An In-depth Analysis of the SLAM Algorithm; the Sparse Extended Information Filter

Sparse extended information filter-based simultaneous localization and mapping (SEIF-based SLAM) algorithm can reflect significant advantages in terms of computation time and storage memories. However, SEIF-SLAM is easily prone to overconfidence due to sparsification strategy. In this paper we will consider the time consumption and information loss of sparse operation, and get the optimal sparse time. In order to verify the feasibility of sparsification, a sea trial for autonomous underwater vehicle (AUV) C-Ranger was conducted in Tuandao Bay. The experimental results will show the improved algorithm is much more effective and accurate comparedwithothermethods.

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An Improved Extended Information Filter SLAM Algorithm Based on Omnidirectional Vision

Journal of Applied Mathematics ◽

10.1155/2014/948505 ◽

2014 ◽

Vol 2014 ◽

pp. 1-10 ◽

Cited By ~ 1

Author(s):

Jingchuan Wang ◽

Weidong Chen

Keyword(s):

High Reliability ◽

Information Matrix ◽

Omnidirectional Vision ◽

Great Efficiency ◽

Repeated Observations ◽

Global Correlation ◽

Information Filter ◽

Wide Scale ◽

Slam Algorithm ◽

Omnidirectional Images

In the SLAM application, omnidirectional vision extracts wide scale information and more features from environments. Traditional algorithms bring enormous computational complexity to omnidirectional vision SLAM. An improved extended information filter SLAM algorithm based on omnidirectional vision is presented in this paper. Based on the analysis of structure a characteristics of the information matrix, this algorithm improves computational efficiency. Considering the characteristics of omnidirectional images, an improved sparsification rule is also proposed. The sparse observation information has been utilized and the strongest global correlation has been maintained. So the accuracy of the estimated result is ensured by using proper sparsification of the information matrix. Then, through the error analysis, the error caused by sparsification can be eliminated by a relocation method. The results of experiments show that this method makes full use of the characteristic of repeated observations for landmarks in omnidirectional vision and maintains great efficiency and high reliability in mapping and localization.

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SLAM algorithm based on sparse extended information filter and particle filter

Journal of Computer Applications ◽

10.3724/sp.j.1087.2012.01325 ◽

2013 ◽

Vol 32 (5) ◽

pp. 1325-1328

Author(s):

Dai-xian ZHU ◽

Xiao-hua WANG

Keyword(s):

Particle Filter ◽

Information Filter ◽

Slam Algorithm

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TEM/AEM characterization of fine-grained clay minerals in very-low-grade rocks: Evaluation of contamination by empa involving celadonite family minerals

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100165938 ◽

1996 ◽

Vol 54 ◽

pp. 694-695

Author(s):

Gejing Li ◽

D. R. Peacor ◽

D. S. Coombs ◽

Y. Kawachi

Keyword(s):

Electron Microscopy ◽

Volcanic Rocks ◽

Analytical Electron Microscopy ◽

Metamorphic Rocks ◽

New Mineral ◽

Chemical Compositions ◽

Low Grade ◽

Fine Grained ◽

Depth Analysis ◽

Mineral Aggregates

Recent advances in transmission electron microscopy (TEM) and analytical electron microscopy (AEM) have led to many new insights into the structural and chemical characteristics of very finegrained, optically homogeneous mineral aggregates in sedimentary and very low-grade metamorphic rocks. Chemical compositions obtained by electron microprobe analysis (EMPA) on such materials have been shown by TEM/AEM to result from beam overlap on contaminant phases on a scale below resolution of EMPA, which in turn can lead to errors in interpretation and determination of formation conditions. Here we present an in-depth analysis of the relation between AEM and EMPA data, which leads also to the definition of new mineral phases, and demonstrate the resolution power of AEM relative to EMPA in investigations of very fine-grained mineral aggregates in sedimentary and very low-grade metamorphic rocks.Celadonite, having end-member composition KMgFe3+Si4O10(OH)2, and with minor substitution of Fe2+ for Mg and Al for Fe3+ on octahedral sites, is a fine-grained mica widespread in volcanic rocks and volcaniclastic sediments which have undergone low-temperature alteration in the oceanic crust and in burial metamorphic sequences.

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Doping effects on the geometric and electronic structure of tin clusters

Physical Chemistry Chemical Physics ◽

10.1039/c9cp05124d ◽

2019 ◽

Vol 21 (44) ◽

pp. 24478-24488 ◽

Cited By ~ 1

Author(s):

Martin Gleditzsch ◽

Marc Jäger ◽

Lukáš F. Pašteka ◽

Armin Shayeghi ◽

Rolf Schäfer

Keyword(s):

Density Functional Theory ◽

Electronic Structure ◽

Density Functional ◽

Beam Deflection ◽

Functional Theory ◽

Doping Effects ◽

Depth Analysis ◽

Trajectory Simulations

In depth analysis of doping effects on the geometric and electronic structure of tin clusters via electric beam deflection, numerical trajectory simulations and density functional theory.

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Delay Discounting in Impulsive Behavior

European Psychologist ◽

10.1027/1016-9040/a000360 ◽

2019 ◽

Vol 24 (4) ◽

pp. 312-321 ◽

Cited By ~ 4

Author(s):

Diana Moreira ◽

Fernando Barbosa

Keyword(s):

Delay Discounting ◽

Human Subjects ◽

Empirical Studies ◽

Cochrane Collaboration ◽

Initial Assessment ◽

Impulsive Behavior ◽

Manual Search ◽

Study Results ◽

Depth Analysis ◽

The Future

Abstract. Delay discounting (DD) is the process of devaluing results that happen in the future. With this review, we intend to identify specificities in the processes of DD in impulsive behavior. Studies were retrieved from multiple literature databases, through rigorous criteria (we included systematic reviews and empirical studies with adult human subjects), following the procedures of the Cochrane Collaboration initiative. Of the 174 documents obtained, 19 were considered eligible for inclusion and were retained for in-depth analysis. In addition, 13 studies from the manual search were included. Thus, a total of 32 studies were selected for review. The objectives/hypotheses, results, and the main conclusion(s) were extracted from each study. Results show that people with pronounced traits of impulsivity discount rewards more markedly, that is, they prefer immediate rewards, though of less value, or postponed losses, even though they worsen in the future. Taken together, the existing data suggest the importance of inserting DD as a tool for initial assessment in conjunction with measures of addiction and stress level, as well as the consideration of new therapies.

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