Search results for " SLAM"

SAMSLAM: Simulated Annealing Monocular SLAM

2013

This paper proposes a novel monocular SLAM approach. For a triplet of successive keyframes, the approach inteleaves the registration of the three 3D maps associated to each image pair in the triplet and the refinement of the corresponding poses, by progressively limiting the allowable reprojection error according to a simulated annealing scheme. This approach computes only local overlapping maps of almost constant size, thus avoiding problems of 3D map growth. It does not require global optimization, loop closure and back-correction of the poses.

MOBILE MAPPING FOR CULTURAL HERITAGE: THE SURVEY OF THE COMPLEX OF ST. JOHN OF THE HERMITS IN PALERMO (ITALY)

2023

Abstract. During the 11th and 12th century, the Arab-Norman architectural style characterized the most beautiful and important Cultural Heritage buildings in Sicily, and especially in Palermo (Italy). The relevance of these monuments is highlighted by their inclusion in the UNESCO World Heritage Sites List in 2015. For many years, the University of Palermo has been studying and documenting several Arab-Norman cultural assets, and in particular, the complex of St. John of the Hermits in Palermo (Italy). A first detailed 3D survey of the main structures of this complex was carried out using a terrestrial laser scanner while the 3D survey of the entire complex was made using a Mobile Mapping S…

Discoursing Finnish rock : articulations of identities in the Saimaa-ilmiö rock documentary

2010

Kotimaisen 2010-luvun lavarunouden kentillä ja laidoilla : havainnointeja lavarunouden teoriasta, arvoista ja keinoista

2014

Kotimainen lavarunous elää 2010-luvulla vahvimmin Poetry slam -kilpailuissa, Helsinki Poetry Connection -runoryhmittymän toiminnassa ja tapahtumissa sekä runoiltojen open mic -osuuksissa. Lavarunous on omien runojen esittämistä esiintymiskonteksti huomioon ottaen ja siihen panostaen, mikä erottaa lavarunouden oleellisesti runonlausunnasta ja -luennasta. Lavarunoudella on erittäin vahvat yhteydet musiikkiin, stand-up–komiikkaan ja rap-lyriikkaan. Tässä kirjallisuuden pro gradu -työssä tarkastelen suomalaisen tämänhetkisen lavarunouden historiaa, estetiikkaa ja poetiikkaa. Pyrin määrittelemään lavarunouden käsitettä Julia Novakin ja Susan B. A. Somers-Willettin teorioihin ja määritelmiin peil…

Fast adaptive frame preprocessing for 3D reconstruction

2015

Abstract: This paper presents a new online preprocessing strategy to detect and discard ongoing bad frames in video sequences. These include frames where an accurate localization between corresponding points is difficult, such as for blurred frames, or which do not provide relevant information with respect to the previous frames in terms of texture, image contrast and non-flat areas. Unlike keyframe selectors and deblurring methods, the proposed approach is a fast preprocessing working on a simple gradient statistic, that does not require to compute complex time-consuming image processing, such as the computation of image feature keypoints, previous poses and 3D structure, or to know a prio…

Robust Selective Stereo SLAM without Loop Closure and Bundle Adjustment

2013

This paper presents a novel stereo SLAM framework, where a robust loop chain matching scheme for tracking keypoints is combined with an effective frame selection strategy. The proposed approach, referred to as selective SLAM (SSLAM), relies on the observation that the error in the pose estimation propagates from the uncertainty of the three-dimensional points. This is higher for distant points, corresponding to matches with low temporal flow disparity in the images. Comparative results based on the reference KITTI evaluation framework show that SSLAM is effective and can be implemented efficiently, as it does not require any loop closure or bundle adjustment.