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Robustness of visual SLAM techniques to light changing conditions / Xi Wang (2022)  

Public Titre : Robustness of visual SLAM techniques to light changing conditions : Influence of contrasted local features, multi-planar representations and multimodal image analysis Type de document : Thèse/HDR Auteurs : Xi Wang, Auteur ; Eric Marchand, Directeur de thèse Editeur : Rennes : Université de Rennes 1 Année de publication : 2022 Importance : 153 p. Format : 21 x 30 cm Note générale : bibliographie Thèse de Doctorat de l'Université de Rennes 1, Spécialité Informatique Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image optique [Termes IGN] apprentissage profond [Termes IGN] cartographie et localisation simultanées [Termes IGN] éclairage [Termes IGN] estimation de pose [Termes IGN] information sémantique [Termes IGN] primitive géométrique [Termes IGN] programmation linéaire [Termes IGN] robotique [Termes IGN] vision par ordinateur Index. décimale : THESE Thèses et HDR Résumé : (auteur) The SLAM (Simultaneous Localization And Mapping) technique concentrates on localizing and recovering the environment in a simultaneous way and is one of the core functionalities of many industrial products such as augmented reality, where the device poses should be tracked in real-time; autonomous driving, where one needs to localize the vehicle in a pre-generated map or unknown environment; and even modern filmmaking workflow, where the relative camera position and orientation are critical for post-processing or real-time prevising for directors and actors to visualise the visual effects on the stage. Multiple difficulties in different levels can influence the final performance of robot agents’s SLAM task, as the pipeline is long and complicated from the real world physics to the required information such as agent poses and 3-D map, which help us visualize colourful graphics scenes in AR devices or make hard decisions on the highway for autonomous driving. Many solutions are proposed for addressing each problem, respectively, with the means from classic statistic probability models to the modern data-driven deep neural network. However, the quest of improving the robot’s robustness under dynamic and complicated environments perisists and becomes more and more significant and active for nowadays robotics research. The need for improving the robustness of robot agents is imminent and regarded as one of most imperative factors for deploying robots ubiquitously in our daily life. Under this context, this thesis tries to address a small drop in the ocean of the problem of SLAM robustness, yet in a very systematic view: we try to break down the SLAM system into different and inter-influential modules. Then use the concept of "divide and conquer" for answering possible questions within each module and wishing to contribute to the community and help improve the robustness of SLAM systems under complicated conditions. With the above objectives, the contributions of the thesis are stated as follows for tackling the robustness problem from multiple angles: 1) From the image feature angle, we proposed a multiple layered image structure for improving the performance of traditional local image features under extreme conditions. Furthermore, an optimization method on linear searching and mutual information assisted convex optimization are designed for tuning the optimal parameters with the proposed structure; 2) From the geometric primitive angle, we proposed a relative pose estimation and SLAM framework under the multiple planar assumption, by keypoint feature-based and template tracker based methods, respectively. We tried to achieve better performance of mapping and tracking simultaneously with the help of a more general planar assumption. 3) From the angle of relocalization of the SLAM system, the idea is to recover the already passed locations of the robot agent for lowering the overall estimation error or when the robot is in lost status. We proposed a binary graph structure for embedding spatial information and heterogeneous data formats such as depth image, semantic information etc. The proposed method enables robotics SLAM systems to relocalize themselves with a higher success rate even under different lighting, weather and seasonal conditions. Note de contenu : 1- Introduction 2- Résumé 3- Background on visual SLAM techniques 4- Related work 5- Organisation 6- Multiple layers image 7- Multi-planar relative pose estimation via superpixel 8- TT-SLAM 9- Binary graph descriptor for robust relocalization on heterogeneous data Conclusion Numéro de notice : 24074 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Thèse française Note de thèse : Thèse de Doctorat : Informatique : Rennes 1 : 2022 Organisme de stage : IRISA DOI : sans En ligne : https://www.theses.fr/2022REN1S022 Format de la ressource électronique : URL Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=102162

A topology-based graph data model for indoor spatial-social networking / Mahdi Rahimi in International journal of geographical information science IJGIS, vol 35 n° 12 (December 2021)  

Public [article]  inInternational journal of geographical information science IJGIS > vol 35 n° 12 (December 2021) . - pp 2517 - 2539 Titre : A topology-based graph data model for indoor spatial-social networking Type de document : Article/Communication Auteurs : Mahdi Rahimi, Auteur ; Mohammad Reza Malek, Auteur ; Christophe Claramunt, Auteur ; Thierry Le Pors, Auteur Année de publication : 2021 Article en page(s) : pp 2517 - 2539 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Analyse spatiale [Termes IGN] algorithme du simplexe [Termes IGN] espace intérieur [Termes IGN] graphe [Termes IGN] modèle topologique de données [Termes IGN] modélisation spatiale [Termes IGN] représentation géométrique [Termes IGN] représentation graphique [Termes IGN] réseau social géodépendant Résumé : (auteur) This paper introduces a simplex-based enriched graph data model integrating a discrete and place-based indoor spatial model with a spatial-social network. The proposed model incorporates similarity and relevance measures, exhibited from Q-analysis of simplicial complexes, facilitating data manipulation and revealing latent relations in a spatial-social network. It also uses an indoor-specific metric representing the ease of access to process spatial-social queries in indoor environments. The proposed model’s experimental implementation shows the quantitative advantage of using graph-based representation and the qualitative superiority of simplex-based enrichment in processing spatial-social queries in indoor environments. Numéro de notice : A2021-875 Affiliation des auteurs : non IGN Thématique : GEOMATIQUE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1080/13658816.2021.1912349 Date de publication en ligne : 14/04/2021 En ligne : https://doi.org/10.1080/13658816.2021.1912349 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=99138 [article]

Variational bayesian compressive multipolarization indoor radar imaging / Van Ha Tang in IEEE Transactions on geoscience and remote sensing, Vol 59 n° 9 (September 2021)  

Public [article]  inIEEE Transactions on geoscience and remote sensing > Vol 59 n° 9 (September 2021) . - pp 7459 - 7474 Titre : Variational bayesian compressive multipolarization indoor radar imaging Type de document : Article/Communication Auteurs : Van Ha Tang, Auteur ; Abdesselam Bouzerdoum, Auteur ; Son Lam Phung, Auteur ; et al., Auteur Année de publication : 2021 Article en page(s) : pp 7459 - 7474 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Traitement d'image radar et applications [Termes IGN] acquisition comprimée [Termes IGN] détection à travers-le-mur [Termes IGN] estimation bayesienne [Termes IGN] fouillis d'échos [Termes IGN] image radar [Termes IGN] inférence statistique [Termes IGN] modèle stochastique [Termes IGN] polarisation [Termes IGN] positionnement en intérieur [Termes IGN] reconstruction d'image Résumé : (auteur) This article introduces a probabilistic Bayesian model for addressing the problem of compressive multipolarization through-wall radar imaging (TWRI). The proposed approach formulates the task of wall-clutter mitigation and multipolarization image reconstruction as a Bayesian inference problem for a joint distribution between observed radar measurements and latent wall-clutter matrix and indoor target images. The joint probability distribution incorporates three prior beliefs: low-dimensional structure of the wall reflections, group sparsity structure of the target images, and joint sparsity among the polarization images. These signal attributes are modeled through hierarchical priors, whose parameters and hyperparameters are treated with a full Bayesian formulation. Furthermore, this article presents a variational Bayesian inference algorithm that estimates wall-clutter and multipolarization images as posterior distributions and optimizes the model parameters and hyperparameters simultaneously. Experimental results on simulated and real radar data show that the proposed model is very effective at removing wall clutter and enhancing target localization even when the radar measurements are significantly reduced. Numéro de notice : A2021-647 Affiliation des auteurs : non IGN Thématique : IMAGERIE Nature : Article nature-HAL : ArtAvecCL-RevueIntern DOI : 10.1109/TGRS.2021.3051955 Date de publication en ligne : 26/01/2021 En ligne : https://doi.org/10.1109/TGRS.2021.3051955 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=98354 [article]

A high-efficiency global model of optimization design of impervious surfaces for alleviating urban waterlogging in urban renewal / Huafei Yu in Transactions in GIS, Vol 25 n° 4 (August 2021)  

Public [article]  inTransactions in GIS > Vol 25 n° 4 (August 2021) . - pp 1716 - 1740 Titre : A high-efficiency global model of optimization design of impervious surfaces for alleviating urban waterlogging in urban renewal Type de document : Article/Communication Auteurs : Huafei Yu, Auteur ; Yaolong Zhao, Auteur ; Tao Xu, Auteur ; et al., Auteur Année de publication : 2021 Article en page(s) : pp 1716 - 1740 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Analyse spatiale [Termes IGN] Canton (Kouangtoung) [Termes IGN] eau pluviale [Termes IGN] écoulement des eaux [Termes IGN] optimisation par colonie de fourmis [Termes IGN] programmation linéaire [Termes IGN] sol hydromorphe [Termes IGN] surface imperméable [Termes IGN] urbanisation [Termes IGN] utilisation du sol Résumé : (auteur) The rapid expansion and unreasonable design of impervious surfaces caused by urbanization have seriously aggravated urban waterlogging. Determining how to optimize the spatial layout of impervious surfaces is the focus of urban waterlogging prevention in urban renewal. The existing urban-renewal methods include constructing low-impact development measures by reducing the area of impervious surfaces or implementing a local high-strength design based on the ant colony algorithm (ACA) from the viewpoint of optimization design. However, these methods have obvious shortcomings in terms of time efficiency, and their optimized design schemes are insufficient at considering the global impervious surface design. Therefore, to address these problems, the study proposes a coupled model of multivariate linear programming and Soil Conservation Service curve number. The model is employed in the central city of Guangzhou, China. The results show, first, that the optimal design of impervious surfaces in urban renewal is to construct a discontinuous connection of high-low-high-density impervious surfaces; second, that, compared with ACA, our method has higher robustness, increases the average optimization rate by 4.48 to 14.00%, and reduces the optimization time over 30 days to 20.8 s; and third, that the optimal results realize the global low-strength transformation as complements of the existing design scheme of local high-strength transformation. This study optimizes methods for alleviating urban waterlogging urban renewal at different scales or intensities. Numéro de notice : A2021-701 Affiliation des auteurs : non IGN Thématique : GEOMATIQUE/URBANISME Nature : Article DOI : 10.1111/tgis.12757 Date de publication en ligne : 05/05/2021 En ligne : https://doi.org/10.1111/tgis.12757 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=98576 [article]

Integrating GIS and location modeling: A relational approach / Ting L. Lei in Transactions in GIS, Vol 25 n° 4 (August 2021)  

Public [article]  inTransactions in GIS > Vol 25 n° 4 (August 2021) . - pp 1693 - 1715 Titre : Integrating GIS and location modeling: A relational approach Type de document : Article/Communication Auteurs : Ting L. Lei, Auteur Année de publication : 2021 Article en page(s) : pp 1693 - 1715 Note générale : bibliographie Langues : Anglais (eng) Descripteur : [Vedettes matières IGN] Systèmes d'information géographique [Termes IGN] allocation [Termes IGN] base de données localisées [Termes IGN] base de données relationnelles [Termes IGN] langage de programmation [Termes IGN] programmation linéaire [Termes IGN] SQL [Termes IGN] système de gestion de bases de données relationnelles Résumé : (auteur) Planners and geospatial analysts have long been using GIS and optimization methods to solve a wide range of spatial decision problems from routing and facility location to political redistricting. However, there has been a notable disconnection between the tools of GIS and optimization, constraining the capability of spatial decision-making in GIS. This article presents relational linear programming (RELP), a new framework and tool for bridging the gap between the two fields by integrating a generic optimization solver into GIS: a solver for integer linear programming (ILP). In particular, we choose relational/spatial databases as the GIS platform. We demonstrate that not only data, but also programs for spatial problems (in the form of ILP) can be managed and executed in SQL inside spatial databases. The main focus of this article is on location modeling, and we show how classic models can be formulated succinctly in a declarative way using SQL. The declarative approach of RELP allows researchers to focus on formulating new spatial decision problems without being bogged down in sophisticated programming. The integrated approach allows data processing and decision-making in one language. Therefore, it brings the power of location modeling to non-specialist GIS practitioners. Numéro de notice : A2021-700 Affiliation des auteurs : non IGN Thématique : GEOMATIQUE Nature : Article DOI : 10.1111/tgis.12804 Date de publication en ligne : 29/07/2021 En ligne : https://doi.org/10.1111/tgis.12804 Format de la ressource électronique : URL article Permalink : https://documentation.ensg.eu/index.php?lvl=notice_display&id=98575 [article]

Vectorized indoor surface reconstruction from 3D point cloud with multistep 2D optimization / Jiali Han in ISPRS Journal of photogrammetry and remote sensing, vol 177 (July 2021)  

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Compressive Sensing appliqué au traitement de données InSAR pour le suivi de la déformation des zones urbaines / Matthieu Rebmeister in XYZ, n° 166 (mars 2021)

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Model based signal processing techniques for nonconventional optical imaging systems / Daniele Picone (2021)  

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Planimetric simplification and lexicographic optimal chains for 3D urban scene reconstruction / Julien Vuillamy (2021)  

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Combinatorial optimization applied to VLBI scheduling / A. Corbin in Journal of geodesy, vol 94 n°2 (February 2020)  

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Exact optimization algorithms for the aggregation of spatial data / Johannes Oehrlein (2020)  

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Introducing spatial regularization in SAR tomography reconstruction / Clément Rambour in IEEE Transactions on geoscience and remote sensing, vol 57 n° 11 (November 2019)  

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Automatic reconstruction of fully volumetric 3D building models from oriented point clouds / Sebastian Ochmann in ISPRS Journal of photogrammetry and remote sensing, vol 151 (May 2019)  

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Excel data analysis / Hector Guerrero (2019)  

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Un algorithme pour battre le record du SwissTrainChallenge : poser le pied dans chacun des 26 cantons le plus rapidement possible en utilisant uniquement des transports publics / Emmanuel Clédat in XYZ, n° 157 (décembre 2018 - février 2019)

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