Measurement of Dense Static Point Cloud and Online Behavior Recognition Using Horizontal LIDAR and Pan Rotation of Vertical LIDAR with Mirrors

2014 ◽  
Vol 7 (1) ◽  
pp. 12-20
Author(s):  
Hiroshi NOGUCHI ◽  
Masato HANDA ◽  
Rui FUKUI ◽  
Masamichi SHIMOSAKA ◽  
Taketoshi MORI ◽  
...  
2009 ◽  
Vol 32 (2) ◽  
pp. 275-281 ◽  
Author(s):  
Tian-Yu HUANG ◽  
Chong-De SHI ◽  
Feng-Xia LI ◽  
Cheng CHENG

Sensors ◽  
2020 ◽  
Vol 20 (8) ◽  
pp. 2432
Author(s):  
Shiqiang Yang ◽  
Guohao Fan ◽  
Lele Bai ◽  
Cheng Zhao ◽  
Dexin Li

As one of the core technologies for autonomous mobile robots, Visual Simultaneous Localization and Mapping (VSLAM) has been widely researched in recent years. However, most state-of-the-art VSLAM adopts a strong scene rigidity assumption for analytical convenience, which limits the utility of these algorithms for real-world environments with independent dynamic objects. Hence, this paper presents a semantic and geometric constraints VSLAM (SGC-VSLAM), which is built on the RGB-D mode of ORB-SLAM2 with the addition of dynamic detection and static point cloud map construction modules. In detail, a novel improved quadtree-based method was adopted for SGC-VSLAM to enhance the performance of the feature extractor in ORB-SLAM (Oriented FAST and Rotated BRIEF-SLAM). Moreover, a new dynamic feature detection method called semantic and geometric constraints was proposed, which provided a robust and fast way to filter dynamic features. The semantic bounding box generated by YOLO v3 (You Only Look Once, v3) was used to calculate a more accurate fundamental matrix between adjacent frames, which was then used to filter all of the truly dynamic features. Finally, a static point cloud was estimated by using a new drawing key frame selection strategy. Experiments on the public TUM RGB-D (Red-Green-Blue Depth) dataset were conducted to evaluate the proposed approach. This evaluation revealed that the proposed SGC-VSLAM can effectively improve the positioning accuracy of the ORB-SLAM2 system in high-dynamic scenarios and was also able to build a map with the static parts of the real environment, which has long-term application value for autonomous mobile robots.


2008 ◽  
Author(s):  
J. H. Thompson ◽  
V. Kobla ◽  
X. Bai ◽  
F. Li ◽  
D. Liu ◽  
...  

2007 ◽  
Author(s):  
Larry Rosen ◽  
Nancy Cheever ◽  
Cheyenne Cummings ◽  
Julie Felt ◽  
Michelle Albertella

2020 ◽  
Vol 39 (6) ◽  
pp. 8927-8935
Author(s):  
Bing Zheng ◽  
Dawei Yun ◽  
Yan Liang

Under the impact of COVID-19, research on behavior recognition are highly needed. In this paper, we combine the algorithm of self-adaptive coder and recurrent neural network to realize the research of behavior pattern recognition. At present, most of the research of human behavior recognition is focused on the video data, which is based on the video number. At the same time, due to the complexity of video image data, it is easy to violate personal privacy. With the rapid development of Internet of things technology, it has attracted the attention of a large number of experts and scholars. Researchers have tried to use many machine learning methods, such as random forest, support vector machine and other shallow learning methods, which perform well in the laboratory environment, but there is still a long way to go from practical application. In this paper, a recursive neural network algorithm based on long and short term memory (LSTM) is proposed to realize the recognition of behavior patterns, so as to improve the accuracy of human activity behavior recognition.


2016 ◽  
Vol 136 (8) ◽  
pp. 1078-1084
Author(s):  
Shoichi Takei ◽  
Shuichi Akizuki ◽  
Manabu Hashimoto

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