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This paper presents a fast RGB-D dense visual odometry estimating 12-DoF state information including 3D motion and 6-DoF spatial velocity of a camera-strapdown system. To reduce computational loads, we extract informative pixels through a zero-crossing difference of Gaussian (DoG) and non-maximum gradient pixel extraction. For extracted regions, the 3D motion is estimated through inverse compositional...
We present an illumination-robust visual localization algorithm for Astrobee, a free-flying robot designed to autonomously navigate on the International Space Station (ISS). Astrobee localizes with a monocular camera and a pre-built sparse map composed of natural visual features. Astrobee must perform tasks not only during the day, but also at night when the ISS lights are dimmed. However, the localization...
Object detection is one of the important problems for autonomous robots. Faster R-CNN, one of the state-of-the-art object detection methods, approaches real time application; nevertheless, computational time lies borderline of real time application, i.e. 5fps with VGG16 model in K40 GPU system in [1]. Moreover, computation time depends on model and image crop size, but precision is also affected;...
Real-time approach for monocular visual simultaneous localization and mapping (SLAM) within a large-scale environment is proposed. From a monocular video sequence, the proposed method continuously computes the current 6-DOF camera pose and 3D landmarks position. The proposed method successfully builds consistent maps from challenging outdoor sequences using a monocular camera as the only sensor, while...
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