scholarly journals Incremental 3-D pose graph optimization for SLAM algorithm without marginalization

2020 ◽  
Vol 17 (3) ◽  
pp. 172988142092530
Author(s):  
Feng Youyang ◽  
Wang Qing ◽  
Yang Gaochao
Keyword(s):  
Optimization Algorithm ◽  
Real World ◽  
Bayes Factor ◽  
Simulated Data ◽  
Schur Complement ◽  
Factor Graph ◽  
Data Sets ◽  
Loop Closure ◽  
Graph Optimization ◽  
Pose Graph Optimization

Pose graph optimization algorithm is a classic nonconvex problem which is widely used in simultaneous localization and mapping algorithm. First, we investigate previous contributions and evaluate their performances using KITTI, Technische Universität München (TUM), and New College data sets. In practical scenario, pose graph optimization starts optimizing when loop closure happens. An estimated robot pose meets more than one loop closures; Schur complement is the common method to obtain sequential pose graph results. We put forward a new algorithm without managing complex Bayes factor graph and obtain more accurate pose graph result than state-of-art algorithms. In the proposed method, we transform the problem of estimating absolute poses to the problem of estimating relative poses. We name this incremental pose graph optimization algorithm as G-pose graph optimization algorithm. Another advantage of G-pose graph optimization algorithm is robust to outliers. We add loop closure metric to deal with outlier data. Previous experiments of pose graph optimization algorithm use simulated data, which do not conform to real world, to evaluate performances. We use KITTI, TUM, and New College data sets, which are obtained by real sensor in this study. Experimental results demonstrate that our proposed incremental pose graph algorithm model is stable and accurate in real-world scenario.

scholarly journals A LiDAR/Visual SLAM Backend with Loop Closure Detection and Graph Optimization

2021 ◽  
Vol 13 (14) ◽  
pp. 2720
Author(s):  
Shoubin Chen ◽  
Baoding Zhou ◽  
Changhui Jiang ◽  
Weixing Xue ◽  
Qingquan Li
Keyword(s):  
Point Clouds ◽  
Visual Features ◽  
Visual Slam ◽  
Key Factors ◽  
Loop Closure ◽  
Loop Closure Detection ◽  
Active Sensor ◽  
Localization And Mapping ◽  
Graph Optimization ◽  
Pose Graph Optimization

LiDAR (light detection and ranging), as an active sensor, is investigated in the simultaneous localization and mapping (SLAM) system. Typically, a LiDAR SLAM system consists of front-end odometry and back-end optimization modules. Loop closure detection and pose graph optimization are the key factors determining the performance of the LiDAR SLAM system. However, the LiDAR works at a single wavelength (905 nm), and few textures or visual features are extracted, which restricts the performance of point clouds matching based loop closure detection and graph optimization. With the aim of improving LiDAR SLAM performance, in this paper, we proposed a LiDAR and visual SLAM backend, which utilizes LiDAR geometry features and visual features to accomplish loop closure detection. Firstly, the bag of word (BoW) model, describing the visual similarities, was constructed to assist in the loop closure detection and, secondly, point clouds re-matching was conducted to verify the loop closure detection and accomplish graph optimization. Experiments with different datasets were carried out for assessing the proposed method, and the results demonstrated that the inclusion of the visual features effectively helped with the loop closure detection and improved LiDAR SLAM performance. In addition, the source code, which is open source, is available for download once you contact the corresponding author.

scholarly journals Large-Scale LiDAR SLAM with Factor Graph Optimization on High-Level Geometric Features

Sensors ◽  
2021 ◽  
Vol 21 (10) ◽  
pp. 3445
Author(s):  
Krzysztof Ćwian ◽  
Michał R. Nowicki ◽  
Jan Wietrzykowski ◽  
Piotr Skrzypczyński
Keyword(s):  
Large Scale ◽  
Point Clouds ◽  
Factor Graph ◽  
Optimization Approach ◽  
Geometric Features ◽  
Visual Slam ◽  
Loop Closure ◽  
Line Segments ◽  
Graph Optimization ◽  
High Level

Although visual SLAM (simultaneous localization and mapping) methods obtain very accurate results using optimization of residual errors defined with respect to the matching features, the SLAM systems based on 3-D laser (LiDAR) data commonly employ variants of the iterative closest points algorithm and raw point clouds as the map representation. However, it is possible to extract from point clouds features that are more spatially extended and more meaningful than points: line segments and/or planar patches. In particular, such features provide a natural way to represent human-made environments, such as urban and mixed indoor/outdoor scenes. In this paper, we perform an analysis of the advantages of a LiDAR-based SLAM that employs high-level geometric features in large-scale urban environments. We present a new approach to the LiDAR SLAM that uses planar patches and line segments for map representation and employs factor graph optimization typical to state-of-the-art visual SLAM for the final map and trajectory optimization. The new map structure and matching of features make it possible to implement in our system an efficient loop closure method, which exploits learned descriptors for place recognition and factor graph for optimization. With these improvements, the overall software structure is based on the proven LOAM concept to ensure real-time operation. A series of experiments were performed to compare the proposed solution to the open-source LOAM, considering different approaches to loop closure computation. The results are compared using standard metrics of trajectory accuracy, focusing on the final quality of the estimated trajectory and the consistency of the environment map. With some well-discussed reservations, our results demonstrate the gains due to using the high-level features in the full-optimization approach in the large-scale LiDAR SLAM.

scholarly journals Optimization Algorithm Design for the Taxi-Sharing Problem and Application

2021 ◽  
Vol 2021 ◽  
pp. 1-10
Author(s):  
Yongjie Wang ◽  
Maolin Li
Keyword(s):  
Heuristic Algorithm ◽  
Optimization Algorithm ◽  
Real World ◽  
Low Cost ◽  
Algorithm Design ◽  
Transportation Systems ◽  
The Other ◽  
Approximate Algorithm ◽  
Data Sets ◽  
Np Complete

With the development of mobility techniques, the transportation systems become smarter, pursuing higher goals, such as convenience for passengers and low cost. In this work, we investigate the taxi-sharing system, which is a promising system recently. The passengers can share the same taxis to different destinations to save cost. Considering the property of taxis’ routes, the corresponding model is established and our aim is to design the trip for each taxi to reduce the total number of taxi trips in the whole system if one taxi can be shared by several passengers. Compared with the previous work, we do not have any constraint about the taxi stations. The taxi trips have more flexibility in reality. We analyze this problem and prove it is NP-Complete. There are two proposed algorithms to solve this problem, one is a heuristic algorithm and the other is an approximate algorithm. In the experiment, two real-world taxi data sets are tested, and our algorithm shows the superiority of our taxi-sharing system. Using the taxi-sharing system, the number of trips can be reduced by about 30 % .

scholarly journals 2-D UAV navigation solution with LIDAR sensor under GPS-denied environment

2021 ◽  
Vol 2120 (1) ◽  
pp. 012026
Author(s):  
J C Ho ◽  
S K Phang ◽  
H K Mun
Keyword(s):  
Processing Speed ◽  
Research Work ◽  
Ground Truth ◽  
Lidar Data ◽  
Loop Closure ◽  
Localization And Mapping ◽  
Graph Optimization ◽  
Aerial Vehicle ◽  
Pose Graph Optimization ◽  
Camera Sensors

Abstract Unmanned aerial vehicle (UAV) is widely used by many industries these days such as militaries, agriculture, and surveillance. However, one of the main challenges of UAV is navigating through an environment where global positioning system (GPS) is being denied. The main purpose of this paper is to find a solution for UAV to be able to navigate in a GPS denied surrounding without affecting the drone flight performance. There are two ways to overcome these challenges such as using visual odometry (VO) or by using simultaneous localization and mapping (SLAM). However, VO has a drawback because camera sensors require good lighting which will affect the performance of the UAV when it is navigating through a low light intensity environment. Hence, in this paper 2-D SLAM will be use as a solution to help UAV to navigate under a GPS-denied environment with the help of a light detection and ranging (LIDAR) sensor which known as a LIDAR-based SLAM. This is because SLAM can help UAVs to localize itself and map the surrounding of the environment. The concept and idea of this paper will be fully simulated using MATLAB, where the drone navigation will be simulated in MATLAB to extract LIDAR data and to use the LIDAR data to carry out SLAM via pose graph optimization. Besides, the contribution to this research work has also identified that in pose graph optimization, the loop closure threshold and loop closure radius play an important role. The loop closure threshold can affect the accuracy of the trajectory of the drone and the accuracy of mapping the environment as compared to ground truth. On the other hand, the loop closure search radius can increase the processing speed of obtaining the data via pose graph optimization. The main contribution to this research work is shown that the processing speed can increase up to 45 % and the accuracy of the trajectory of the drone and the mapped surrounding is quite accurate as compared to ground truth.

A Pose-Graph Optimization tool for MATLAB

2018 ◽  
Author(s):  
João Carlos Virgolino Soares ◽  
Marco Antonio Meggiolaro
Keyword(s):  
Graph Optimization ◽  
Pose Graph Optimization

Mean reversion in corporate leverage: evidence from India

2019 ◽  
Vol 45 (9) ◽  
pp. 1183-1198
Author(s):  
Gaurav S. Chauhan ◽  
Pradip Banerjee
Keyword(s):  
Capital Structure ◽  
Emerging Market ◽  
Simulated Data ◽  
Mean Reversion ◽  
Developed Countries ◽  
Data Sets ◽  
Debt Ratio ◽  
Testing Strategy ◽  
Content Type ◽  
Financing Behavior

Purpose Recent papers on target capital structure show that debt ratio seems to vary widely in space and time, implying that the functional specifications of target debt ratios are of little empirical use. Further, target behavior cannot be adjudged correctly using debt ratios, as they could revert due to mechanical reasons. The purpose of this paper is to develop an alternative testing strategy to test the target capital structure. Design/methodology/approach The authors make use of a major “shock” to the debt ratios as an event and think of a subsequent reversion as a movement toward a mean or target debt ratio. By doing this, the authors no longer need to identify target debt ratios as a function of firm-specific variables or any other rigid functional form. Findings Similar to the broad empirical evidence in developed economies, there is no perceptible and systematic mean reversion by Indian firms. However, unlike developed countries, proportionate usage of debt to finance firms’ marginal financing deficits is extensive; equity is used rather sparingly. Research limitations/implications The trade-off theory could be convincingly refuted at least for the emerging market of India. The paper here stimulated further research on finding reasons for specific financing behavior of emerging market firms. Practical implications The results show that the firms’ financing choices are not only depending on their own firm’s specific variables but also on the financial markets in which they operate. Originality/value This study attempts to assess mean reversion in debt ratios in a unique but reassuring manner. The results are confirmed by extensive calibration of the testing strategy using simulated data sets.

scholarly journals Hfinger: Malware HTTP Request Fingerprinting

Entropy ◽  
2021 ◽  
Vol 23 (5) ◽  
pp. 507
Author(s):  
Piotr Białczak ◽  
Wojciech Mazurczyk
Keyword(s):  
Real World ◽  
Network Traffic ◽  
Experimental Evaluation ◽  
Data Sets ◽  
Real World Data ◽  
Malicious Software ◽  
Default Mode ◽  
World Data ◽  
Effectiveness Analysis ◽  
Http Protocol

Malicious software utilizes HTTP protocol for communication purposes, creating network traffic that is hard to identify as it blends into the traffic generated by benign applications. To this aim, fingerprinting tools have been developed to help track and identify such traffic by providing a short representation of malicious HTTP requests. However, currently existing tools do not analyze all information included in the HTTP message or analyze it insufficiently. To address these issues, we propose Hfinger, a novel malware HTTP request fingerprinting tool. It extracts information from the parts of the request such as URI, protocol information, headers, and payload, providing a concise request representation that preserves the extracted information in a form interpretable by a human analyst. For the developed solution, we have performed an extensive experimental evaluation using real-world data sets and we also compared Hfinger with the most related and popular existing tools such as FATT, Mercury, and p0f. The conducted effectiveness analysis reveals that on average only 1.85% of requests fingerprinted by Hfinger collide between malware families, what is 8–34 times lower than existing tools. Moreover, unlike these tools, in default mode, Hfinger does not introduce collisions between malware and benign applications and achieves it by increasing the number of fingerprints by at most 3 times. As a result, Hfinger can effectively track and hunt malware by providing more unique fingerprints than other standard tools.

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