Despite much interest in Simultaneous Localization and Mapping (SLAM), there is a lack of efficient methods for representing and processing their large scale point clouds. In this paper, we propose to simplify the point clouds generated by the semi-dense SLAM using three-dimensional (3D) line segments. Specifically, we present a novel incremental approach for 3D line segments extraction. This a...

This paper investigates whether visual place recognition techniques can be used to provide pose estimation information for a visual SLAM system operating long-term in an environment where the appearance may change a great deal. It demonstrates that a combination of a conventional SURF feature detector and a condition-invariant feature descriptor such as HOG or conv3 can provide a method of dete...

Historically, signa[ detection theory (SDT) applied “outside” the ear has not provided valid estimates of the performance measured in psychophysical experiments. Our previous work, in which SDT wm applied at the output of each stage of the Auditory Image Model (AIM) (1), has indicated that this integrated approach affords theoretical performance predictions that are more closely matched to expe...

apple scar skin disease (assd) is one of the destructive diseases of pome fruits which is caused by assvd. we report molecular detection of assvd in symptomatic apples cv. red delicious with simultaneous presence of a new variant of hsvd from khorasan razavi province. this is the first report on the association of hsvd with assvd in apple trees showing merely symptoms of apple dapple on the fruit.

Most visual Simultaneous Localization And Mapping (SLAM) methods use interest points as landmarks in their maps of the environment. Often the interest points are detected using contrast features, for instance those of the Scale Invariant Feature Transform (SIFT). The SIFT interest points, however, have problems with stability, and noise robustness. Taking our inspiration from human vision, we t...

We propose a system for performing structural change detection in street-view videos captured by a vehiclemounted monocular camera over time. Our approach is motivated by the need for more frequent and efficient updates in the large-scale maps used in autonomous vehicle navigation. Our method chains a multi-sensor fusion SLAM and fast dense 3D reconstruction pipeline, which provide coarsely reg...

We present a mobile manipulation system used by the Georgia Tech team in the RoboCup@Home 2010 competition. An overview of the system is provided, including the approach taken for manipulation, SLAM, object detection, object recognition, and system integration. We focus on our manipulation strategy, which utilizes a low-degree of freedom manipulator and makes use of the robot’s differential dri...

One of the basic requirements for autonomous navigation in an unexplored and often complex environment is to be able to lock on to natural features. This paper presents a method for extracting features distinctive enough to navigate with. The method consists of three parts. Firstly, it selects a set of interest points from the images which are invariant to most changes in conditions; secondly, ...

This paper introduces vision based loop closure detection in Simultaneous Localisation And Mapping (SLAM) using Tree of Words. The loop closure performance in a complex urban environment is examined and an additional feature is suggested for safer matching. A SLAM ground experiment in an urban area is performed using Tree of Words, a delayed state information filter and planar laser scans for r...