Where am I? This is one of the most critical questions that any intelligent system should answer to decide whether it navigates a previously visited area. problem has long been acknowledged for its challenging nature in simultaneous localization and mapping (SLAM), wherein robot needs correctly associate incoming sensory data database allowing consistent map generation. The significant advances...

It is well known that bundle adjustment is the optimal non-linear least-squares formulation of the simultaneous localization and mapping problem, in that its maximum likelihood form matches the definition of the Cramer Rao Lower Bound. Unfortunately, computing the ML solution is often prohibitively expensive – this is especially true during loop closures, which often necessitate adjusting all p...

A kind of multi feature points matching algorithm fusing local geometric constraints is proposed for the purpose of quickly loop closing detection in RGB-D Simultaneous Localization and Mapping (SLAM). The visual feature is encoded with BRAND (binary robust appearance and normals descriptor), which efficiently combines appearance and geometric shape information from RGB-D images. Furthermore, t...

BACKGROUND Colorectal cancer is the second most common tumor in developed countries, with a lifetime prevalence of 5%. About one third of these tumors are located in the rectum. Surgery in terms of low anterior resection with mesorectal excision is the central element in the treatment of rectal cancer being the only option for definite cure. Creating a protective diverting stoma prevents compli...

In this letter, we present a novel descriptor based on Urquhart tessellations derived from the position of trees in forest. We propose framework that uses these descriptors to detect previously seen observations and landmark correspondences, even with partial overlap noise. run loop closure detection experiments simulation real-world data map-merging different flights an Unmanned Aerial Vehicle...

INTRODUCTION Negative pressure wound therapy (NPWT) and vessel loop assisted closure are two common methods used to assist with the closure of fasciotomy wounds. This retrospective review compares these two methods using a primary outcome measurement of skin graft requirement. METHODS A retrospective search was performed to identify patients who underwent fasciotomy at our institution. Patien...

Unmanned aerial vehicles offer a safe and fast approach to the production of three-dimensional spatial data on surrounding space. In this article, we present low-cost SLAM-based drone for creating exploration maps building interiors. The focus is emergency response mapping in inaccessible or potentially dangerous places. For purpose, used quadcopter microdrone equipped with six laser rangefinde...

This paper presents a visual simultaneous localization and mapping (SLAM) system consisting of a robust visual odometry and an efficient back-end with loop closure detection and pose-graph optimization. Robustness of the visual odometry is achieved by utilizing dual cameras pointing different directions with no overlap in their respective fields of view mounted on an micro aerial vehicle (MAV)....