. e1501061 ◽  
Author(s):  
Jean F. Ruiz-Calderon ◽  
Humberto Cavallin ◽  
Se Jin Song ◽  
Atila Novoselac ◽  
Luis R. Pericchi ◽  
...  
Keyword(s):  
Architectural Design ◽  
Human Microbiome ◽  
Outdoor Environment ◽  
Human Immune System ◽  
Developmental Exposure ◽  
Immune Development ◽  
Indoor Space ◽  
Microbial Biogeography ◽  
Microbiome Diversity ◽  
Outdoor Environments

Westernization has propelled changes in urbanization and architecture, altering our exposure to the outdoor environment from that experienced during most of human evolution. These changes might affect the developmental exposure of infants to bacteria, immune development, and human microbiome diversity. Contemporary urban humans spend most of their time indoors, and little is known about the microbes associated with different designs of the built environment and their interaction with the human immune system. This study addresses the associations between architectural design and the microbial biogeography of households across a gradient of urbanization in South America. Urbanization was associated with households’ increased isolation from outdoor environments, with additional indoor space isolation by walls. Microbes from house walls and floors segregate by location, and urban indoor walls contain human bacterial markers of space use. Urbanized spaces uniquely increase the content of human-associated microbes—which could increase transmission of potential pathogens—and decrease exposure to the environmental microbes with which humans have coevolved.

A Comparison of Feature Extraction Algorithms Based on Sonar Sensor Data

2013 ◽  
Author(s):  
Hesham Ismail ◽  
Balakumar Balachandran
Keyword(s):  
Feature Extraction ◽  
Feature Detection ◽  
Industrial Applications ◽  
Sensor Data ◽  
Mobile Platforms ◽  
Fusion Algorithm ◽  
Unknown Environment ◽  
Mobile Vehicle ◽  
Localization And Mapping ◽  
Ongoing Work

Simultaneous localization and mapping (SLAM) is a technique used to determine the location of a mobile vehicle in an unknown environment, while constructing a map of the unknown environment at the same time. Mobile platforms, which make use of SLAM algorithms, have industrial applications in autonomous maintenance, such as the inspection of flaws and defects in oil pipelines and storage tanks. An important component of SLAM is feature extraction, which is the process of detecting and extracting significant features such as corners, edges, and walls in an environment. Here, the use of sonars as sensors mounted on a mobile platform is examined, and a comparison of different algorithms currently in use is made and presented. This comparison is performed through a combination of experimental and numerical studies. The triangulation-based fusion algorithm is examined for point feature detection, and the standard Hough Transform and the triangulation Hough fusion (THF) are used for line detection. Comparisons are discussed and presented along with ongoing work.

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