RFID-based hybrid metric-topological SLAM for GPS-denied environments

Förster, Christian; Sabatta, Deon; Siegwart, Roland; Scaramuzza, Davide

doi:10.1109/icra.2013.6631324

Cited by 14 publications

(11 citation statements)

References 14 publications

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“…al. have shown in [6] one online Normalized Cut recursive partitioning for large environments from data of radio-frequency tags. In that work, the adjacency matrix of the graph in question is built as a function of received signal strength between tags.…”

Section: Related Workmentioning

confidence: 99%

Visual similarity analysis in loop closure through data dimensionality reduction via diffusion maps

Moreira

Justel

Rosa

2015

Proceedings of the 30th Annual ACM Symposium on Applied Computing

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This paper describes loop closures detection, a significant problem in mobile robotics, using analysis of similarity between images in a low-dimensional mapping. We represent a set of images as a graph in high-dimensional space, where each node is represented by a dominant eigenvector of the correspondent image. To this graph, we apply Diffusion Maps by Coifman and Lafon [4], a graph-based spectral method to data dimensionality reduction. We determine visual similarity analysis and detect loop closure in lower dimension, without building a vocabulary of visual words. Our experiments show results of loop closures detection both in indoor and outdoor environments from images captured by an RGB camera as well as images captured using Google Street View.

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Section: Related Workmentioning

confidence: 99%

Visual similarity analysis in loop closure through data dimensionality reduction via diffusion maps

Moreira

Justel

Rosa

2015

Proceedings of the 30th Annual ACM Symposium on Applied Computing

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show abstract

“…That work represents a recursive version of the classic technique of spectral partitioning of graphs named Normalized Cut, due to Shi and Malik. 12 Forster et al 13 have extended that idea and developed an online recursive graph partitioning method from data of radiofrequency tags placed in large environments. In that paper, the received signal strength indicator between tags is used to build the corresponding adjacency matrix of the graph in question.…”

Section: Spectral Graph Theory and Mobile Roboticsmentioning

confidence: 99%

Development of a Method for Data Dimensionality Reduction in Loop Closure Detection: An Incremental Approach

Moreira¹,

Justel²,

Oliveira³

et al. 2020

Robotica

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SUMMARY This article proposes a method for incremental data dimensionality reduction in loop closure detection for robotic autonomous navigation. The approach uses dominant eigenvector concept for: (a) spectral description of visual datasets and (b) representation in low dimension. Unlike most other papers on data dimensionality reduction (which is done in batch mode), our method combines a sliding window technique and coordinate transformation to achieve dimensionality reduction in incremental data. Experiments in both simulated and real scenarios were performed and the results are suitable.

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“…The reported location estimation error is between 35 cm and 98 cm. In [15], a hybrid algorithm based on RFID for simultaneous location and mapping (SLAM) is proposed. The algorithm allows autonomous navigation in environments denied by GPS.…”

Section: State Of the Art-underground Mining Localization Systemsmentioning

confidence: 99%

A Novel Frequency Domain Visible Light Communication (VLC) Three-Dimensional Trilateration System for Localization in Underground Mining

et al. 2019

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A new visible light communication (VLC) system is proposed for localization in underground mining. Existent systems, such as global positioning system (GPS) and systems based on mobile communication, are generally not useful in underground mining. The proposed system is based on a three-dimensional trilateration VLC localization scheme. This articles offers an evaluation of the proposed system in different evaluation scenarios in terms of the average localization error. The proposed algorithm localizes the source with an average localization estimation error of less than (16.4 cm), based on the source location. The average error is (3.5 cm) for subjects that are very close to the light-emitting-diode (LEDs).The obtained results show the superiority of the proposed method in comparison with traditional short range radio frequency technologies such as RFID, Wi-Fi and Zigbee, making it a feasible system for localizing objects in underground mining.

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RFID-based hybrid metric-topological SLAM for GPS-denied environments

Cited by 14 publications

References 14 publications

Visual similarity analysis in loop closure through data dimensionality reduction via diffusion maps

Visual similarity analysis in loop closure through data dimensionality reduction via diffusion maps

Development of a Method for Data Dimensionality Reduction in Loop Closure Detection: An Incremental Approach

A Novel Frequency Domain Visible Light Communication (VLC) Three-Dimensional Trilateration System for Localization in Underground Mining

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