The generation of robust global maps of an unknown cluttered environment through a collaborative robotic framework is challenging. We present a collaborative SLAM framework, CORB2I-SLAM, in which each participating robot carries a camera (monocular/stereo/RGB-D) and an inertial sensor to run odometry. A centralized server stores all the maps and executes processor-intensive tasks, e.g., loop closing, map merging, and global optimization. The proposed framework uses well-established Visual-Inertial Odometry (VIO), and can be adapted to use Visual Odometry (VO) when the measurements from inertial sensors are noisy. The proposed system solves certain disadvantages of odometry-based systems such as erroneous pose estimation due to incorrect feature selection or losing track due to abrupt camera motion and provides a more accurate result. We perform feasibility tests on real robot autonomy and extensively validate the accuracy of CORB2I-SLAM on benchmark data sequences. We also evaluate its scalability and applicability in terms of the number of participating robots and network requirements, respectively.
Obstacle detection is an essential task for the autonomous navigation by robots. The task becomes more complex in a dynamic and cluttered environment. In this context, the RGB-D camera sensor is one of the most common devices that provides a quick and reasonable estimation of the environment in the form of RGB and depth images. This work proposes an efficient obstacle detection and tracking method using depth images to facilitate quick dynamic obstacle detection. To achieve early detection of dynamic obstacles and stable estimation of their states, as in previous methods, we applied a u-depth map for obstacle detection. Unlike existing methods, the present method provides dynamic thresholding facilities on the u-depth map to detect obstacles more accurately. Here, we propose a restricted v-depth map technique, using post-processing after the u-depth map processing to obtain a better prediction of the obstacle dimension. We also propose a new algorithm to track obstacles until they are within the field of view (FOV). We evaluate the performance of the proposed system on different kinds of data sets. The proposed method outperformed the vision-based state-of-the-art (SoA) methods in terms of state estimation of dynamic obstacles and execution time.
Wireless sensor networks (WSNs) is one of the renowned ad hoc network technology that has vast varieties of applications such as in computer networks, bio-medical engineering, agriculture, industry and many more. It has been used in the internet-of-things (IoTs) applications. A method for data collecting utilizing hybrid compressive sensing (CS) is developed in order to reduce the quantity of data transmission in the clustered sensor network and balance the network load. Candidate cluster head nodes are chosen first from each temporary cluster that is closest to the cluster centroid of the nodes, and then the cluster heads are selected in order based on the distance between the determined cluster head node and the undetermined candidate cluster head node. Then, each ordinary node joins the cluster that is nearest to it. The greedy CS is used to compress data transmission for nodes whose data transmission volume is greater than the threshold in a data transmission tree with the Sink node as the root node and linking all cluster head nodes. The simulation results demonstrate that when the compression ratio is set to ten, the data transfer volume is reduced by a factor of ten. When compared to clustering and SPT without CS, it is reduced by 75% and 65%, respectively. When compared to SPT with Hybrid CS and Clustering with hybrid CS, it is reduced by 35% and 20%, respectively. Clustering and SPT without CS are compared in terms of node data transfer volume standard deviation. SPT with Hybrid CS and clustering with Hybrid CS were both reduced by 62% and 80%, respectively. When compared to SPT with hybrid CS and clustering with hybrid CS, the latter two were reduced by 41% and 19%, respectively.
A deep fusion model is proposed for facial expression-based human-computer Interaction system. Initially, image preprocessing, i.e., the extraction of the facial region from the input image is utilized. Thereafter, the extraction of more discriminative and distinctive deep learning features is achieved using extracted facial regions. To prevent overfitting, in-depth features of facial images are extracted and assigned to the proposed convolutional neural network (CNN) models. Various CNN models are then trained. Finally, the performance of each CNN model is fused to obtain the final decision for the seven basic classes of facial expressions, i.e., fear, disgust, anger, surprise, sadness, happiness, neutral. For experimental purposes, three benchmark datasets, i.e., SFEW, CK+, and KDEF are utilized. The performance of the proposed system is compared with some state-of-the-art methods concerning each dataset. Extensive performance analysis reveals that the proposed system outperforms the competitive methods in terms of various performance metrics. Finally, the proposed deep fusion model is being utilized to control a music player using the recognized emotions of the users.
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