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Visual place recognition (VPR) in changing environments is an urgent challenge for long-term autonomous navigation. One recent ConvNet landmark-based approach exploits region landmarks coupled with ConvNet features to match images, and the approach has shown promising results under significant environmental and viewpoint changes. In this paper, we propose a robust ConvNet landmark-based system for...
Illumination changes are a typical problem for many outdoor long-term applications such as visual place recognition. Keypoints may fail to match between images taken at the same location but different times of the day. Although recently some methods are presented for creating shadow-free image representations, all of them have the limitation in terms of dealing with night images and non-Planckian...
A simple and reliable keypoint matching method is proposed in this paper. Our research is motivated by the desire to improve the performance of multi-view geometry (MVG) based verification in visual loop closure detection under significant illumination change, where traditional methods may fail due to their inability to either find a sufficient number of correctly matched keypoints or identify correct...
This paper investigates the problem of robot visual homing — the navigation to a goal location by a mobile robot using visual sensory input. The visual homing approach taken is to consider the flow vectors between a robot's current view and a desired milestone view. The flow vectors can be used to determine an angular velocity command that attempts to align the two views under a constant forward speed...
In this work we present a new approach for detecting loop closures in a real-time online setting. The Loop Closure Detection problem is important in visual SLAM applications and different approaches exist to deal with this problem. Most of these approaches are based on the Bag-of-Words approach, and assume a fixed visual vocabulary can work in different types of environments. However BOW is known...
In this paper, we propose a numerical approach to generate the workspace of a multifingered robotic hand manipulating an object in the 3-D case. Based on feasibility analysis of grasps, the proposed approach uses a numerical optimization technique to first compute discretely the boundary of the possible motion of the grasped object, and then the limits of rotation about various axes at a specified...
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