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In appearance based SLAM (Simultaneous Localisation and Mapping), a robot typically represents its environment through a set of acquired images that are associated with nodes in a topological map. Rather than storing every acquired image, which can be memory intensive, a selection of images (keyframes) representative of the places visited can be stored. Keyframe detection (i.e. choosing when to add...
One of the main problems associated with vision-based SLAM is the difficulty to find high-quality and indistinguishable landmarks which are detectable across significant viewpoint changes. Most of the current visual SLAM systems utilize the feature extraction methods that have been proposed for the offline computer vision tasks, which are either too slow for a real-time SLAM or not robust enough against...
The indoor air pollution produced by the ventilating system of the central air-conditioning draws many people's attention. In this paper, a new style of the central air-conditioning pipe aseptic sampling inspection robotic system is developed. The entire system comprises three parts: the caterpillar robot, computer and control box. Through real-time video transferred from cameras on robot, operators...
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