scholarly journals A Highest Order Hypothesis Compatibility Test for Monocular SLAM

10.5772/56737 ◽  
2013 ◽  
Vol 10 (8) ◽  
pp. 311
Author(s):  
Edmundo Guerra ◽  
Rodrigo Munguia ◽  
Yolanda Bolea ◽  
Antoni Grau
Keyword(s):  
Compatibility Test ◽  
Monocular Slam

scholarly journals Validation of Data Association for Monocular SLAM

2013 ◽  
Vol 2013 ◽  
pp. 1-11 ◽  
Author(s):  
Edmundo Guerra ◽  
Rodrigo Munguia ◽  
Yolanda Bolea ◽  
Antoni Grau
Keyword(s):  
Data Fusion ◽  
Data Association ◽  
Sensory Systems ◽  
Improve Performance ◽  
Compatibility Test ◽  
Monocular Slam ◽  
Slam Algorithm ◽  
Key Aspects

Simultaneous Mapping and Localization (SLAM) is a multidisciplinary problem with ramifications within several fields. One of the key aspects for its popularity and success is the data fusion produced by SLAM techniques, providing strong and robust sensory systems even with simple devices, such as webcams in Monocular SLAM. This work studies a novel batch validation algorithm, the highest order hypothesis compatibility test (HOHCT), against one of the most popular approaches, the JCCB. The HOHCT approach has been developed as a way to improve performance of the delayed inverse-depth initialization monocular SLAM, a previously developed monocular SLAM algorithm based on parallax estimation. Both HOHCT and JCCB are extensively tested and compared within a delayed inverse-depth initialization monocular SLAM framework, showing the strengths and costs of this proposal.

Batch Gating for Data Association in Monocular SLAM

2013 ◽  
Vol 319 ◽  
pp. 295-301
Author(s):  
Edmundo Guerra ◽  
Rodrigo Munguia ◽  
Yolanda Bolea ◽  
Antoni Grau
Keyword(s):  
Search Algorithm ◽  
Data Association ◽  
Real Data ◽  
Single Camera ◽  
Data Validation ◽  
Compatibility Test ◽  
Monocular Slam ◽  
Validation Technique

This work describes the development and implementation of a single-camera SLAM system, introducing a novel data validation algorithm. A 6-DOF monocular SLAM method developed is based on the Delayed Inverse-Depth (DI-D) Feature Initialization, with the addition of a new data association batch validation technique, the Highest Order Hypothesis Compatibility Test, HOHCT. The DI-D initializes new features in the system defining single hypothesis for the initial depth of features by stochastic triangulation. The HOHCT is based on evaluation of statistically compatible hypotheses, and search algorithm designed to exploit the Delayed Inverse-Depth technique characteristics. Experiments with real data are presented in order to validate the performance of the system.

Thermal soak compatibility test and residual gas analysis on 4130 steel and methanol thermosyphons

1997 ◽  
Author(s):  
Q. He ◽  
Pon Ponnappan ◽  
J. Brown ◽  
Q. He ◽  
Pon Ponnappan ◽  
...  
Keyword(s):  
Gas Analysis ◽  
Compatibility Test ◽  
Residual Gas

Visual-Kinematic Monocular SLAM using a Magnetic Endoscope

2018 ◽  
Author(s):  
Samuel L Charreyron ◽  
◽  
Quentin Boehler ◽  
Alexander J Millane ◽  
Bradley J Nelson ◽  
...  
Keyword(s):  
Monocular Slam

Fault-Diagnosing Monocular-SLAM for Scale-Aware Change Detection

2021 ◽  
Author(s):  
Sugimoto Takuma ◽  
Yamaguchi Kousuke ◽  
Bao Zhongshan ◽  
Ye Minying ◽  
Hiroki Tomoe ◽  
...  
Keyword(s):  
Change Detection ◽  
Monocular Slam

scholarly journals Application of Hybrid Monocular SLAM Method in Augmented Reality

2021 ◽  
Vol 1748 ◽  
pp. 042010
Author(s):  
Zuoming Zhang ◽  
Hanwen Wang ◽  
Man Shu ◽  
Xin Wang
Keyword(s):  
Augmented Reality ◽  
Monocular Slam

scholarly journals Reshuffle minimisation to improve storage yard operations efficiency

2021 ◽  
Vol 15 ◽  
pp. 174830262199401
Author(s):  
Hammed Bisira ◽  
Abdellah Salhi
Keyword(s):  
Integer Programming ◽  
Programming Model ◽  
Heuristic Approach ◽  
Container Terminals ◽  
Exact Method ◽  
Computational Results ◽  
Binary Integer Programming ◽  
Integer Programming Model ◽  
Compatibility Test ◽  
Storage Area

There are many ways to measure the efficiency of the storage area management in container terminals. These include minimising the need for container reshuffle especially at the yard level. In this paper, we consider the container reshuffle problem for stacking and retrieving containers. The problem was represented as a binary integer programming model and solved exactly. However, the exact method was not able to return results for large instances. We therefore considered a heuristic approach. A number of heuristics were implemented and compared on static and dynamic reshuffle problems including four new heuristics introduced here. Since heuristics are known to be instance dependent, we proposed a compatibility test to evaluate how well they work when combined to solve a reshuffle problem. Computational results of our methods on realistic instances are reported to be competitive and satisfactory.

A novel loop closure detection method in monocular SLAM

2012 ◽  
Vol 6 (2) ◽  
pp. 79-87 ◽  
Author(s):  
Liang Zhiwei ◽  
Gao Xiang ◽  
Chen Yanyan ◽  
Zhu Songhao
Keyword(s):  
Detection Method ◽  
Loop Closure ◽  
Loop Closure Detection ◽  
Monocular Slam
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