Brain-inspired close loop detection
Loop closing is the problem of correctly asserting that a robot has returning to a previously visited area. This is an extremely important component of the Simultaneous Localization and Mapping (SLAM) problem (Kin Leong Ho, 2006). The many implementations of loop closure in various SLAM techniques i...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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2014
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| Online Access: | http://hdl.handle.net/10356/59046 |
| _version_ | 1826124360259207168 |
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| author | Chithra Srinivasan |
| author2 | Kwoh Chee Keong |
| author_facet | Kwoh Chee Keong Chithra Srinivasan |
| author_sort | Chithra Srinivasan |
| collection | NTU |
| description | Loop closing is the problem of correctly asserting that a robot has returning to a previously visited area. This is an extremely important component of the Simultaneous Localization and Mapping (SLAM) problem (Kin Leong Ho, 2006). The many implementations of loop closure in various SLAM techniques involve the internal map and vehicle estimates to come to a conclusion. However, these implementations are prone to much error. The loop closer mechanism that is being proposed here does not involve any of the metric estimates of the SLAM system, rather it is completely independent. It uses an appearance-based SLAM technique to deal with the problem of loop closure.
The vehicle captures the appearance of the local scene with the help of a RGBD sensor like Kinect. The captured scenes are classified using a biologically inspired method which uses the shape based image property that is provided by a hierarchical feed forward model of the visual cortex. The H-MAX algorithm has been used for this purpose. The similarities of all the images through the extracted features are then encoded in a ‘similarity matrix’. These sequences as a last step are then used by a dynamic programming algorithm (Smith-Waterman algorithm) to extract the presence of a closed-loop. The technique is also demonstrated successfully with depth based images. |
| first_indexed | 2024-10-01T06:19:04Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/59046 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:19:04Z |
| publishDate | 2014 |
| record_format | dspace |
| spelling | ntu-10356/590462023-03-03T20:51:32Z Brain-inspired close loop detection Chithra Srinivasan Kwoh Chee Keong School of Computer Engineering A*STAR Institute for Infocomm Research (I2R) Parallel and Distributed Computing Centre DRNTU::Engineering::Computer science and engineering::Computing methodologies::Image processing and computer vision Loop closing is the problem of correctly asserting that a robot has returning to a previously visited area. This is an extremely important component of the Simultaneous Localization and Mapping (SLAM) problem (Kin Leong Ho, 2006). The many implementations of loop closure in various SLAM techniques involve the internal map and vehicle estimates to come to a conclusion. However, these implementations are prone to much error. The loop closer mechanism that is being proposed here does not involve any of the metric estimates of the SLAM system, rather it is completely independent. It uses an appearance-based SLAM technique to deal with the problem of loop closure. The vehicle captures the appearance of the local scene with the help of a RGBD sensor like Kinect. The captured scenes are classified using a biologically inspired method which uses the shape based image property that is provided by a hierarchical feed forward model of the visual cortex. The H-MAX algorithm has been used for this purpose. The similarities of all the images through the extracted features are then encoded in a ‘similarity matrix’. These sequences as a last step are then used by a dynamic programming algorithm (Smith-Waterman algorithm) to extract the presence of a closed-loop. The technique is also demonstrated successfully with depth based images. Bachelor of Engineering (Computer Science) 2014-04-22T01:35:43Z 2014-04-22T01:35:43Z 2014 2014 Final Year Project (FYP) http://hdl.handle.net/10356/59046 en Nanyang Technological University 51 p. application/pdf |
| spellingShingle | DRNTU::Engineering::Computer science and engineering::Computing methodologies::Image processing and computer vision Chithra Srinivasan Brain-inspired close loop detection |
| title | Brain-inspired close loop detection |
| title_full | Brain-inspired close loop detection |
| title_fullStr | Brain-inspired close loop detection |
| title_full_unstemmed | Brain-inspired close loop detection |
| title_short | Brain-inspired close loop detection |
| title_sort | brain inspired close loop detection |
| topic | DRNTU::Engineering::Computer science and engineering::Computing methodologies::Image processing and computer vision |
| url | http://hdl.handle.net/10356/59046 |
| work_keys_str_mv | AT chithrasrinivasan braininspiredcloseloopdetection |