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University of Alberta,Canada Prof.Hong Zhangによって特別講義が行われました |
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作者：佚名 更新時間：2011-11-09 17:49 |
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11月09日、University of Alberta,Canada Prof.Hong Zhangによって特別講義が行われました.
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題 目：「 Image Comparison and Matching for Robot Visual Navigation 」
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講演要旨： In this talk, I will discuss our recent research on two problems in appearance-based visual SLAM (simultaneous localization and mapping), namely, key frame detection (KFD) and loop closure detection (LCD). As a robot explores an environment and constructs its appearance map, visually distinct images or key frames are identified and included in the map. Our research investigates options for the critical step of measuring image similarity for KFD. LCD asks whether a robot has returned to a previously visited location and, in appearance-based visual SLAM, it is modeled as a problem of matching robot's current view with those images in the robot map. We specifically tackle the problem of perceptual aliasing, experienced by the predominant bag-of-words approach in state-of-the-art LCD algorithms, and present direct feature matching using hashing as an attractive and feasible alternative.
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University of Alberta,Canada Prof.Hong Zhangによる特別講義の様子 |
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University of Alberta,Canada Prof.Hong Zhang研究交流の様子 |
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University of Alberta,Canada Prof.Hong Zhang研究交流の様子 |
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