A Real-Time Visual-Inertial Monocular Odometry by Fusing Point and Line Features

2021 ◽  
Author(s):  
Chengwei Li ◽  
Liping Yan ◽  
Yuanqing Xia
Keyword(s):  
Real Time ◽  
Line Features

scholarly journals A New Visual Inertial Simultaneous Localization and Mapping (SLAM) Algorithm Based on Point and Line Features

Drones ◽  
2022 ◽  
Vol 6 (1) ◽  
pp. 23
Author(s):  
Tong Zhang ◽  
Chunjiang Liu ◽  
Jiaqi Li ◽  
Minghui Pang ◽  
Mingang Wang
Keyword(s):  
Feature Extraction ◽  
Real Time ◽  
Simultaneous Localization And Mapping ◽  
Line Feature ◽  
Speeded Up Robust Features ◽  
Localization And Mapping ◽  
Line Features ◽  
Point Line ◽  
Point Feature ◽  
Weak Texture

In view of traditional point-line feature visual inertial simultaneous localization and mapping (SLAM) system, which has weak performance in accuracy so that it cannot be processed in real time under the condition of weak indoor texture and light and shade change, this paper proposes an inertial SLAM method based on point-line vision for indoor weak texture and illumination. Firstly, based on Bilateral Filtering, we apply the Speeded Up Robust Features (SURF) point feature extraction and Fast Nearest neighbor (FLANN) algorithms to improve the robustness of point feature extraction result. Secondly, we establish a minimum density threshold and length suppression parameter selection strategy of line feature, and take the geometric constraint line feature matching into consideration to improve the efficiency of processing line feature. And the parameters and biases of visual inertia are initialized based on maximum posterior estimation method. Finally, the simulation experiments are compared with the traditional tightly-coupled monocular visual–inertial odometry using point and line features (PL-VIO) algorithm. The simulation results demonstrate that the proposed an inertial SLAM method based on point-line vision for indoor weak texture and illumination can be effectively operated in real time, and its positioning accuracy is 22% higher on average and 40% higher in the scenario that illumination changes and blurred image.

Research on Advanced Algorithm of Angle Bisector Line Landmarks Labeling

2014 ◽  
Vol 496-500 ◽  
pp. 2291-2294
Author(s):  
Xiao Yan Yang
Keyword(s):  
Real Time ◽  
Water System ◽  
Angle Bisector ◽  
Mobile Navigation ◽  
Advanced Algorithm ◽  
On Line ◽  
Line Features

According to the characteristics of mobile navigation based on PDA, the map scenes in the screens should be changed in real time, which needs to dynamically output map labels to adapt to these challenges. In this paper, based on angle bisector advanced algorithm is used for labeling dynamic on line water system and obtaining smooth location of line features as the location of labels. The results obtained in this paper can be applied to solve the problems of ambiguous expressions and/or invisibility of labels of line features, achieving the unity of the integrity and aesthetics of the automated output.

scholarly journals Parking Line Based SLAM Approach Using AVM/LiDAR Sensor Fusion for Rapid and Accurate Loop Closing and Parking Space Detection

Sensors ◽  
2019 ◽  
Vol 19 (21) ◽  
pp. 4811 ◽  
Author(s):  
Gyubeom Im ◽  
Minsung Kim ◽  
Jaeheung Park
Keyword(s):  
Real Time ◽  
Sensor Fusion ◽  
Autonomous Vehicles ◽  
Large Scale ◽  
Outdoor Environment ◽  
Parking Space ◽  
Parking Space Detection ◽  
Localization Performance ◽  
Line Features ◽  
Loop Closing

Parking is a challenging task for autonomous vehicles and requires a centimeter level precision of distance measurement for safe parking at a destination to avoid collisions with nearby vehicles. In order to avoid collisions with parked vehicles while parking, real-time localization performance should be maintained even when loop closing occurs. This study proposes a simultaneous localization and mapping (SLAM) method, using around view monitor (AVM)/light detection and ranging (LiDAR) sensor fusion, that provides rapid loop closing performance. We extract the parking line features by utilizing the sensor fusion data for sparse feature-based pose graph optimization that boosts the loop closing speed. Hence, the proposed method can perform the loop closing within a few milliseconds to compensate for the accumulative errors even in a large-scale outdoor environment, which is much faster than other LiDAR-based SLAM algorithms. Therefore, it easily satisfies real-time localization performance. Furthermore, thanks to the parking line features, the proposed method can detect a parking space by utilizing the accumulated parking lines in the map. The experiment was performed in three outdoor parking lots to validate the localization performance and parking space detection performance. All of the proposed methods can be operated in real-time in a single-CPU environment.

Some Recent Results in Quiescent Prominence Spectrometry

1979 ◽  
Vol 44 ◽  
pp. 41-47
Author(s):  
Donald A. Landman
Keyword(s):  
Real Time ◽  
Computer System ◽  
Spectral Response ◽  
Absolute Intensity ◽  
Solar Observatory ◽  
Target Size ◽  
Small Target ◽  
Signal Averaging ◽  
Quiescent Prominence

This paper describes some recent results of our quiescent prominence spectrometry program at the Mees Solar Observatory on Haleakala. The observations were made with the 25 cm coronagraph/coudé spectrograph system using a silicon vidicon detector. This detector consists of 500 contiguous channels covering approximately 6 or 80 Å, depending on the grating used. The instrument is interfaced to the Observatory’s PDP 11/45 computer system, and has the important advantages of wide spectral response, linearity and signal-averaging with real-time display. Its principal drawback is the relatively small target size. For the present work, the aperture was about 3″ × 5″. Absolute intensity calibrations were made by measuring quiet regions near sun center.

Video real-time imaging of artificial membranes during freeze-drying by cryo-electron microscopy

1988 ◽  
Vol 46 ◽  
pp. 16-17
Author(s):  
Alan S. Rudolph ◽  
Ronald R. Price
Keyword(s):  
Real Time ◽  
Self Assembly ◽  
Freeze Drying ◽  
Video Capture ◽  
Drying Process ◽  
Artificial Membranes ◽  
The Past ◽  
Cryo Electron Microscopy ◽  
Spherical Structures ◽  
Capture Techniques

We have employed cryoelectron microscopy to visualize events that occur during the freeze-drying of artificial membranes by employing real time video capture techniques. Artificial membranes or liposomes which are spherical structures within internal aqueous space are stabilized by water which provides the driving force for spontaneous self-assembly of these structures. Previous assays of damage to these structures which are induced by freeze drying reveal that the two principal deleterious events that occur are 1) fusion of liposomes and 2) leakage of contents trapped within the liposome [1]. In the past the only way to access these events was to examine the liposomes following the dehydration event. This technique allows the event to be monitored in real time as the liposomes destabilize and as water is sublimed at cryo temperatures in the vacuum of the microscope. The method by which liposomes are compromised by freeze-drying are largely unknown. This technique has shown that cryo-protectants such as glycerol and carbohydrates are able to maintain liposomal structure throughout the drying process.

An Interactive Minicomputer Program for the Indexing and Simulation of Electron Diffraction Patterns

1976 ◽  
Vol 34 ◽  
pp. 542-543
Author(s):  
R.P. Goehner ◽  
W.T. Hatfield ◽  
Prakash Rao
Keyword(s):  
Electron Diffraction ◽  
Real Time ◽  
Pattern Analysis ◽  
Flow Diagram ◽  
Hard Copy ◽  
Time Analysis ◽  
Real Time Analysis ◽  
Transmission Electron ◽  
One Step ◽  
Diffraction Patterns

Computer programs are now available in various laboratories for the indexing and simulation of transmission electron diffraction patterns. Although these programs address themselves to the solution of various aspects of the indexing and simulation process, the ultimate goal is to perform real time diffraction pattern analysis directly off of the imaging screen of the transmission electron microscope. The program to be described in this paper represents one step prior to real time analysis. It involves the combination of two programs, described in an earlier paper(l), into a single program for use on an interactive basis with a minicomputer. In our case, the minicomputer is an INTERDATA 70 equipped with a Tektronix 4010-1 graphical display terminal and hard copy unit.A simplified flow diagram of the combined program, written in Fortran IV, is shown in Figure 1. It consists of two programs INDEX and TEDP which index and simulate electron diffraction patterns respectively. The user has the option of choosing either the indexing or simulating aspects of the combined program.

Microstructural investigation of surface roughness in MBE-grown AlAs

1995 ◽  
Vol 53 ◽  
pp. 454-455
Author(s):  
R. Rajesh ◽  
R. Droopad ◽  
C. H. Kuo ◽  
R. W. Carpenter ◽  
G. N. Maracas
Keyword(s):  
Thin Film ◽  
Real Time ◽  
Growth Control ◽  
Native Oxide ◽  
Effusion Cell ◽  
Surface Oxide Layer ◽  
Microstructural Investigation ◽  
Mbe Growth ◽  
Film Substrate ◽  
And Control

Knowledge of material pseudodielectric functions at MBE growth temperatures is essential for achieving in-situ, real time growth control. This allows us to accurately monitor and control thicknesses of the layers during growth. Undesired effusion cell temperature fluctuations during growth can thus be compensated for in real-time by spectroscopic ellipsometry. The accuracy in determining pseudodielectric functions is increased if one does not require applying a structure model to correct for the presence of an unknown surface layer such as a native oxide. Performing these measurements in an MBE reactor on as-grown material gives us this advantage. Thus, a simple three phase model (vacuum/thin film/substrate) can be used to obtain thin film data without uncertainties arising from a surface oxide layer of unknown composition and temperature dependence.In this study, we obtain the pseudodielectric functions of MBE-grown AlAs from growth temperature (650°C) to room temperature (30°C). The profile of the wavelength-dependent function from the ellipsometry data indicated a rough surface after growth of 0.5 μm of AlAs at a substrate temperature of 600°C, which is typical for MBE-growth of GaAs.

Real-time observation of vortex lattices in a superconductor

1993 ◽  
Vol 51 ◽  
pp. 1050-1051
Author(s):  
K. Harada ◽  
T. Matsuda ◽  
J.E. Bonevich ◽  
M. Igarashi ◽  
S. Kondo ◽  
...  
Keyword(s):  
Real Time ◽  
Flux Line ◽  
Electron Holography ◽  
Lorentz Microscopy ◽  
Vortex Lattices ◽  
Flux Lines ◽  
Magnetic Flux Lines ◽  
Time Observation ◽  
Thin Superconductor ◽  
Real Time Observation

Previous observations of magnetic flux-lines (vortex lattices) in superconductors, such as the field distribution of a flux-line, and flux-line dynamics activated by heat and current, have employed the high spatial resolution and magnetic sensitivity of electron holography. And recently, the 2-D static distribution of vortices was also observed by this technique. However, real-time observations of the vortex lattice, in spite of scientific and technological interest, have not been possible due to experimental difficulties. Here, we report the real-time observation of vortex lattices in a thin superconductor, by means of Lorentz microscopy using a 300 kV field emission electron microscope. This technique allows us to observe the dynamic motion of individual vortices and record the events on a VTR system.The experimental arrangement is shown in Fig. 1. A Nb thin film for transmission observation was prepared by chemical etching. The grain size of the film was increased by annealing, and single crystals were observed with a thickness of 50∼90 nm.

Live Confocal Analysis of Fertilization and Early Development

2001 ◽  
Vol 7 (S2) ◽  
pp. 1012-1013
Author(s):  
Uyen Tram ◽  
William Sullivan
Keyword(s):  
Drosophila Melanogaster ◽  
Embryonic Development ◽  
Real Time ◽  
Early Development ◽  
Fluorescent Probes ◽  
Primary Defect ◽  
Fluorescent Analysis ◽  
Dynamic Event ◽  
Enormous Amount ◽  
Fluorescent Studies

Embryonic development is a dynamic event and is best studied in live animals in real time. Much of our knowledge of the early events of embryogenesis, however, comes from immunofluourescent analysis of fixed embryos. While these studies provide an enormous amount of information about the organization of different structures during development, they can give only a static glimpse of a very dynamic event. More recently real-time fluorescent studies of living embryos have become much more routine and have given new insights to how different structures and organelles (chromosomes, centrosomes, cytoskeleton, etc.) are coordinately regulated. This is in large part due to the development of commercially available fluorescent probes, GFP technology, and newly developed sensitive fluorescent microscopes. For example, live confocal fluorescent analysis proved essential in determining the primary defect in mutations that disrupt early nuclear divisions in Drosophila melanogaster. For organisms in which GPF transgenics is not available, fluorescent probes that label DNA, microtubules, and actin are available for microinjection.

Enhancing Clinical Supervision Using High-Definition Real-Time Digital Recording, Annotation, and Bluetooth Technology

2019 ◽  
Vol 4 (2) ◽  
pp. 356-362
Author(s):  
Jennifer W. Means ◽  
Casey McCaffrey
Keyword(s):  
Graduate Students ◽  
Data Collection ◽  
Real Time ◽  
Clinical Supervision ◽  
Video Recording ◽  
Advanced Technology ◽  
High Definition ◽  
Recording Technology ◽  
Self Confidence ◽  
Additional Data Collection

Purpose The use of real-time recording technology for clinical instruction allows student clinicians to more easily collect data, self-reflect, and move toward independence as supervisors continue to provide continuation of supportive methods. This article discusses how the use of high-definition real-time recording, Bluetooth technology, and embedded annotation may enhance the supervisory process. It also reports results of graduate students' perception of the benefits and satisfaction with the types of technology used. Method Survey data were collected from graduate students about their use and perceived benefits of advanced technology to support supervision during their 1st clinical experience. Results Survey results indicate that students found the use of their video recordings useful for self-evaluation, data collection, and therapy preparation. The students also perceived an increase in self-confidence through the use of the Bluetooth headsets as their supervisors could provide guidance and encouragement without interrupting the flow of their therapy sessions by entering the room to redirect them. Conclusions The use of video recording technology can provide opportunities for students to review: videos of prospective clients they will be treating, their treatment videos for self-assessment purposes, and for additional data collection. Bluetooth technology provides immediate communication between the clinical educator and the student. Students reported that the result of that communication can improve their self-confidence, perceived performance, and subsequent shift toward independence.

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