机器人控制理论与技术4精选.pptVIP

像查单词一样查询特征 * 描述子空间 像查单词一样查询特征 * 描述子空间 像查单词一样查询特征 * 描述子空间 像查单词一样查询特征 * 描述子空间 图像查询示例 * 描述子空间 图像查询示例 * 图像建模 图像查询示例 * Model images 图像查询示例 * Model images 图像查询示例 * Model images 图像查询示例 * Model images * * * 图像查询示例 Inverted File DB lists all possible visual words Each word points to a list of images where this word occurs Voting array: has as many cells as images in the DB – each word in query image, votes for an image * * Place Recognition | FABMAP (2.0) Captures the dependencies of words to distinguish the most characteristic structure of each scene (using the Chow-Liu tree) Very high performance Binaries available online * Use training images to build the Bag of Words database Probabilistic model of the world: the world is a set of discrete places Place = a vector of occurrences of visual words in the local scene Place Recognition | robust performance * Visual Vocabulary holds appearance information, but discards the spatial relationships between features Two images with the same features shuffled around in the image will be a 100% match when using only appearance information. If different arrangements of the same features are expected then one might use geometric verification Test the k most similar images to the query image for geometric consistency (e.g. using RANSAC) * * 鱼可以知道物体的远近，鱼眼是一个天然的全景摄像机！ * 鱼可以知道物体的远近，鱼眼是一个天然的全景摄像机！ * Jan van Eyck (1366-1426)是一名荷兰画家。他是早期尼德兰画派最伟大的画家之一，也是十五世纪北欧后哥德式绘画的创始人，预示了北欧文艺复兴时期的到来。他一生备受尊崇，曾担任宫廷画家和Bruges外交官。他绘画油画如此高明因此一段时期他与他也是画家的兄弟Hubert被认为是油画技术的发明者。 Van Eyck开拓了前人所未见的油画领域，建立了透明釉层技术，提供了平滑表面以细致地描绘事物和保存颜色。再没有比他为Lucca商人Giovanni di Arrigo Arnolfini与其妻Giovanna Cenami所绘的肖像画更能证明这点了。于画中的签名 - ‘Jan Van Eyck was here, 1434’ - 和镜中画家的倒影使许多人相信他曾参与他们的婚礼。放在床上雕刻着守护分娩的圣玛嘉烈的雕刻和象征着忠诚的狗只强调了婚姻这个主题。 阿尔诺菲尼 * * * * * * * 这是一幅激光传感器获得的环境数据图，我们知道黑色表示激光传感器测得障碍物点，从图中我们几乎一眼就可以看出墙壁的位置，但是机器人如何提取出相应的墙壁信息呢？ * * RANSAC | how many iterations? N := tot. no. data points w := number of inliers / Nw : fraction of inliers in the dataset w = P(selecting an inlier-point from t