Results 41 to 50 of about 98,360 (281)

An Efficient Index for Visual Search in Appearance-based SLAM [PDF]

, 2013
Vector-quantization can be a computationally expensive step in visual bag-of-words (BoW) search when the vocabulary is large. A BoW-based appearance SLAM needs to tackle this problem for an efficient real-time operation. We propose an effective method to
Hajebi, Kiana, Zhang, Hong
core   +1 more source

An Enhanced Multi-Sensor Simultaneous Localization and Mapping (SLAM) Framework with Coarse-to-Fine Loop Closure Detection Based on a Tightly Coupled Error State Iterative Kalman Filter

Robotics, 2023
In order to attain precise and robust transformation estimation in simultaneous localization and mapping (SLAM) tasks, the integration of multiple sensors has demonstrated effectiveness and significant potential in robotics applications. Our work emerges
Changhao Yu, Zichen Chao, Haoran Xie, Yue Hua, Weitao Wu   +4 more
doaj   +1 more source

Keyframe-based monocular SLAM: design, survey, and future directions [PDF]

, 2017
Extensive research in the field of monocular SLAM for the past fifteen years has yielded workable systems that found their way into various applications in robotics and augmented reality.
Asmar, Daniel, Shammas, Elie, Younes, Georges, Zelek, John   +3 more
core   +3 more sources

LDSO: Direct Sparse Odometry with Loop Closure

, 2018
In this paper we present an extension of Direct Sparse Odometry (DSO) to a monocular visual SLAM system with loop closure detection and pose-graph optimization (LDSO).
Cremers, Daniel, Demmel, Nikolaus, Gao, Xiang, Wang, Rui   +3 more
core   +1 more source

Parallelizing RRT on large-scale distributed-memory architectures [PDF]

, 2013
This paper addresses the problem of parallelizing the Rapidly-exploring Random Tree (RRT) algorithm on large-scale distributed-memory architectures, using the Message Passing Interface.
Cortés, Juan, Devaurs, Didier, Siméon, Thierry   +2 more
core   +3 more sources

VS-SLAM: Robust SLAM Based on LiDAR Loop Closure Detection with Virtual Descriptors and Selective Memory Storage in Challenging Environments

Actuators
LiDAR loop closure detection is a key technology to mitigate localization drift in LiDAR SLAM, but it remains challenging in structurally similar environments and memory-constrained platforms.
Zhixing Song, Xuebo Zhang, Shiyong Zhang, Songyang Wu, Youwei Wang   +4 more
doaj   +1 more source

Improved M-ORB based direct-loop closure detection algorithm for visual SLAM

智能科学与技术学报, 2021
Most kinds of direct methods do not extract image feature points in the front end of SLAM system, resulting in that they cannot use loop closure detection with bag-of-words models to eliminate the cumulative error of the system.To resolve this problem ...
Wei LI, Menghan REN, Weihao HUANG, Xiaoyu DU, Yi ZHOU   +4 more
doaj  

Fast loop closure detection using probabilistic integration of pose and appearance similarity

International Journal of Advanced Robotic Systems
Loop closure detection is a key technique for robots to minimize the accumulated localization and mapping errors after long-time explorations of simultaneous localization and mapping.
Qinghua Yu, Kaihong Huang, Huimin Lu, Junhao Xiao, Zhiwen Zeng   +4 more
doaj   +1 more source

Lazy localization using the Frozen-Time Smoother [PDF]

, 2008
We present a new algorithm for solving the global localization problem called Frozen-Time Smoother (FTS). Time is 'frozen', in the sense that the belief always refers to the same time instant, instead of following a moving target, like Monte Carlo ...
Censi, A., Tipaldi, G. D.
core   +1 more source

DELP Treatment on Vision and Retinal Microcirculation in Patients With Acute Ischemic Stroke: Report of Five Cases and Literature Review

Therapeutic Apheresis and Dialysis, EarlyView.
ABSTRACT Background The delipid extracorporeal lipoprotein filter from plasma (DELP) treatment can effectively reduce blood lipid, increase blood flow, and improve neurological deficits in patients with acute ischemic stroke (AIS). However, its effect on vision and retinal microcirculation in stroke patients has never been reported.
Ning Li, Ronghua Hong, Hua You, Feiping Xu, Qingjun Zhang, Yiwen Lin, Yuting Su, Danmei Lan, Lingjing Jin, Junhui She   +9 more
wiley   +1 more source