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    Wyświetlanie 1-3 z 3
    Tytuł:
    Comparative assessment of point feature detectors in the context of robot navigation
    Autorzy:
    Schmidt, A.
    Kraft, M.
    Fularz, M.
    Domagała, Z.
    Powiązania:
    https://bibliotekanauki.pl/articles/950804.pdf
    Data publikacji:
    2013
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    point features
    detectors
    descriptors
    Opis:
    This paper presents evaluation of various contemporary interest point detector and descriptor pairs in the context of robot navigation. The robustness of the detectors and descriptors is assessed using publicly available datasets: the first gathered from the camera mounted on the industrial robot [17] and the second gathered from the mobile robot [20]. The most efficient detectors and descriptors for the visual robot navigation are selected.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2013, 7, 1; 11-20
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Efficient RGB-D data processing for feature-based self-localization of mobile robots
    Autorzy:
    Kraft, M.
    Nowicki, M.
    Penne, R.
    Schmidt, A.
    Skrzypczyński, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/330295.pdf
    Data publikacji:
    2016
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    visual odometry
    simultaneous localization
    simultaneous mapping
    RGB-D
    tracking
    point features
    odometria wizyjna
    lokalizacja jednoczesna
    śledzenie
    Opis:
    The problem of position and orientation estimation for an active vision sensor that moves with respect to the full six degrees of freedom is considered. The proposed approach is based on point features extracted from RGB-D data. This work focuses on efficient point feature extraction algorithms and on methods for the management of a set of features in a single RGB-D data frame. While the fast, RGB-D-based visual odometry system described in this paper builds upon our previous results as to the general architecture, the important novel elements introduced here are aimed at improving the precision and robustness of the motion estimate computed from the matching point features of two RGB-D frames. Moreover, we demonstrate that the visual odometry system can serve as the front-end for a pose-based simultaneous localization and mapping solution. The proposed solutions are tested on publicly available data sets to ensure that the results are scientifically verifiable. The experimental results demonstrate gains due to the improved feature extraction and management mechanisms, whereas the performance of the whole navigation system compares favorably to results known from the literature.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2016, 26, 1; 63-79
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Change Point Determination in Audio Data Using Auditory Features
    Autorzy:
    Maka, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/226762.pdf
    Data publikacji:
    2015
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    audio change point detection
    auditory features
    gammatone filter bank
    Opis:
    The study is aimed to investigate the properties of auditory-based features for audio change point detection process. In the performed analysis, two popular techniques have been used: a metric-based approach and the ∆BIC scheme. The efficiency of the change point detection process depends on the type and size of the feature space. Therefore, we have compared two auditory-based feature sets (MFCC and GTEAD) in both change point detection schemes. We have proposed a new technique based on multiscale analysis to determine the content change in the audio data. The comparison of the two typical change point detection techniques with two different feature spaces has been performed on the set of acoustical scenes with single change point. As the results show, the accuracy of the detected positions depends on the feature type, feature space dimensionality, detection technique and the type of audio data. In case of the ∆BIC approach, the better accuracy has been obtained for MFCC feature space in the most cases. However, the change point detection with this feature results in a lower detection ratio in comparison to the GTEAD feature. Using the same criteria as for ∆BIC, the proposed multiscale metric-based technique has been executed. In such case, the use of the GTEAD feature space has led to better accuracy. We have shown that the proposed multiscale change point detection scheme is competitive to the ∆BIC scheme with the MFCC feature space.
    Źródło:
    International Journal of Electronics and Telecommunications; 2015, 61, 2; 185-190
    2300-1933
    Pojawia się w:
    International Journal of Electronics and Telecommunications
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-3 z 3

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