Robust Vehicle Localization in Urban Environments Using Probabilistic MapsKitsukawa Yuki
研究室ゼミでの論文紹介資料です。
Robust Vehicle Localization in Urban Environments Using Probabilistic Maps
Jesse Levinson, Sebastian Thrun
International Conference on Robotics and Automation (ICRA), 2010
輪読発表資料: Efficient Virtual Shadow Maps for Many Lightsomochi64
とある勉強会で発表した時に作った発表資料です。
輪読した論文: Ola Olsson, et. al., Efficient Virtual Shadow Maps for Many Lights, Proceedings of the ACM SIGGRAPH Symposium on I3D, 2014.
Scan Registration for Autonomous Mining Vehicles Using 3D-NDTKitsukawa Yuki
研究室のゼミの論文紹介の発表資料です。
Magnusson, M., Lilienthal, A. and Duckett, T. (2007), Scan registration for autonomous mining vehicles using 3D-NDT. J. Field Robotics, 24: 803–827. doi: 10.1002/rob.20204
Robust Vehicle Localization in Urban Environments Using Probabilistic MapsKitsukawa Yuki
研究室ゼミでの論文紹介資料です。
Robust Vehicle Localization in Urban Environments Using Probabilistic Maps
Jesse Levinson, Sebastian Thrun
International Conference on Robotics and Automation (ICRA), 2010
輪読発表資料: Efficient Virtual Shadow Maps for Many Lightsomochi64
とある勉強会で発表した時に作った発表資料です。
輪読した論文: Ola Olsson, et. al., Efficient Virtual Shadow Maps for Many Lights, Proceedings of the ACM SIGGRAPH Symposium on I3D, 2014.
Scan Registration for Autonomous Mining Vehicles Using 3D-NDTKitsukawa Yuki
研究室のゼミの論文紹介の発表資料です。
Magnusson, M., Lilienthal, A. and Duckett, T. (2007), Scan registration for autonomous mining vehicles using 3D-NDT. J. Field Robotics, 24: 803–827. doi: 10.1002/rob.20204
13. アプローチ
• Optical Flow[18]をつなげたtrajectories(軌跡)を
領域セグメンテーションに利用[3]
– [3] Brox, T., Malik, J. ”Object Segmentation by Long Term Analysis of Point
Trajectories,” ECCV 2010
– [18] Sundaram N., Brox T., Keutzer K., "Dense Point Trajectries by GPU-
Accelerated Large Displacement Optical Flow," ECCV2010
• Bayesian filterで軌跡をモデル化[9]
– 時間変化に応じてモデルを更新する
– 長時間の映像でも安定して前景抽出
– [9] Kwak, S., Lim, T., Nam, W., Han, B., Hee, J. ”Generalized Background
Subtraction Based on Hybrid Inference by Belief Propagation and
Bayesian Filtering,” ICCV 2011