Conferences
Optimal Number of Image Keypoints for Visual Odometry – An Empirical Study
A Micro Aerial Vehicle for Vessel Visual Inspection Assistance
Vessel maintenance entails periodic visual inspections of internal and external parts of the hull in order to detect the typical defective situations affecting metallic structures, such as cracks, coating breakdown, corrosion, etc. The main goal of the EU-FP7 project...
Multilevel two quadrant DC/DC converter for regenerative braking in mobile applications
In this paper different cascaded and multilevel topologies are compared for regenerative braking systems using supercapacitors (SC). It shows that the multilevel buck derived topology can beneficiate from both reduced voltage across the inductor and increased...
Optimal Number of Image Keypoints for Real Time Visual Odometry
A visual odometer can estimate robot motion by tracking a set of invariant keypoints over a sequence of camera frames, at a computational cost that is roughly linear in the number of extracted keypoints. The leading literature suggests to extract all keypoints with a...
Underwater SLAM with Robocentric Trajectory Using a Mechanically Scanned Imaging Sonar
This paper proposes a novel approach to perform underwater Simultaneous Localization and Mapping (SLAM) using a Mechanically Scanned Imaging Sonar (MSIS). This approach starts by processing the MSIS data in order to obtain range scans while taking into account the...