A Reduced Camera SLAM Approach for Indoor and Outdoor Navigation Using Laser Information for Landmark Initialization and Relative Motion Information

2016 ◽  
Author(s):  
Manuel Popp ◽  
Jamal Atman ◽  
Georg Scholz ◽  
Jan Ruppelt ◽  
Gert F. Trommer
Keyword(s):  
Relative Motion ◽  
Motion Information ◽  
Indoor And Outdoor ◽  
Outdoor Navigation

scholarly journals Accurate detection and tracking of ants in indoor and outdoor environments

2020 ◽  
Author(s):  
Meihong Wu ◽  
Xiaoyan Cao ◽  
Shihui Guo
Keyword(s):  
Social Insects ◽  
Group Behavior ◽  
Ant Colony ◽  
Motion Information ◽  
Residual Network ◽  
Automated Tracking ◽  
Detection And Tracking ◽  
Indoor And Outdoor Environments ◽  
Indoor And Outdoor

AbstractMonitoring social insects’ activity is critical for biologists researching their group mechanism. Manually labelling individual insects in a video is labour-intensive. Automated tracking social insects is particularly challenging: (1) individuals are small and similar in appearance; (2) frequent interactions with each other cause severe and long-term occlusion. We propose a detection and tracking framework for ants by: (1) adopting a two-stage object detection framework using ResNet-50 as backbone and coding the position of regions of interest to locate ants accurately; (2) using the ResNet model to develop the appearance descriptors of ants; (3) constructing long-term appearance sequences and combining them with motion information to achieve online tracking. To validate our method, we build a video database of ant colony captured in both indoor and outdoor scenes. We achieve a state-of-the-art performance of 95.7% mMOTA and 81.1% mMOTP in indoor videos, 81.8% mMOTA and 81.9% mMOTP in outdoor videos. Our method runs 6-10 times faster than existing methods for insect tracking. The datasets and code are made publicly available, we aim to contribute to an automated tracking tool for biologists in relevant domains.Author summaryThe research on the group behavior of social insects is in great favor with biologists. But before analysis, each insect needs to be tracked separately in a video. Obviously, that is a time-consuming and labor-intensive work. In this manuscript, we introduce a detection and tracking framework that can automatically track the movement of ants in a video scene. The software first uses a residual network to detect the positions of ants, then learns the appearance descriptor of each ant as appearance information via another residual network. Furthermore, we obtain motion information of each ant by using the Kalman filter. Combining with appearance and motion information, we can accurately track every ant in the ant colony. We validate the performance of our framework using 4 indoor and 5 outdoor videos, including multiple ants. We invite interested readers to apply these methods using our freely available software.

scholarly journals Indoor and Outdoor Navigation based on View Sequence under Variable Illumination Condition

2011 ◽  
Vol 27 (7) ◽  
pp. 768-773
Author(s):  
Yoichiro Yamagi ◽  
Junichi Ido ◽  
Kentaro Takemura ◽  
Yoshio Matsumoto ◽  
Jun Takamatsu ◽  
...  
Keyword(s):  
Illumination Condition ◽  
Variable Illumination ◽  
Indoor And Outdoor ◽  
Outdoor Navigation

scholarly journals TATU: an Approach for Supporting Tourists with Disabilities to Indoor and Outdoor Navigation using Mobile Devices

2021 ◽  
Author(s):  
Fábio J. Coutinho ◽  
Dayvson Sales ◽  
Wagner Fontes ◽  
Samuel Lucas V. L. Barbosa ◽  
Victor Accete ◽  
...  
Keyword(s):  
Hearing Impairment ◽  
Mobile Application ◽  
Public Spaces ◽  
Indoor Navigation ◽  
Tourist Attractions ◽  
Adaptive Interface ◽  
Guided Tour ◽  
Indoor Spaces ◽  
Indoor And Outdoor ◽  
Outdoor Navigation

People with disabilities living in Brazil face great difficulties in the tasks of daily life mainly due to the lack of accessibility in public spaces, products and services. In this context, we noticed a lack of a computing tool that embraces both people with visual and hearing impairment. This work presents TATU -- a mobile application for both Android and iOS platforms aimed at supporting people with visual or hearing impairment to enjoy Brazilian tourist attractions, including both open-air and indoor spaces. TATU application has an adaptive interface exclusively designed for each of the impairment user profiles, it can work on guided tour mode by indoor navigation using BLE beacons and outdoor navigation using GPS. Our solution was evaluated by three experiments, one of which was carried out with blind volunteers and TATU application obtained satisfactory results for both spacious attractions with the lowest density of collection items and for the smallest spaces.

Usability Evaluation of a Novel Robotic Power Wheelchair for Indoor and Outdoor Navigation

2019 ◽  
Vol 100 (4) ◽  
pp. 627-637 ◽  
Author(s):  
Jorge L. Candiotti ◽  
Deepan C. Kamaraj ◽  
Brandon Daveler ◽  
Cheng-Shiu Chung ◽  
Garrett G. Grindle ◽  
...  
Keyword(s):  
Usability Evaluation ◽  
Indoor And Outdoor ◽  
Outdoor Navigation
Sign in / Sign up

Export Citation Format

Share Document