524 research outputs found
Visual SLAM for flying vehicles
No full textThe ability to learn a map of the environment is important for numerous types of robotic vehicles. In this paper, we address the problem of learning a visual map of the ground using flying vehicles. We assume that the vehicles are equipped with one or two low-cost downlooking cameras in combination with an attitude sensor. Our approach is able to construct a visual map that can later on be used for navigation. Key advantages of our approach are that it is comparably easy to implement, can robustly deal with noisy camera images, and can operate either with a monocular camera or a stereo camera system. Our technique uses visual features and estimates the correspondences between features using a variant of the progressive sample consensus (PROSAC) algorithm. This allows our approach to extract spatial constraints between camera poses that can then be used to address the simultaneous localization and mapping (SLAM) problem by applying graph methods. Furthermore, we address the problem of efficiently identifying loop closures. We performed several experiments with flying vehicles that demonstrate that our method is able to construct maps of large outdoor and indoor environments. © 2008 IEEE
WP - liu hua
No full textAn installation commenting on the tragic death of a Chinese student studying at Wimbledon College of Arts and the historical relationship between China and Europe, referencing Orientalism, Chinoiserie and the Willow Pattern design
Unsupervised learning of compact 3D models based on the detection of recurrent structures
No full textLarge Scale Graph-based SLAM using Aerial Images as Prior Information
No full textTo effectively navigate in their environments and accurately reach their target locations, mobile robots require a globally consistent map of the environment. The problem of learning a map with a mobile robot has been intensively studied in the past and is usually referred to as the simultaneous localization and mapping (SLAM) problem. However, existing solutions to the SLAM problem typically rely on loop-closures to obtain global consistency and do not exploit prior information even if it is available. In this paper, we present a novel SLAM approach that achieves global consistency by utilizing publicly accessible aerial photographs as prior information. Our approach inserts correspondences found between three-dimensional laser range scans and the aerial image as constraints into a graph-based formulation of the SLAM problem. We evaluate our algorithm based on large real-world datasets acquired in a mixed in- and outdoor environment by comparing the global accuracy with state-of-the-art SLAM approaches and GPS. The experimental results demonstrate that the maps acquired with our method show increased global consistency.Artificial Intelligence & Integrated Computer System
Unsupervised learning of 3D object models from partial views
No full textWe present an algorithm for learning 3D object models from partial object observations. The input to our algorithm is a sequence of 3D laser range scans. Models learned from the objects are represented as point clouds. Our approach can deal with partial views and it can robustly learn accurate models from complex scenes. It is based on an iterative matching procedure which attempts to recursively merge similar models. The alignment between models is determined using a novel scan registration procedure based on range images. The decision about which models to merge is performed by spectral clustering of a similarity matrix whose entries represent the consistency between different models.© 2009 IEEE
OBJECT RECOGNITION METHOD, OBJECT RECOGNITION APPARATUS, AND AUTONOMOUS MOBILE ROBOT
No full textTo carry out satisfactory object recognition in a short time. An object recognition method in accordance with an exemplary aspect of the present invention is an object recognition method for recognizing a target object by using a preliminarily-created object model. The object recognition method generates a range image of an observed scene, detects interest points from the range image, extracts first features, the first features being features of an area containing the interest points, carries out a matching process between the first features and second features, the second features being features of an area in the range image of the object model, calculates a transformation matrix based on a result of the matching process, the transformation matrix being for projecting the second features on a coordinate system of the observed scene, and recognizes the target object with respect to the object model based on the transformation mat
On Measuring the Accuracy of SLAM Algorithms
No full textIn this paper, we address the problem of creating an objective benchmark for evaluating SLAM approaches.We propose a framework for analyzing the results of a SLAM approach based on a metric for measuring the error of the corrected trajectory. This metric uses only relative relations between poses and does not rely on a global reference frame. This overcomes serious shortcomings of approaches using a global reference frame to compute the error. Our method furthermore allows us to compare SLAM approaches that use different estimation techniques or different sensor modalities since all computations are made based on the corrected trajectory of the robot. We provide sets of relative relations needed to compute our metric for an extensive set of datasets frequently used in the robotics community. The relations have been obtained by manually matching laser-range observations to avoid the errors caused by matching algorithms. Our benchmark framework allows the user to easily analyze and objectively compare different SLAM approaches
Samfunnsentreprenørskap og ildsjeler på små steder. En komparativ studie med fokus på Ekne i Levanger kommune, og Inderøya (Den Gyldne Omvei) i Inderøy kommune.
No full textDahlen, T. B. (2020). Samfunnsentreprenørskap og ildsjeler på små steder. En komparativ studie med fokus på Ekne i Levanger kommune, og Inderøya (Den Gyldne Omvei) i Inderøy kommune. (Masteroppgave for lektorutdanning i geografi). Institutt for Geografi, Norges teknisk- naturvitenskapelige universitet, Trondheim.
Små steder gjennomgår endringer når driften på gårdsbruk stadig legges ned. I 2019 fortsatte denne trenden, og 1,9 % av driften på norske gårdsbruk ble lagt ned (Sæther, 2018). Endringer i næringsstruktur påvirker dagliglivet til innbyggere på små steder. Det er kanskje flere som meg, som lurer på om miljøet der de bor er egnet for å starte opp et nytt tiltak eller virksomhet. Formålet med denne oppgaven er å finne hvilke forutsetninger som er viktige for å få frem ildsjeler og et miljø for samfunnsentreprenørskap på små steder. I tillegg vil oppgaven forsøke å besvare hvordan ildsjeler og samfunnsentreprenørers handlinger påvirker det entreprenørielle miljøet på små steder. Denne studien er utført som en komparativ studie av Ekne i Levanger kommune og Inderøya (Den Gyldne Omvei) i Inderøy kommune.
Utgangspunktet for oppgaven er en kvalitativ studie hvor et utvalg av samfunnsentreprenører, ildsjeler og personer med mye kunnskap om stedene har blitt intervjuet. Informantenes motiver og erfaringer med entreprenøriell aktivitet, i tillegg til deres opplevelse av sted blir diskutert i lys av teorier om entreprenørskap og sted. Hvordan samfunnsentreprenørene og ildsjelene opplever sted, og mer konkret sine hjemsteder, er sentralt, og kan ses i sammenheng med tilhørighet, identitet og nylokalisme.
Informantene trekker frem felles plattformer for tillit- og fellesskapsbygging som viktige forutsetninger for gode miljø for samfunnsentreprenørskap og ildsjeler. Innflytting bidrar til innbyggere med ulike kompetanser, bakgrunn og interesser, og ser ut til å påvirke innbyggernes aksept og toleranse for annerledeshet. Suksess på små steder virker til å øke innbyggernes opplevelse av ansvar og stolthet. Oversiktlige nettverk forenkler prosessen som entreprenøren gjennomgår for å finne og komme i kontakt med nyttige menneskelige ressurser. Både tillit, toleranse, ansvar, stolthet og nettverk bidrar til å bygge stedets sosiale kapital, og gir et inntrykk av miljøets evne til å støtte nyskaping. Aktørenes handlinger og innsats for å styrke disse områdene, kan bidra til å forbedre forholdene for ildsjeler og samfunnsentreprenører. Deres motivasjon, sosiale ferdigheter og evne til å skape engasjement er spesielt viktige. Kommunal involvering og politisk støtte tidlig i nyskapingsprosesser bidrar til et bedre miljø for samfunnsentreprenører og ildsjeler
Steder, stedsfortellinger og livsmot
No full textThis essay develops an understanding of how attachment to place and how physical, virtual and symbolic places can nurture or constrain a person’s will to carry on and find meaning. The nursing home is presented as an illustration of a physical place and the online gaming world represents a virtual place. Young and old share stories of how the symbolic meaning of place or memories of place can nurture hope and meaning. The stories also show how their attachment to place can result in a constricted understanding of who they are. Memories of vitality and envisioning themselves as strong and active create meaning and provide a welcome distraction in their everyday lives. The author mediates with the philosophies of Levinas, Tillich and Casey in order to develop an understanding of how certain places and our understanding of them can nurture or constrain a person’s will to carry on and find meaning
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