scholarly journals Indoor Topological Localization Using a Visual Landmark Sequence

2019 ◽  
Vol 11 (1) ◽  
pp. 73 ◽  
Author(s):  
Jiasong Zhu ◽  
Qing Li ◽  
Rui Cao ◽  
Ke Sun ◽  
Tao Liu ◽  
...  
Keyword(s):  
Neural Network ◽  
Environmental Changes ◽  
Indoor Localization ◽  
Temporal Variations ◽  
Indoor Environments ◽  
Topological Map ◽  
Matching Algorithm ◽  
Visual Landmark ◽  
Topological Localization ◽  
Appearance Matching

This paper presents a novel indoor topological localization method based on mobile phone videos. Conventional methods suffer from indoor dynamic environmental changes and scene ambiguity. The proposed Visual Landmark Sequence-based Indoor Localization (VLSIL) method is capable of addressing problems by taking steady indoor objects as landmarks. Unlike many feature or appearance matching-based localization methods, our method utilizes highly abstracted landmark sematic information to represent locations and thus is invariant to illumination changes, temporal variations, and occlusions. We match consistently detected landmarks against the topological map based on the occurrence order in the videos. The proposed approach contains two components: a convolutional neural network (CNN)-based landmark detector and a topological matching algorithm. The proposed detector is capable of reliably and accurately detecting landmarks. The other part is the matching algorithm built on the second order hidden Markov model and it can successfully handle the environmental ambiguity by fusing sematic and connectivity information of landmarks. To evaluate the method, we conduct extensive experiments on the real world dataset collected in two indoor environments, and the results show that our deep neural network-based indoor landmark detector accurately detects all landmarks and is expected to be utilized in similar environments without retraining and that VLSIL can effectively localize indoor landmarks.

scholarly journals GROF: Indoor Localization Using a Multiple-Bandwidth General Regression Neural Network and Outlier Filter

Sensors ◽  
2018 ◽  
Vol 18 (11) ◽  
pp. 3723 ◽  
Author(s):  
Zhang Chen ◽  
Jinlong Wang
Keyword(s):  
Neural Network ◽  
Environmental Changes ◽  
Indoor Localization ◽  
Software Radio ◽  
Indoor Positioning ◽  
General Regression Neural Network ◽  
Generalized Regression Neural Network ◽  
K Nearest Neighbor ◽  
Localization Accuracy ◽  
Practical Applications

In recent years, a variety of methods have been developed for indoor localization utilizing fingerprints of received signal strength (RSS) that are location dependent. Nevertheless, the RSS is sensitive to environmental variations, in that the resulting fluctuation severely degrades the localization accuracy. Furthermore, the fingerprints survey course is time-consuming and labor-intensive. Therefore, the lightweight fingerprint-based indoor positioning approach is preferred for practical applications. In this paper, a novel multiple-bandwidth generalized regression neural network (GRNN) with the outlier filter indoor positioning approach (GROF) is proposed. The GROF method is based on the GRNN, for which we adopt a new kind of multiple-bandwidth kernel architecture to achieve a more flexible regression performance than that of the traditional GRNN. In addition, an outlier filtering scheme adopting the k-nearest neighbor (KNN) method is embedded into the localization module so as to improve the localization robustness against environmental changes. We discuss the multiple-bandwidth spread value training process and the outlier filtering algorithm, and demonstrate the feasibility and performance of GROF through experiment data, using a Universal Software Radio Peripheral (USRP) platform. The experimental results indicate that the GROF method outperforms the positioning methods, based on the standard GRNN, KNN, or backpropagation neural network (BPNN), both in localization accuracy and robustness, without the extra training sample requirement.

scholarly journals SurfCNN: A Descriptor Accelerated Convolutional Neural Network for Image-Based Indoor Localization

IEEE Access ◽  
2020 ◽  
Vol 8 ◽  
pp. 59750-59759
Author(s):  
Ahmed M. Elmoogy ◽  
Xiaodai Dong ◽  
Tao Lu ◽  
Robert Westendorp ◽  
Kishore Reddy Tarimala
Keyword(s):  
Neural Network ◽  
Convolutional Neural Network ◽  
Indoor Localization

scholarly journals Retrieval of Snow Depth over Arctic Sea Ice Using a Deep Neural Network

2019 ◽  
Vol 11 (23) ◽  
pp. 2864 ◽  
Author(s):  
Jiping Liu ◽  
Yuanyuan Zhang ◽  
Xiao Cheng ◽  
Yongyun Hu
Keyword(s):  
Neural Network ◽  
Sea Ice ◽  
Snow Depth ◽  
Deep Neural Network ◽  
Arctic Basin ◽  
Temporal Variations ◽  
Arctic Sea Ice ◽  
The Arctic ◽  
Sea Ice Thickness ◽  
Arctic Sea

The accurate knowledge of spatial and temporal variations of snow depth over sea ice in the Arctic basin is important for understanding the Arctic energy budget and retrieving sea ice thickness from satellite altimetry. In this study, we develop and validate a new method for retrieving snow depth over Arctic sea ice from brightness temperatures at different frequencies measured by passive microwave radiometers. We construct an ensemble-based deep neural network and use snow depth measured by sea ice mass balance buoys to train the network. First, the accuracy of the retrieved snow depth is validated with observations. The results show the derived snow depth is in good agreement with the observations, in terms of correlation, bias, root mean square error, and probability distribution. Our ensemble-based deep neural network can be used to extend the snow depth retrieval from first-year sea ice (FYI) to multi-year sea ice (MYI), as well as during the melting period. Second, the consistency and discrepancy of snow depth in the Arctic basin between our retrieval using the ensemble-based deep neural network and two other available retrievals using the empirical regression are examined. The results suggest that our snow depth retrieval outperforms these data sets.

scholarly journals Matching Large Baseline Oblique Stereo Images Using an End-to-End Convolutional Neural Network

2021 ◽  
Vol 13 (2) ◽  
pp. 274
Author(s):  
Guobiao Yao ◽  
Alper Yilmaz ◽  
Li Zhang ◽  
Fei Meng ◽  
Haibin Ai ◽  
...  
Keyword(s):  
Neural Network ◽  
Deep Learning ◽  
Convolutional Neural Network ◽  
Stereo Matching ◽  
Least Square ◽  
Affine Invariant ◽  
Stereo Images ◽  
Distance Ratio ◽  
Matching Algorithm ◽  
End To End

The available stereo matching algorithms produce large number of false positive matches or only produce a few true-positives across oblique stereo images with large baseline. This undesired result happens due to the complex perspective deformation and radiometric distortion across the images. To address this problem, we propose a novel affine invariant feature matching algorithm with subpixel accuracy based on an end-to-end convolutional neural network (CNN). In our method, we adopt and modify a Hessian affine network, which we refer to as IHesAffNet, to obtain affine invariant Hessian regions using deep learning framework. To improve the correlation between corresponding features, we introduce an empirical weighted loss function (EWLF) based on the negative samples using K nearest neighbors, and then generate deep learning-based descriptors with high discrimination that is realized with our multiple hard network structure (MTHardNets). Following this step, the conjugate features are produced by using the Euclidean distance ratio as the matching metric, and the accuracy of matches are optimized through the deep learning transform based least square matching (DLT-LSM). Finally, experiments on Large baseline oblique stereo images acquired by ground close-range and unmanned aerial vehicle (UAV) verify the effectiveness of the proposed approach, and comprehensive comparisons demonstrate that our matching algorithm outperforms the state-of-art methods in terms of accuracy, distribution and correct ratio. The main contributions of this article are: (i) our proposed MTHardNets can generate high quality descriptors; and (ii) the IHesAffNet can produce substantial affine invariant corresponding features with reliable transform parameters.

scholarly journals A Visual and VAE Based Hierarchical Indoor Localization Method

Sensors ◽  
2021 ◽  
Vol 21 (10) ◽  
pp. 3406
Author(s):  
Jie Jiang ◽  
Yin Zou ◽  
Lidong Chen ◽  
Yujie Fang
Keyword(s):  
Image Retrieval ◽  
Indoor Localization ◽  
Data Sets ◽  
Indoor Environments ◽  
Global Features ◽  
Data Set ◽  
Data Annotation ◽  
Wide Range ◽  
Annotation Costs ◽  
Global And Local

Precise localization and pose estimation in indoor environments are commonly employed in a wide range of applications, including robotics, augmented reality, and navigation and positioning services. Such applications can be solved via visual-based localization using a pre-built 3D model. The increase in searching space associated with large scenes can be overcome by retrieving images in advance and subsequently estimating the pose. The majority of current deep learning-based image retrieval methods require labeled data, which increase data annotation costs and complicate the acquisition of data. In this paper, we propose an unsupervised hierarchical indoor localization framework that integrates an unsupervised network variational autoencoder (VAE) with a visual-based Structure-from-Motion (SfM) approach in order to extract global and local features. During the localization process, global features are applied for the image retrieval at the level of the scene map in order to obtain candidate images, and are subsequently used to estimate the pose from 2D-3D matches between query and candidate images. RGB images only are used as the input of the proposed localization system, which is both convenient and challenging. Experimental results reveal that the proposed method can localize images within 0.16 m and 4° in the 7-Scenes data sets and 32.8% within 5 m and 20° in the Baidu data set. Furthermore, our proposed method achieves a higher precision compared to advanced methods.

scholarly journals Mapping Malaria Transmission Risk in Northern Morocco Using Entomological and Environmental Data

2011 ◽  
Vol 2011 ◽  
pp. 1-9 ◽  
Author(s):  
E. Adlaoui ◽  
C. Faraj ◽  
M. El Bouhmi ◽  
A. El Aboudi ◽  
S. Ouahabi ◽  
...  
Keyword(s):  
Plasmodium Vivax ◽  
Malaria Transmission ◽  
Satellite Imagery ◽  
Malaria Vector ◽  
Environmental Changes ◽  
Temporal Variations ◽  
Environmental Data ◽  
Transmission Risk ◽  
Cultivation Period ◽  
Very High

Malaria resurgence risk in Morocco depends, among other factors, on environmental changes as well as the introduction of parasite carriers. The aim of this paper is to analyze the receptivity of the Loukkos area, large wetlands in Northern Morocco, to quantify and to map malaria transmission risk in this region using biological and environmental data. This risk was assessed on entomological risk basis and was mapped using environmental markers derived from satellite imagery. Maps showing spatial and temporal variations of entomological risk for Plasmodium vivax and P. falciparum were produced. Results showed this risk to be highly seasonal and much higher in rice fields than in swamps. This risk is lower for Afrotropical P. falciparum strains because of the low infectivity of Anopheles labranchiae, principal malaria vector in Morocco. However, it is very high for P. vivax mainly during summer corresponding to the rice cultivation period. Although the entomological risk is high in Loukkos region, malaria resurgence risk remains very low, because of the low vulnerability of the area.

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