scholarly journals Lightweight Visual Odometry for Autonomous Mobile Robots

Sensors ◽  
2018 ◽  
Vol 18 (9) ◽  
pp. 2837 ◽  
Author(s):  
Mohamed Aladem ◽  
Samir Rawashdeh
Keyword(s):  
Motion Estimation ◽  
Effective Means ◽  
Visual Odometry ◽  
Frame Rate ◽  
Autonomous Mobile Robots ◽  
Modular Software ◽  
Mobile Robot Localization ◽  
And Performance ◽  
Local Map ◽  
Open Source Systems

Vision-based motion estimation is an effective means for mobile robot localization and is often used in conjunction with other sensors for navigation and path planning. This paper presents a low-overhead real-time ego-motion estimation (visual odometry) system based on either a stereo or RGB-D sensor. The algorithm’s accuracy outperforms typical frame-to-frame approaches by maintaining a limited local map, while requiring significantly less memory and computational power in contrast to using global maps common in full visual SLAM methods. The algorithm is evaluated on common publicly available datasets that span different use-cases and performance is compared to other comparable open-source systems in terms of accuracy, frame rate and memory requirements. This paper accompanies the release of the source code as a modular software package for the robotics community compatible with the Robot Operating System (ROS).

Cluster-Based Multi-Dimensional Visualization

2011 ◽  
pp. 89-113
Author(s):  
Douglas Janes ◽  
Michael J. Schulte ◽  
Ethan K. Brodsky ◽  
Walter F. Block
Keyword(s):  
Interventional Procedures ◽  
Timing Analysis ◽  
Time Frame ◽  
Frame Rate ◽  
Time Resolved ◽  
Gpu Cluster ◽  
Visualization System ◽  
Cluster Visualization ◽  
And Performance ◽  
Effective Visualization

There is a growing need for high-frame-rate low-latency visualization solutions as medical practice moves toward interventional procedures. We present a cost-effective visualization system well suited for off-line visualization and interventional procedures. Users can view large time-resolved multi-dimensional datasets in real time with GPU cluster visualization. In addition, computational pre-processing can be hidden by rendering across distributed graphics cards, leading to improved frame-rates over a single graphics card solution. Finally, rendering on graphics cards offloads CPU cycles for generating the next time frame in the visualization. We have developed a network arbitration protocol for GPU cluster visualization called “token scheduling.” Our protocol reduces communication latency, which in turn lowers visualization latency and improves system stability and scalability. In addition, we evaluate GPU cluster behavior and performance through a timing analysis. This analysis leads to a better understanding of cluster size needed to achieve the desired frame rate of a given problem.

Visual Odometry Based on 3D-3D and 3D-2D Motion Estimation Method

2018 ◽  
Author(s):  
Kai Cao ◽  
Xuemeng Yang ◽  
Song Gao ◽  
Chaobo Chen ◽  
Jiaoru Huang ◽  
...  
Keyword(s):  
Motion Estimation ◽  
Estimation Method ◽  
Visual Odometry

The Democratic Potential of Narrative, Poetry, and Performance

2021 ◽  
pp. 242-259
Author(s):  
Aaron S. Zimmerman
Keyword(s):  
Effective Means ◽  
Democratic Society ◽  
University Faculty ◽  
Arts Based Research ◽  
Narrative Poetry ◽  
Community Stakeholders ◽  
Methodological Approaches ◽  
And Performance ◽  
Research Narrative

This chapter will present an overview of three particular methodologies of arts-based research: narrative, poetry, and performance. This chapter will discuss the ways in which these methodological approaches to research may be effective means through which to capture and share the knowledge possessed by community stakeholders. This chapter has positioned community stakeholders as partners in arts-based research. When university faculty and community stakeholders form reciprocal, mutually beneficial partnerships, it becomes possible to create and disseminate the knowledge needed to support a democratic society.

Granular Flow and Heat Transfer Study in a Near-Blackbody Enclosed Particle Receiver

2014 ◽  
Author(s):  
Janna Martinek ◽  
Zhiwen Ma
Keyword(s):  
Heat Transfer ◽  
Granular Flow ◽  
Effective Means ◽  
Solid Particles ◽  
Particle Flow ◽  
Heat Transfer Fluid ◽  
Conductive Heat ◽  
Transfer Coefficients ◽  
Performance Development ◽  
And Performance

Concentrating solar power (CSP) is an effective means of converting solar energy into electricity with an energy-storage capability for continuous, dispatchable, renewable power generation. However, challenges with current CSP systems include high initial capital cost and electricity price. The U.S. Department of Energy’s (DOE) SunShot program aims to reduce cost and improve performance of CSP technology. To this end, NREL is developing a solid-particle based CSP system projected to have significant cost and performance advantages over current nitrate-based molten salt systems. The design uses gas/solid, two-phase flow as the heat transfer fluid and separated solid particles as the storage medium. A critical component in the system is a novel near-blackbody (NBB) enclosed particle receiver with high-temperature capability developed with the goal of meeting DOE’s SunShot targets for receiver cost and performance. Development of the NBB enclosed particle receiver necessitates detailed study of the dimensions of the receiver, particle flow conditions, and heat transfer coefficients. The receiver utilizes an array of absorber tubes with a granular medium flowing downward through channels between tubes. The current study focuses on simulation and analysis of granular flow patterns and the resulting convective and conductive heat transfer to the particulate phase. This paper introduces modeling methods for the granular flow through the receiver module and compares the results with an in-situ particle flow test.

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