scholarly journals An Efficient Rescue System with Online Multi-Agent SLAM Framework

Sensors ◽  
2019 ◽  
Vol 20 (1) ◽  
pp. 235 ◽  
Author(s):  
SeungHwan Lee ◽  
HanJun Kim ◽  
BeomHee Lee
Keyword(s):  
Measurement Unit ◽  
The People ◽  
Localization And Mapping ◽  
Closest Point Method ◽  
Rescue System ◽  
Multi Agent ◽  
Slam Algorithm ◽  
The Individual ◽  
Rescue Time ◽  
Map Merging

A novel and an efficient rescue system with a multi-agent simultaneous localization and mapping (SLAM) framework is proposed to reduce the rescue time while rescuing the people trapped inside a burning building. In this study, the truncated signed distance (TSD) based SLAM algorithm is employed to accurately construct a two-dimensional map of the surroundings. For a new and significantly different scenario, information is gathered and the general iterative closest point method (GICP) is directly employed instead of the conventional TSD-SLAM process. Rescuers can utilize a total map created by merging individual maps, allowing them to efficiently search for victims. For online map merging, it is essential to determine the timing of when the individual maps are merged and the extent to which one map reflects the other map, via the weights. In the several experiments conducted, a light-detection and ranging system and an inertial measurement unit were integrated into a smart helmet for rescuers. The results indicated that the map was built more accurately than that obtained using the conventional TSD-SLAM. Additionally, the merged map was built more correctly by determining proper parameters for online map merging. Consequently, the accurate merged map allows rescuers to search for victims efficiently.

Rao-Blackwellized visual SLAM for small UAVs with vehicle model partition

2014 ◽  
Vol 41 (3) ◽  
pp. 266-274 ◽  
Author(s):  
Tianmiao Wang ◽  
Chaolei Wang ◽  
Jianhong Liang ◽  
Yicheng Zhang
Keyword(s):  
Particle Filter ◽  
Internal State ◽  
Factorization Method ◽  
Measurement Unit ◽  
Visual Slam ◽  
Vehicle Model ◽  
Theoretical Derivation ◽  
Content Type ◽  
Localization And Mapping ◽  
Slam Algorithm

Purpose – The purpose of this paper is to present a Rao–Blackwellized particle filter (RBPF) approach for the visual simultaneous localization and mapping (SLAM) of small unmanned aerial vehicles (UAVs). Design/methodology/approach – Measurements from inertial measurement unit, barometric altimeter and monocular camera are fused to estimate the state of the vehicle while building a feature map. In this SLAM framework, an extra factorization method is proposed to partition the vehicle model into subspaces as the internal and external states. The internal state is estimated by an extended Kalman filter (EKF). A particle filter is employed for the external state estimation and parallel EKFs are for the map management. Findings – Simulation results indicate that the proposed approach is more stable and accurate than other existing marginalized particle filter-based SLAM algorithms. Experiments are also carried out to verify the effectiveness of this SLAM method by comparing with a referential global positioning system/inertial navigation system. Originality/value – The main contribution of this paper is the theoretical derivation and experimental application of the Rao–Blackwellized visual SLAM algorithm with vehicle model partition for small UAVs.

scholarly journals Mobile LiDAR Scanning System Combined with Canopy Morphology Extracting Methods for Tree Crown Parameters Evaluation in Orchards

Sensors ◽  
2021 ◽  
Vol 21 (2) ◽  
pp. 339
Author(s):  
Kai Wang ◽  
Jun Zhou ◽  
Wenhai Zhang ◽  
Baohua Zhang
Keyword(s):  
Point Cloud ◽  
Search Algorithm ◽  
Clustering Algorithms ◽  
Fruit Trees ◽  
Measurement Unit ◽  
Scanning System ◽  
Localization And Mapping ◽  
Intelligent Measurement ◽  
Canopy Volume ◽  
Slam Algorithm

To meet the demand for canopy morphological parameter measurements in orchards, a mobile scanning system is designed based on the 3D Simultaneous Localization and Mapping (SLAM) algorithm. The system uses a lightweight LiDAR-Inertial Measurement Unit (LiDAR-IMU) state estimator and a rotation-constrained optimization algorithm to reconstruct a point cloud map of the orchard. Then, Statistical Outlier Removal (SOR) filtering and European clustering algorithms are used to segment the orchard point cloud from which the ground information has been separated, and the k-nearest neighbour (KNN) search algorithm is used to restore the filtered point cloud. Finally, the height of the fruit trees and the volume of the canopy are obtained by the point cloud statistical method and the 3D alpha-shape algorithm. To verify the algorithm, tracked robots equipped with LIDAR and an IMU are used in a standardized orchard. Experiments show that the system in this paper can reconstruct the orchard point cloud environment with high accuracy and can obtain the point cloud information of all fruit trees in the orchard environment. The accuracy of point cloud-based segmentation of fruit trees in the orchard is 95.4%. The R2 and Root Mean Square Error (RMSE) values of crown height are 0.93682 and 0.04337, respectively, and the corresponding values of canopy volume are 0.8406 and 1.5738, respectively. In summary, this system achieves a good evaluation result of orchard crown information and has important application value in the intelligent measurement of fruit trees.

A Simplistic Approach for Lightweight Multi-Agent SLAM Algorithm

2020 ◽  
Vol 11 (3) ◽  
pp. 67-83
Author(s):  
Anton Filatov ◽  
Kirill Krinkin
Keyword(s):  
State Of The Art ◽  
Simultaneous Localization And Mapping ◽  
The State ◽  
Limited Resources ◽  
Challenging Problem ◽  
Multiple Agents ◽  
Localization And Mapping ◽  
Multi Agent ◽  
Slam Algorithm ◽  
Computational Resources

Limitation of computational resources is a challenging problem for moving agents that launch such algorithms as simultaneous localization and mapping (SLAM). To increase the accuracy on limited resources one may add more computing agents that might explore the environment quicker than one and thus to decrease the load of each agent. In this article, the state-of-the-art in multi-agent SLAM algorithms is presented, and an approach that extends laser 2D single hypothesis SLAM for multiple agents is introduced. The article contains a description of problems that are faced in front of a developer of such approach including questions about map merging, relative pose calculation, and roles of agents.

scholarly journals GPS-SLAM: An Augmentation of the ORB-SLAM Algorithm

Sensors ◽  
2019 ◽  
Vol 19 (22) ◽  
pp. 4973 ◽  
Author(s):  
Dániel Kiss-Illés ◽  
Cristina Barrado ◽  
Esther Salamí
Keyword(s):  
Frame Rate ◽  
Measurement Unit ◽  
Additional Information ◽  
Main Work ◽  
Localization And Mapping ◽  
Global Positioning ◽  
Aerial Vehicle ◽  
Slam Algorithm ◽  
Low Frame Rate

This work presents Global Positioning System-Simultaneous Localization and Mapping (GPS-SLAM), an augmented version of Oriented FAST (Features from accelerated segment test) and Rotated BRIEF (Binary Robust Independent Elementary Features) feature detector (ORB)-SLAM using GPS and inertial data to make the algorithm capable of dealing with low frame rate datasets. In general, SLAM systems are successful in case of datasets with a high frame rate. This work was motivated by a scarce dataset where ORB-SLAM often loses track because of the lack of continuity. The main work includes the determination of the next frame’s pose based on the GPS and inertial data. The results show that this additional information makes the algorithm more robust. As many large, outdoor unmanned aerial vehicle (UAV) flights save the GPS and inertial measurement unit (IMU) data of the capturing of images, this program gives an option to use the SLAM algorithm successfully even if the dataset has a low frame rate.

Simultaneous Localization and Mapping for Robot Based Multi-Agent System

2014 ◽  
Vol 556-562 ◽  
pp. 2248-2251
Author(s):  
Xiao Kun Leng ◽  
Xin Wei Wang ◽  
Song Hao Piao
Keyword(s):  
Particle Filtering ◽  
Position Estimation ◽  
Multi Agent System ◽  
Agent System ◽  
Localization And Mapping ◽  
Improvement Measures ◽  
Multi Agent ◽  
Accurate Position ◽  
Slam Algorithm ◽  
Number Of Particles

Applications on Multi-agent system have been widely studied recently. The positioning of Robotic system is to estimate the position and posture and accurate position estimation. FastSLAM is a SLAM algorithm based on particle filtering, which can perform positioning fast and has been widely applied. This paper applied the genetic particle filtering into SLAM problem to optimize the SLAM algorithm. We present the algorithms based on genetic particle filtering which can obviously reduce the number of particles needed in FastSLAM. The experimental results show that the improvement measures can effectively improve the performance of the algorithm, so that it enables them to maintain a reliable positioning.

scholarly journals Grid Map Merging with Ant Colony Optimization for Multi-Robot Systems

2021 ◽  
Author(s):  
Heoncheol Lee
Keyword(s):  
Ant Colony Optimization ◽  
Ant Colony ◽  
Working Environment ◽  
Grid Map ◽  
Localization And Mapping ◽  
Robot Systems ◽  
The Individual ◽  
Merging Algorithms ◽  
Multi Robot ◽  
Map Merging

Multi-robot systems have recently been in the spotlight in terms of efficiency in performing tasks. However, if there is no map in the working environment, each robot must perform SLAM which simultaneously performs localization and mapping the surrounding environments. To operate the multi-robot systems efficiently, the individual maps should be accurately merged into a collective map. If the initial correspondences among the robots are unknown or uncertain, the map merging task becomes challenging. This chapter presents a new approach to accurately conducting grid map merging with the Ant Colony Optimization (ACO) which is one of the well-known sampling-based optimization algorithms. The presented method was tested with one of the existing grid map merging algorithms and showed that the accuracy of grid map merging was improved by the ACO.

A SLAM-Based Mobile Augmented Reality Tracking Registration Algorithm

2019 ◽  
Vol 34 (01) ◽  
pp. 2054005
Author(s):  
Jia Liu ◽  
Yulei Xie ◽  
Shuang Gu ◽  
Xu Chen
Keyword(s):  
Augmented Reality ◽  
Real Time ◽  
Measurement Unit ◽  
Camera Motion ◽  
Mobile Augmented Reality ◽  
Feature Points ◽  
Registration Algorithm ◽  
Localization And Mapping ◽  
Camera Localization ◽  
Slam Algorithm

This paper proposes a simultaneous localization and mapping (SLAM)-based markerless mobile-end tracking registration algorithm to address the problem of virtual image drift caused by fast camera motion in mobile-augmented reality (AR). The proposed algorithm combines the AGAST-FREAK-SLAM algorithm with inertial measurement unit (IMU) data to construct a scene map and localize the camera’s pose. The extracted feature points are matched with feature points in a map library for real-time camera localization and precise registration of virtual objects. Experimental results show that the proposed method can track feature points in real time, accurately construct scene maps, and locate cameras; moreover, it improves upon the tracking and registration robustness of earlier algorithms.

The relevance of dietetic approach of Ayurveda from the perspective of COVID-19 pandemic

2020 ◽  
Vol 11 (SPL1) ◽  
pp. 748-752
Author(s):  
Swapnali Khabade ◽  
Bharat Rathi ◽  
Renu Rathi
Keyword(s):  
Severe Acute Respiratory Syndrome ◽  
Healthy Person ◽  
World Health ◽  
Physical And Mental Health ◽  
Leading Role ◽  
Global Pandemic ◽  
The People ◽  
The World ◽  
Health Organization ◽  
The Individual

A novel, severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2), causes severe acute respiratory syndrome and spread globally from Wuhan, China. In March 2020 the World Health Organization declared the SARS-Cov-2 virus as a COVID- 19, a global pandemic. This pandemic happened to be followed by some restrictions, and specially lockdown playing the leading role for the people to get disassociated with their personal and social schedules. And now the food is the most necessary thing to take care of. It seems the new challenge for the individual is self-isolation to maintain themselves on the health basis and fight against the pandemic situation by boosting their immunity. Food organised by proper diet may maintain the physical and mental health of the individual. Ayurveda aims to promote and preserve the health, strength and the longevity of the healthy person and to cure the disease by properly channelling with and without Ahara. In Ayurveda, diet (Ahara) is considered as one of the critical pillars of life, and Langhana plays an important role too. This article will review the relevance of dietetic approach described in Ayurveda with and without food (Asthavidhi visheshaytana & Lanhgan) during COVID-19 like a pandemic.

Whither the people in the ASEAN Community?

2020 ◽  
Vol 10 (3) ◽  
pp. 43-57
Author(s):  
See Seng Tan
Keyword(s):  
Southeast Asia ◽  
Political Ideology ◽  
Management Development ◽  
The Other ◽  
Asean Member ◽  
Derechos Humanos ◽  
The People ◽  
Droits Humains ◽  
The One ◽  
The Individual

Abstract: The longstanding effort to develop a people-based regionalism in Southeast Asia has been shaped by an inherent tension between the liberal inclination to privilege the individual and the community under formation, on the one hand, and the realist insistence on the primacy of the state, on the other. This article explores the conditions and constraints affecting ASEAN’s progress in remaking Southeast Asia into a people-focused and caring community in three areas: disaster management, development, and democratization (understood here as human rights). Arguably, the persistent gap in Southeast Asia between aspiration and expectation is determined less by political ideology than by the pragmatic responses of ASEAN member states to the forces of nationalism and protectionism, as well as their respective sense of local and regional responsibility.Resumen: El esfuerzo histórico para desarrollar un regionalismo basado en las personas del sudeste de Asia ha estado marcado por una tensión fundamental entre la inclinación liberal de privilegiar el individuo y la comunidad y la insistencia realista sobre la primacía del estado. Este artículo explora las condiciones y limitaciones que afectan el progreso de la ASEAN en la reestructuración de Asia sudoriental en una comunidad centrada en el cuidado de las personas en: gestión de desastres, desarrollo y democratización (i.e., derechos humanos). La brecha persistente en el sudeste asiático entre la aspiración y la expectativa está determinada por las respuestas pragmáticas de los miembros de la ASEAN sometidos a las fuerzas del nacionalismo y proteccionismo, así como su respectivo sentido de responsabilidad local y regional.Résumé: L’effort historique pour développer un régionalisme fondé sur les peuples en Asie du Sud-Est a été marqué par une tension fondamentale entre l’inclination libérale qui privilégie, d’une part, l’individu et la communauté et, d’autre part, l’insistance réaliste sur la primauté de l’État. Cet article explore les conditions et les contraintes qui nuisent aux progrès de l’ANASE dans le cadre d’une refonte de l’Asie du Sud-Est en une communauté centrée et attentive aux peuples dans trois domaines : la gestion des désastres, le développement et la démocratisation (en référence aux droits humains). Le fossé persistant en Asie du Sud-Est entre les aspirations et les attentes est vraisemblablement moins déterminé par l’idéologie politique que par les réponses pragmatiques des États membres de l’ANASE soumis aux forces du nationalisme et du protectionnisme ainsi que par leur sens respectif de la responsabilité locale et régionale.

Creative Tourism in Songkhla Lake Basin

2020 ◽  
Vol 11 (1) ◽  
pp. 126-126
Author(s):  
Dr.Prachyakorn Chaiyakot ◽  
Wachara Chaiyakhet ◽  
Dr.Woraluck Lalitsasivimol ◽  
Dr.Siriluck Thongpoon
Keyword(s):  
Local People ◽  
Lake Basin ◽  
Secondary Source ◽  
Tourist Attractions ◽  
The People ◽  
History Of ◽  
Tourism Resources ◽  
The Individual ◽  
Tourism Community ◽  
Songkhla Lake

Songkhla Lake Basin has a long history of at least 6,000 years and has a wide variety of tourism resources including nature, history, beliefs, culture and various traditions of the local people. It covers 3 provinces, the whole area of Phatthalung, 12 districts of Songkhla and 2 districts of Nakhon Si Thammarat Province. It has an area of approximately 8,727 square kilometers. There are many tourist attractions because the basin has a long history through different eras, natural, historic, ancient sites, and the culture of the local people. In 2018, both Thai and foreign tourists visited Songkhla and Phatthalung, which is the main area of Songkhla Lake Basin. The total number of tourists that came was 7,628,813 and 1,641,841 and an income of 68,252.64 and 3,470.96 million baht was generated from each province, respectively (Ministry of Tourism and Sports, 2020). Although Songkhla Lake Basin has various tourist attractions, the promotion of tourism with the involvement of government agencies in the past mainly focused on promoting tourism along with the tourist attractions rather than encouraging tourists to experience and learn the culture of the people living in the area; the culture that reflects the uniqueness of the people in the south. This study, therefore, aims to find creative tourism activities in SLB in order to increase the value of tourism resources, create tourism activities that are aligned with the resources available in the community and increase the number of tourists in the area. Data for this study were collected using a secondary source of data collection method. It was done through a literature review of related documents, texts, magazines, and research which focus on Songkhla Lake Basin as a guideline for designing tourism activities. The field survey was done through twelve community-based tourism sites in SLB to find creative tourism activities. Data on each activity were collected in detail by interviewing the tourism community leaders and the local people. Content analysis was used to describe the individual open-ended questions by focusing on the important issues and the information obtained was presented as a narrative. Keywords: Songkhla Lake Basin, Creative Tourism, Local Wisdom

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