1. A Fast Online Incremental Loop-Closure Detection
for Appearance-based SLAM
in Dynamic Crowded Environment
Noppharit Tongprasit, Aram Kawewong, Osamu Hasegawa
東京工業大学
11. Even With These Strong Changes, PIRF
Still Works Well !!!
Highly Dynamic Changes in Scenes
Illumination Changes in Scenes 11
12. PIRF-NAV1
我々の過去の提案手法
PIRFを用いた VISUAL SLAM の初期のもの
A.KAWEWONG, ET AL,:
"ONLINE INCREMENTAL APPEARANCE-BASED SLAM
IN HIGHLY DYNAMIC ENVIRONMENTS",
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(IJRR)
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13. PIRF-NAV1(Kawewong, A. et al.,IJRR)
• Visual SLAM based on PIRF’s concept
• Characteristics
– Online
– Robust to dynamic scene
– SIFT (128 dimensions) based system
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20. PIRF-NAV1:
City Center Result(Cont.)
Computation time Full scale result
Method PIRF-NAV 1
Recall 84%
Precision 100%
Total time (sec) 12057.4
Aver. time (ms) 9746
Total words 64618
Memory (MB) 33.4 MB
Unable to process in real time
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22. PIRF-NAV2 (Tongprasit, N. et al., MIRU’10)
• Improved version of PIRF-NAV 1
• Characteristics
–Online
–Robust to dynamic environment
–Real time process
–SURF (64 dimensions) based system
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25. PIRF-NAV2:
City Center Result
Precision-Recall
Aerial image
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26. PIRF-NAV2: City Center Result(Cont.)
PIRF-NAV1との比較
Method PIRF-NAV 2
Recall 80% (-4%)
Precision 100%
Total time (sec) 1086.4 (12倍高速化)
Aver. time (ms) 878.2 (12倍高速化)
Total words 24410 (約66%削減)
Memory (MB) 10.9 (約66%削減)
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31. 食堂での実験結果
[4] A. Angeli, D. Filliat, S. Doncieux, and J. A. Meyer, “Fast and Incremental Method
for Loop-Closure Detection Using Bags of Visual Words,” IEEE Trans. Robotics, 2008,
24(5), pp. 1027–1037 (オンラインVisual SLAMだが性能面でかなり劣る。)
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