Search results for "place recognition"
showing 3 items of 3 documents
Localisation visuelle basée sur la reconnaissance du lieu dans les environnements changeants
2017
In many applications, it is crucial that a robot or vehicle localizes itself within the world especially for autonomous navigation and driving. The goal of this thesis is to improve place recognition performance for visual localization in changing environment. The approach is as follows: in off-line phase, geo-referenced images of each location are acquired, features are extracted and saved. While in the on-line phase, the vehicle localizes itself by identifying a previously-visited location through image or sequence retrieving. However, visual localization is challenging due to drastic appearance and illumination changes caused by weather conditions or seasonal changing. This thesis addres…
Vehicle localization based on scene perception
2021
The vision-based vehicle localization task is tackled as an image-based place recognition problem in this thesis. As image representation is an important process to place recognition, we proposed place recognition methods focusing on increasing the quality of image features. First, the dynamic object removal step is proposed to remove the dynamic objects, such as vehicles and pedestrians, of an image by semantic segmentation method and restore their background information by image inpainting method. Second, reducing instead of removing the noisy information of an image is proposed. Using the image blurring method to reduce the image noise, the performance of place recognition is improved wi…
Spared place and object-place learning but limited spatial working memory capacity in rats with selective lesions of the dentate gyrus
2007
We studied the cognitive performance of rats with colchicine-induced lesions of the hippocampal dentate gyrus (DG) on a range of spatial, non-spatial and mixed spatial/procedural tasks. Rats were assigned to three experimental groups receiving large colchicine lesions (7 μg per hippocampus), small colchicine lesions (1.75 μg per hippocampus) or sham lesions. Stereological estimates of cell density indicated that the colchicine treatments induced dose-dependent damage to the DG, while sparing in large part other hippocampal subfields. Remarkably, the behavioural results showed that the colchicine lesions did not affect the performance of rats in an object discrimination task, in an object-pl…