scholarly journals ERF-IMCS: An Efficient and Robust Framework with Image-Based Monte Carlo Scheme for Indoor Topological Navigation

2020 ◽  
Vol 10 (19) ◽  
pp. 6829
Author(s):  
Song Xu ◽  
Huaidong Zhou ◽  
Wusheng Chou
Keyword(s):  
Monte Carlo ◽  
Image Retrieval ◽  
Large Scale ◽  
Visual Localization ◽  
Global Localization ◽  
Localization Method ◽  
Perceptual Aliasing ◽  
Topological Localization ◽  
Global And Local ◽  
Topological Navigation

Conventional approaches to global localization and navigation mainly rely on metric maps to provide precise geometric coordinates, which may cause the problem of large-scale structural ambiguity and lack semantic information of the environment. This paper presents a scalable vision-based topological mapping and navigation method for a mobile robot to work robustly and flexibly in large-scale environment. In the vision-based topological navigation, an image-based Monte Carlo localization method is presented to realize global topological localization based on image retrieval, in which fine-tuned local region features from an object detection convolutional neural network (CNN) are adopted to perform image matching. The combination of image retrieval and Monte Carlo provide the robot with the ability to effectively avoid perceptual aliasing. Additionally, we propose an effective visual localization method, simultaneously employing the global and local CNN features of images to construct discriminative representation for environment, which makes the navigation system more robust to the interference of occlusion, translation, and illumination. Extensive experimental results demonstrate that ERF-IMCS exhibits great performance in the robustness and efficiency of navigation.

Vision and Wi-Fi fusion in probabilistic appearance-based localization

2020 ◽  
pp. 027836492091048
Author(s):  
Mathieu Nowakowski ◽  
Cyril Joly ◽  
Sébastien Dalibard ◽  
Nicolas Garcia ◽  
Fabien Moutarde
Keyword(s):  
Moving Objects ◽  
Ground Truth ◽  
Visual Localization ◽  
Localization Algorithm ◽  
Global Localization ◽  
Early Fusion ◽  
Perceptual Aliasing ◽  
Topological Localization ◽  
Best Localization ◽  
Fusion Framework

This article introduces an indoor topological localization algorithm that uses vision and Wi-Fi signals. Its main contribution is a novel way of merging data from these sensors. The designed system does not require knowledge of the building plan or the positions of the Wi-Fi access points. By making the Wi-Fi signature suited to the FABMAP algorithm, this work develops an early fusion framework that solves global localization and kidnapped robot problems. The resulting algorithm has been tested and compared with FABMAP visual localization, over data acquired by a Pepper robot in three different environments: an office building, a middle school, and a private apartment. Numerous runs of different robots have been realized over several months for a total covered distance of 6.4 km. Constraints were applied during acquisitions to make the experiments fitted to real use cases of Pepper robots. Without any tuning, our early fusion framework outperforms visual localization in all testing situations and with a significant margin in environments where vision faces problems such as moving objects or perceptual aliasing. In such conditions, 90.6% of estimated localizations are less than 5 m away from ground truth with our early fusion framework compared with 77.6% with visual localization. Furthermore, compared with other classical fusion strategies, the early fusion framework produces the best localization results because in all tested situations, it improves visual localization results without damaging them where Wi-Fi signals carry little information.

scholarly journals A Robust Indoor Localization System Integrating Visual Localization Aided by CNN-Based Image Retrieval with Monte Carlo Localization

Sensors ◽  
2019 ◽  
Vol 19 (2) ◽  
pp. 249 ◽  
Author(s):  
Song Xu ◽  
Wusheng Chou ◽  
Hongyi Dong
Keyword(s):  
Monte Carlo ◽  
Image Retrieval ◽  
Closed Loop ◽  
Short Term Memory ◽  
Visual Localization ◽  
Place Recognition ◽  
Global Localization ◽  
Localization System ◽  
Monte Carlo Localization ◽  
Fine Localization

This paper proposes a novel multi-sensor-based indoor global localization system integrating visual localization aided by CNN-based image retrieval with a probabilistic localization approach. The global localization system consists of three parts: coarse place recognition, fine localization and re-localization from kidnapping. Coarse place recognition exploits a monocular camera to realize the initial localization based on image retrieval, in which off-the-shelf features extracted from a pre-trained Convolutional Neural Network (CNN) are adopted to determine the candidate locations of the robot. In the fine localization, a laser range finder is equipped to estimate the accurate pose of a mobile robot by means of an adaptive Monte Carlo localization, in which the candidate locations obtained by image retrieval are considered as seeds for initial random sampling. Additionally, to address the problem of robot kidnapping, we present a closed-loop localization mechanism to monitor the state of the robot in real time and make adaptive adjustments when the robot is kidnapped. The closed-loop mechanism effectively exploits the correlation of image sequences to realize the re-localization based on Long-Short Term Memory (LSTM) network. Extensive experiments were conducted and the results indicate that the proposed method not only exhibits great improvement on accuracy and speed, but also can recover from localization failures compared to two conventional localization methods.

scholarly journals Improved Visual Localization via Graph Filtering

2021 ◽  
Vol 7 (2) ◽  
pp. 20
Author(s):  
Carlos Lassance ◽  
Yasir Latif ◽  
Ravi Garg ◽  
Vincent Gripon ◽  
Ian Reid
Keyword(s):  
Image Retrieval ◽  
Large Scale ◽  
Visual Localization ◽  
Localization Accuracy ◽  
Additional Information ◽  
Feature Representations ◽  
The Mean ◽  
Classical Image ◽  
Vision Based Localization ◽  
Improve Reliability

Vision-based localization is the problem of inferring the pose of the camera given a single image. One commonly used approach relies on image retrieval where the query input is compared against a database of localized support examples and its pose is inferred with the help of the retrieved items. This assumes that images taken from the same places consist of the same landmarks and thus would have similar feature representations. These representations can learn to be robust to different variations in capture conditions like time of the day or weather. In this work, we introduce a framework which aims at enhancing the performance of such retrieval-based localization methods. It consists in taking into account additional information available, such as GPS coordinates or temporal proximity in the acquisition of the images. More precisely, our method consists in constructing a graph based on this additional information that is later used to improve reliability of the retrieval process by filtering the feature representations of support and/or query images. We show that the proposed method is able to significantly improve the localization accuracy on two large scale datasets, as well as the mean average precision in classical image retrieval scenarios.

scholarly journals An optical observational cluster mass function at z ∼ 1 with the ORELSE survey

2021 ◽  
Vol 502 (3) ◽  
pp. 3942-3954
Author(s):  
D Hung ◽  
B C Lemaux ◽  
R R Gal ◽  
A R Tomczak ◽  
L M Lubin ◽  
...  
Keyword(s):  
Monte Carlo ◽  
Large Scale ◽  
Near Infrared ◽  
Function Analysis ◽  
Voronoi Tessellation ◽  
Cosmological Parameters ◽  
Mass Range ◽  
Mass Function ◽  
Cluster Mass ◽  
Theoretical Mass

ABSTRACT We present a new mass function of galaxy clusters and groups using optical/near-infrared (NIR) wavelength spectroscopic and photometric data from the Observations of Redshift Evolution in Large-Scale Environments (ORELSE) survey. At z ∼ 1, cluster mass function studies are rare regardless of wavelength and have never been attempted from an optical/NIR perspective. This work serves as a proof of concept that z ∼ 1 cluster mass functions are achievable without supplemental X-ray or Sunyaev-Zel’dovich data. Measurements of the cluster mass function provide important contraints on cosmological parameters and are complementary to other probes. With ORELSE, a new cluster finding technique based on Voronoi tessellation Monte Carlo (VMC) mapping, and rigorous purity and completeness testing, we have obtained ∼240 galaxy overdensity candidates in the redshift range 0.55 < z < 1.37 at a mass range of 13.6 < log (M/M⊙) < 14.8. This mass range is comparable to existing optical cluster mass function studies for the local universe. Our candidate numbers vary based on the choice of multiple input parameters related to detection and characterization in our cluster finding algorithm, which we incorporated into the mass function analysis through a Monte Carlo scheme. We find cosmological constraints on the matter density, Ωm, and the amplitude of fluctuations, σ8, of $\Omega _{m} = 0.250^{+0.104}_{-0.099}$ and $\sigma _{8} = 1.150^{+0.260}_{-0.163}$. While our Ωm value is close to concordance, our σ8 value is ∼2σ higher because of the inflated observed number densities compared to theoretical mass function models owing to how our survey targeted overdense regions. With Euclid and several other large, unbiased optical surveys on the horizon, VMC mapping will enable optical/NIR cluster cosmology at redshifts much higher than what has been possible before.

scholarly journals Identification of Efficient Sampling Techniques for Probabilistic Voltage Stability Analysis of Renewable-Rich Power Systems

Energies ◽  
2021 ◽  
Vol 14 (8) ◽  
pp. 2328
Author(s):  
Mohammed Alzubaidi ◽  
Kazi N. Hasan ◽  
Lasantha Meegahapola ◽  
Mir Toufikur Rahman
Keyword(s):  
Monte Carlo ◽  
Stability Analysis ◽  
Power Systems ◽  
Large Scale ◽  
Voltage Stability ◽  
Sampling Technique ◽  
Coefficient Of Determination ◽  
Sampling Techniques ◽  
Quasi Monte Carlo ◽  
Efficient Sampling

This paper presents a comparative analysis of six sampling techniques to identify an efficient and accurate sampling technique to be applied to probabilistic voltage stability assessment in large-scale power systems. In this study, six different sampling techniques are investigated and compared to each other in terms of their accuracy and efficiency, including Monte Carlo (MC), three versions of Quasi-Monte Carlo (QMC), i.e., Sobol, Halton, and Latin Hypercube, Markov Chain MC (MCMC), and importance sampling (IS) technique, to evaluate their suitability for application with probabilistic voltage stability analysis in large-scale uncertain power systems. The coefficient of determination (R2) and root mean square error (RMSE) are calculated to measure the accuracy and the efficiency of the sampling techniques compared to each other. All the six sampling techniques provide more than 99% accuracy by producing a large number of wind speed random samples (8760 samples). In terms of efficiency, on the other hand, the three versions of QMC are the most efficient sampling techniques, providing more than 96% accuracy with only a small number of generated samples (150 samples) compared to other techniques.

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