https://airwiki.elet.polimi.it/api.php?action=feedcontributions&user=RobertoRigamonti&feedformat=atomAIRWiki - User contributions [en]2024-03-28T19:20:28ZUser contributionsMediaWiki 1.25.6https://airwiki.elet.polimi.it/index.php?title=Monocular_Simultaneous_Localization_And_Mapping_with_Moving_Object_Tracking_using_Conditional_Independent_submaps&diff=5558Monocular Simultaneous Localization And Mapping with Moving Object Tracking using Conditional Independent submaps2009-03-21T12:58:00Z<p>RobertoRigamonti: </p>
<hr />
<div>Realistic, unstructured environments constitute a treacherous playground for<br />
robotic systems in charge of mapping a scene whilst simultaneously localizing<br />
in it. Limited computational resources and low-cost sensing devices make<br />
these tasks more involved.<br />
Whilst state of the art algorithms rely upon the highly restrictive static<br />
environment posit, and might experience consistency issues when estimations<br />
are confined to a single map, this thesis introduces a novel solution that<br />
extends covariance form submapping techniques to dynamic environments,<br />
identifying and tracking moving objects by means of a single camera, and<br />
thus preventing them from corrupting estimations. This result has been<br />
achieved by coupling a pure monocular EKF-SLAM algorithm, working on<br />
conditional independent submaps expressed in the inverse scaling parametrization, with a Bearing-Only Tracker. The most recent proposals from<br />
the SLAM research community are thus coalesced in a single system, which<br />
aims to provide on-line, accurate, and reliable navigation in a real, unstructured terrain. Albeit traditional submapping solutions impose statistical<br />
independence among estimates in different maps, the conditional independent<br />
SLAM algorithm adopted allows to exchange information between neighboring<br />
submaps, improving past estimations with current measurements by means of<br />
a back-propagation mechanism. The inverse scaling parametrization presents<br />
a measurement equation which is provably more linear than the commonly<br />
adopted inverse depth parametrization, while at the same time demanding<br />
fewer computational resources (since the number of required parameters for<br />
each element decreases for six to four). Geometrical reasoning has been<br />
exploited to detect dynamical objects in the scene by properly casting maps'<br />
elements in the Uncertain Geometry setting. Finally, an adaptive threshold<br />
over the number of features in each submap has been established by means<br />
of a fuzzy controller, which takes into account maps' fill-in to avoid wasting<br />
computational resources.<br />
A full Matlab implementation of the developed ideas is presented, validating theoretical results by means of extensive experiments in both simulated<br />
and real environments.<br />
<br />
== '''Part 1: project profile''' ==<br />
<br />
=== Project name ===<br />
Monocular Simultaneous Localization And Mapping with Moving Object Tracking using Conditional Independent submaps<br />
<br />
=== Dates ===<br />
Start date: 2008/08/01<br />
<br />
End date: 2009/04/20<br />
<br />
=== People involved ===<br />
<br />
===== Project head(s) =====<br />
* [[User:MatteoMatteucci|Matteo Matteucci]]<br />
<br />
===== Other Politecnico di Milano people =====<br />
* [[User:DavideMigliore|Davide Migliore]]<br />
<br />
===== Students currently working on the project =====<br />
* [[User:RobertoRigamonti|Roberto Rigamonti]]<br />
<br />
===== External personnel: =====<br />
* [[User:DanieleMarzorati|Daniele Marzorati]]<br />
* [[User:Domenicogsorrenti|Domenico G. Sorrenti]]<br />
<br />
=== Laboratory work and risk analysis ===<br />
This project does not include laboratory activities.</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=Monocular_Simultaneous_Localization_And_Mapping_with_Moving_Object_Tracking_using_Conditional_Independent_submaps&diff=5557Monocular Simultaneous Localization And Mapping with Moving Object Tracking using Conditional Independent submaps2009-03-21T12:57:01Z<p>RobertoRigamonti: New page: Realistic, unstructured environments constitute a treacherous playground for robotic systems in charge of mapping a scene whilst simultaneously localizing in it. Limited computational reso...</p>
<hr />
<div>Realistic, unstructured environments constitute a treacherous playground for<br />
robotic systems in charge of mapping a scene whilst simultaneously localizing<br />
in it. Limited computational resources and low-cost sensing devices make<br />
these tasks more involved.<br />
Whilst state of the art algorithms rely upon the highly restrictive static<br />
environment posit, and might experience consistency issues when estimations<br />
are confined to a single map, this thesis introduces a novel solution that<br />
extends covariance form submapping techniques to dynamic environments,<br />
identifying and tracking moving objects by means of a single camera, and<br />
thus preventing them from corrupting estimations. This result has been<br />
achieved by coupling a pure monocular EKF-SLAM algorithm, working on<br />
conditional independent submaps expressed in the inverse scaling param-<br />
etrization, with a Bearing-Only Tracker. The most recent proposals from<br />
the SLAM research community are thus coalesced in a single system, which<br />
aims to provide on-line, accurate, and reliable navigation in a real, unstructured terrain. Albeit traditional submapping solutions impose statistical<br />
independence among estimates in different maps, the conditional independent<br />
SLAM algorithm adopted allows to exchange information between neighboring<br />
submaps, improving past estimations with current measurements by means of<br />
a back-propagation mechanism. The inverse scaling parametrization presents<br />
a measurement equation which is provably more linear than the commonly<br />
adopted inverse depth parametrization, while at the same time demanding<br />
fewer computational resources (since the number of required parameters for<br />
each element decreases for six to four). Geometrical reasoning has been<br />
exploited to detect dynamical objects in the scene by properly casting maps'<br />
elements in the Uncertain Geometry setting. Finally, an adaptive threshold<br />
over the number of features in each submap has been established by means<br />
of a fuzzy controller, which takes into account maps' fill-in to avoid wasting<br />
computational resources.<br />
A full Matlab implementation of the developed ideas is presented, validat-<br />
ing theoretical results by means of extensive experiments in both simulated<br />
and real environments.<br />
<br />
== '''Part 1: project profile''' ==<br />
<br />
=== Project name ===<br />
Monocular Simultaneous Localization And Mapping with Moving Object Tracking using Conditional Independent submaps<br />
<br />
=== Dates ===<br />
Start date: 2008/08/01<br />
<br />
End date: 2009/04/20<br />
<br />
=== People involved ===<br />
<br />
===== Project head(s) =====<br />
* [[User:MatteoMatteucci|Matteo Matteucci]]<br />
<br />
===== Other Politecnico di Milano people =====<br />
* [[User:DavideMigliore|Davide Migliore]]<br />
<br />
===== Students currently working on the project =====<br />
* [[User:RobertoRigamonti|Roberto Rigamonti]]<br />
<br />
===== External personnel: =====<br />
* [[User:DanieleMarzorati|Daniele Marzorati]]<br />
* [[User:Domenicogsorrenti|Domenico G. Sorrenti]]<br />
<br />
=== Laboratory work and risk analysis ===<br />
This project does not include laboratory activities.</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=Projects&diff=5556Projects2009-03-21T10:14:02Z<p>RobertoRigamonti: /* Computer Vision and Image Analysis */</p>
<hr />
<div>''This page is a repository of links to the pages describing the '''projects''' we are currently working on at AIRLab. <br />
See the list of our finished projects on the [[Finished Projects]] page.''<br />
<br />
== Ongoing projects ==<br />
''by research area (areas are defined in the [[Main Page]]); for each project a name and a link to its AIRWiki page is given''<br />
<br />
=== [[Agents, Multiagent Systems, Agencies]] ===<br />
* [[Evolutionary game theory for biology| Evolutionary game theory for biology]]<br />
* [[Game theoretic analysis of electric power| Game theoretic analysis of electric power market]]<br />
* [[Algorithms for computing equilibria| Algorithms for computing equilibria]]<br />
* [[Multiagent cooperation|Multiagent cooperating system]]<br />
* [[Planning in Ambient Intelligence scenarios| Planning in Ambient Intelligence scenarios]]<br />
* [[Strategic robot patrolling| Strategic robot patrolling]]<br />
* [[Real-Time Strategy Games| Real-Time Strategy Games]]<br />
<br />
=== [[BioSignal Analysis]] ===<br />
===== [[Affective Computing]] =====<br />
* [[Relatioship between Cognition and Emotion in Rehabilitation Robotics]]<br />
* [[Driving companions]]<br />
* [[Emotion from Interaction]]<br />
* [[Wireless Affective Devices]]<br />
* [[Affective Robot force sensor]]<br />
<br />
===== [[Brain-Computer Interface]] =====<br />
* [[BCI based on Motor Imagery]]<br />
** [[Predictive BCI Speller based on Motor Imagery]] (Master thesis, Tiziano D'Albis)<br />
** [[Feature Selection and Extraction for a BCI based on motor imagery]] (Master thesis, Francesco Amenta)<br />
** [[Ocular Artifacts Filter implementation for a BCI based on motor imagery]] (First Level thesis, Fabio Beltramini)<br />
* [[Graphical user interface for an autonomous wheelchair]]<br />
* [[Mu and beta rhythm-based BCI]]<br />
<br />
===== [[Automatic Detection Of Sleep Stages]] =====<br />
* [[Sleep Staging with HMM]]<br />
<br />
===== [[Analysis of the Olfactory Signal]] =====<br />
* [[Lung Cancer Detection by an Electronic Nose]]<br />
* [[HE-KNOWS - An electronic nose]]<br />
<br />
===== [[Classification of EMG signals]] =====<br />
<br />
=== [[Computer Vision and Image Analysis]] ===<br />
* [[Automated extraction of laser streaks and range profiles]]<br />
* [[Data collection for mutual calibration|Data collection for laser-rangefinder and camera calibration]]<br />
* [[Image retargeting by k-seam removal]]<br />
* [[Particle filter for object tracking]]<br />
* [[Template based paper like reconstruction when the edges are straight]]<br />
* [[Wii Remote headtracking and active projector]]<br />
* [[Vision module for the Milan Robocup Team]]<br />
* [[Long Exposure Images for Resource-constrained video surveillance]]<br />
* [[NonPhotorealistic rendering of speed lines]].<br />
* [[Restoration of blurred objects using cues from the alpha matte]]<br />
* [[Analyzing Traffic Speed From a Single Night Image - Light Streaks Detection]]<br />
* [[Plate detection algorithm]]<br />
* [[A vision-based 3D input device for space curves]]<br />
* [[Correlation-based 3D reconstruction with pan/tilt stereo-camera]]<br />
* [[Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping]]<br />
* [[Image resize by solving a sparse linear system]]<br />
* [[Monocular Simultaneous Localization And Mapping with Moving Object Tracking using Conditional Independent submaps]]<br />
<br />
=== [[Machine Learning]] ===<br />
* [[Adaptive Reinforcement Learning Multiagent Coordination in Real-Time Computer Games|Adaptive Reinforcement Learning Multiagent Coordination in Real-Time Computer Games]]<br />
* [[B-Smart Behaviour Sequence Modeler and Recognition tool|B-Smart Behaviour Sequence Modeler and Recognition tool]]<br />
* [[Player modeling in TORCS exploiting SVMs and GPUs parallelism|Player modeling in TORCS exploiting SVMs and GPUs parallelism]]<br />
* [[Development an Artificial Intelligence System solving the MS Pac-Man videogame |Development an Artificial Intelligence System solving the MS Pac-Man videogame ]]<br />
* [[Parameters optimization in TORCS exploiting genetic algorithms]]<br />
* [[Neuroevolution in TORCS for evolving interesting and adaptive behaviors]]<br />
<br />
=== [[Ontologies and Semantic Web]] ===<br />
<br />
=== [[Philosophy of Artificial Intelligence]] ===<br />
<br />
=== [[Robotics]] ===<br />
<br />
==== [[Robot development]] ====<br />
* [[LURCH - The autonomous wheelchair]]<br />
* [[Balancing robots: Tilty, TiltOne]]<br />
* [[ Computer controlled Braking on the Alpaca Golf Cart ]]<br />
* [[ Computer controlled Steering on the Alpaca Golf Cart ]]<br />
* [[ Development of a neck for umanoid robot ]]<br />
* [[ MRT: Adding an electronic compass to existing robots ]]<br />
* [[ MRT: Development of a multi-purpose debugger for MRT-based robots ]]<br />
* [[Implementing steering on a Golf Cart]]<br />
<br />
==== [[Benchmarking]] ====<br />
* [[Rawseeds|RAWSEEDS]]<br />
<br />
==== [[Bio Robotics]] ====<br />
* [[PoliManus]]<br />
* [[ZOIDBERG - An autonomous bio-inspired RoboFish]]<br />
* [[Styx The 6 Whegs Robot]]<br />
* [[PolyGlove: a body-based haptic interface]]<br />
* [[ULISSE]]<br />
* [[PEKeB: a PiezoElectric KeyBoard]]<br />
* [[Anthropomorphic Robotic Wrist]]<br />
* [[High-level architecture for the control of humanoid robot]]<br />
* [[Zoidberg II, powering robot fish]]<br />
* [[EMG, new test]]<br />
<br />
==== [[Robogames]] ====<br />
* [[ROBOWII]] <br />
<br />
== Past projects ==<br />
<br />
=== [[BioSignal Analysis]] ===<br />
<br />
===== [[Affective Computing]] =====<br />
* [[Online Emotion Classification]]<br />
<br />
===== [[Brain-Computer Interface]] =====<br />
* [[Online P300 and ErrP recognition with BCI2000]]<br />
<br />
== Note for students == <br />
<br />
If you are a student and there isn't a '''page describing your project''', this is because YOU have the task of creating it and populating it with (meaningful) content. If you are a student and there IS a page describing your project, you have the task to complete that page with (useful and comprehensive) information about your own contribution to the project. Be aware that the quality of your work (or lack of it) on the AIRWiki will be evaluated by the Teachers and will influence your grades.<br />
<br />
Instructions to add a new project or to add content to an existing project page are available at [[Projects - HOWTO]].</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=Inverse_scaling_parametrization_for_Monocular_Simultaneous_Localization_and_Mapping&diff=5555Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping2009-03-21T10:06:51Z<p>RobertoRigamonti: /* Dates */</p>
<hr />
<div>== '''Part 1: project profile''' ==<br />
<br />
=== Project name ===<br />
<br />
Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping.<br />
<br />
=== Project short description ===<br />
<br />
This project regards the C++ implementation of a novel parametrization for solving the monocular SLAM problem.<br />
Please refer to the paper "Monocular SLAM with Inverse Scaling Parametrization" (D. Marzorati, M. Matteucci, D. Migliore, D. G. Sorrenti) for more details.<br />
<br />
=== Dates ===<br />
<br />
Start date: 2008/08/06<br />
<br />
End date: 2008/10/22<br />
<br />
=== Internet site(s) ===<br />
<br />
=== People involved ===<br />
<br />
==== Project head(s) ====<br />
<br />
* [[User:MatteoMatteucci|Matteo Matteucci]]<br />
<br />
==== Other Politecnico di Milano people ====<br />
<br />
* [[User:DavideMigliore|Davide Migliore]]<br />
* [[User:DanieleMarzorati|Daniele Marzorati]]<br />
<br />
===== Students currently working on the project =====<br />
<br />
* [[User:RobertoRigamonti|Roberto Rigamonti]]<br />
<br />
=== Laboratory work and risk analysis ===<br />
<br />
This project does not include laboratory activities. <br />
<br />
== '''Part 2: project description''' ==<br />
<br />
One of the most relevant problems encountered so far in the field of mobile robotics is constituted by the difficulty of having a reliable navigation system. The kinks are due to the impossibility of building a detailed map of every environment a robot might be located in, and to the inherent inaccuracies of both the sensing and motion systems.<br />
The problem, faced with so called Simultaneous Localization And Mapping algorithms, after more than ten years of research can now be classified as solved, despite several issues remains open.<br />
In this project a novel approach for monocular (i.e. using a single camera and no other sensors) SLAM is implemented and tested on both simulated<br />
and real data. The final goal is to have a system working in real time on indoor/outdoor images with limited computational resources.<br />
Up to now the part working on simulated data is completed, while the part working on real data requires a novel implementation of the feature-matching algorithms to be fully functional.<br />
<br />
Below some screenshots resulting from the application of the algorithm to both simulated and real data are reported. In the simulated data images, blue dots are artificially generated features, red ones are the corresponding estimated features in the map (in cyan the corresponding uncertainty). The green line represents the trajectory followed by the robot, while the red one is the estimated trajectory. In real data images the red dots are the features extracted from the current scene, while the green dots are those predicted from the current state (the green square has no technical meaning, it's used only as a visual help for point localization in the image). Blue squares represents patches that are matched with the green ones, and red ones are predicted patches (those surrounded in thick green are matched ones).<br />
<br />
'''Simulated Data'''<br />
<br />
[[Image:MSLAM 250pti.png]]<br />
<br />
[[Image:MSLAM 250pti2.png]]<br />
<br />
[[Image:MSLAM 250pti3.png]]<br />
<br />
[[Image:MSLAM 250pti4.png]]<br />
<br />
'''Real Data'''<br />
<br />
[[Image:MSLAM 54 f.png]]<br />
<br />
[[Image:MSLAM 54 m.png]]<br />
<br />
[[Image:MSLAM 54 p.png]]</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=Inverse_scaling_parametrization_for_Monocular_Simultaneous_Localization_and_Mapping&diff=4147Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping2008-09-30T06:53:32Z<p>RobertoRigamonti: /* '''Part 2: project description''' */</p>
<hr />
<div>== '''Part 1: project profile''' ==<br />
<br />
=== Project name ===<br />
<br />
Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping.<br />
<br />
=== Project short description ===<br />
<br />
This project regards the C++ implementation of a novel parametrization for solving the monocular SLAM problem.<br />
Please refer to the paper "Monocular SLAM with Inverse Scaling Parametrization" (D. Marzorati, M. Matteucci, D. Migliore, D. G. Sorrenti) for more details.<br />
<br />
=== Dates ===<br />
<br />
Start date: 2008/08/06<br />
<br />
End date: <br />
<br />
=== Internet site(s) ===<br />
<br />
=== People involved ===<br />
<br />
==== Project head(s) ====<br />
<br />
* [[User:MatteoMatteucci|Matteo Matteucci]]<br />
<br />
==== Other Politecnico di Milano people ====<br />
<br />
* [[User:DavideMigliore|Davide Migliore]]<br />
* [[User:DanieleMarzorati|Daniele Marzorati]]<br />
<br />
===== Students currently working on the project =====<br />
<br />
* [[User:RobertoRigamonti|Roberto Rigamonti]]<br />
<br />
=== Laboratory work and risk analysis ===<br />
<br />
This project does not include laboratory activities. <br />
<br />
== '''Part 2: project description''' ==<br />
<br />
One of the most relevant problems encountered so far in the field of mobile robotics is constituted by the difficulty of having a reliable navigation system. The kinks are due to the impossibility of building a detailed map of every environment a robot might be located in, and to the inherent inaccuracies of both the sensing and motion systems.<br />
The problem, faced with so called Simultaneous Localization And Mapping algorithms, after more than ten years of research can now be classified as solved, despite several issues remains open.<br />
In this project a novel approach for monocular (i.e. using a single camera and no other sensors) SLAM is implemented and tested on both simulated<br />
and real data. The final goal is to have a system working in real time on indoor/outdoor images with limited computational resources.<br />
Up to now the part working on simulated data is completed, while the part working on real data requires a novel implementation of the feature-matching algorithms to be fully functional.<br />
<br />
Below some screenshots resulting from the application of the algorithm to both simulated and real data are reported. In the simulated data images, blue dots are artificially generated features, red ones are the corresponding estimated features in the map (in cyan the corresponding uncertainty). The green line represents the trajectory followed by the robot, while the red one is the estimated trajectory. In real data images the red dots are the features extracted from the current scene, while the green dots are those predicted from the current state (the green square has no technical meaning, it's used only as a visual help for point localization in the image). Blue squares represents patches that are matched with the green ones, and red ones are predicted patches (those surrounded in thick green are matched ones).<br />
<br />
'''Simulated Data'''<br />
<br />
[[Image:MSLAM 250pti.png]]<br />
<br />
[[Image:MSLAM 250pti2.png]]<br />
<br />
[[Image:MSLAM 250pti3.png]]<br />
<br />
[[Image:MSLAM 250pti4.png]]<br />
<br />
'''Real Data'''<br />
<br />
[[Image:MSLAM 54 f.png]]<br />
<br />
[[Image:MSLAM 54 m.png]]<br />
<br />
[[Image:MSLAM 54 p.png]]</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=File:MSLAM_54_p.png&diff=4146File:MSLAM 54 p.png2008-09-30T06:50:19Z<p>RobertoRigamonti: SLAM algorithm running on real data</p>
<hr />
<div>SLAM algorithm running on real data</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=File:MSLAM_54_m.png&diff=4145File:MSLAM 54 m.png2008-09-30T06:50:02Z<p>RobertoRigamonti: uploaded a new version of "Image:MSLAM 54 m.png": SLAM algorithm running on real data</p>
<hr />
<div></div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=File:MSLAM_54_m.png&diff=4144File:MSLAM 54 m.png2008-09-30T06:49:56Z<p>RobertoRigamonti: </p>
<hr />
<div></div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=File:MSLAM_54_f.png&diff=4143File:MSLAM 54 f.png2008-09-30T06:49:33Z<p>RobertoRigamonti: SLAM algorithm running on real data</p>
<hr />
<div>SLAM algorithm running on real data</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=File:MSLAM_250pti.png&diff=4142File:MSLAM 250pti.png2008-09-30T06:38:14Z<p>RobertoRigamonti: uploaded a new version of "Image:MSLAM 250pti.png": Test over 250 points of MonoSLAM</p>
<hr />
<div>Test over 250 points of MonoSLAM</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=Inverse_scaling_parametrization_for_Monocular_Simultaneous_Localization_and_Mapping&diff=4141Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping2008-09-30T06:37:44Z<p>RobertoRigamonti: /* '''Part 2: project description''' */</p>
<hr />
<div>== '''Part 1: project profile''' ==<br />
<br />
=== Project name ===<br />
<br />
Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping.<br />
<br />
=== Project short description ===<br />
<br />
This project regards the C++ implementation of a novel parametrization for solving the monocular SLAM problem.<br />
Please refer to the paper "Monocular SLAM with Inverse Scaling Parametrization" (D. Marzorati, M. Matteucci, D. Migliore, D. G. Sorrenti) for more details.<br />
<br />
=== Dates ===<br />
<br />
Start date: 2008/08/06<br />
<br />
End date: <br />
<br />
=== Internet site(s) ===<br />
<br />
=== People involved ===<br />
<br />
==== Project head(s) ====<br />
<br />
* [[User:MatteoMatteucci|Matteo Matteucci]]<br />
<br />
==== Other Politecnico di Milano people ====<br />
<br />
* [[User:DavideMigliore|Davide Migliore]]<br />
* [[User:DanieleMarzorati|Daniele Marzorati]]<br />
<br />
===== Students currently working on the project =====<br />
<br />
* [[User:RobertoRigamonti|Roberto Rigamonti]]<br />
<br />
=== Laboratory work and risk analysis ===<br />
<br />
This project does not include laboratory activities. <br />
<br />
== '''Part 2: project description''' ==<br />
<br />
One of the most relevant problems encountered so far in the field of mobile robotics is constituted by the difficulty of having a reliable navigation system. The kinks are due to the impossibility of building a detailed map of every environment a robot might be located in, and to the inherent inaccuracies of both the sensing and motion systems.<br />
The problem, faced with so called Simultaneous Localization And Mapping algorithms, after more than ten years of research can now be classified as solved, despite several issues remains open.<br />
In this project a novel approach for monocular (i.e. using a single camera and no other sensors) SLAM is implemented and tested on both simulated<br />
and real data. The final goal is to have a system working in real time on indoor/outdoor images with limited computational resources.<br />
Up to now the part working on simulated data is completed, while the part working on real data requires a novel implementation of the feature-matching algorithms to be fully functional.<br />
<br />
Below some screenshots resulting from the application of the algorithm to both simulated and real data are reported<br />
[[Image:MSLAM 250pti.png]]<br />
[[Image:MSLAM 250pti2.png]]<br />
[[Image:MSLAM 250pti3.png]]<br />
[[Image:MSLAM 250pti4.png]]</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=File:MSLAM_250pti4.png&diff=4140File:MSLAM 250pti4.png2008-09-30T06:37:14Z<p>RobertoRigamonti: Test over 250 points of MonoSLAM</p>
<hr />
<div>Test over 250 points of MonoSLAM</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=File:MSLAM_250pti3.png&diff=4139File:MSLAM 250pti3.png2008-09-30T06:36:51Z<p>RobertoRigamonti: Test over 250 points of MonoSLAM</p>
<hr />
<div>Test over 250 points of MonoSLAM</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=File:MSLAM_250pti2.png&diff=4138File:MSLAM 250pti2.png2008-09-30T06:36:22Z<p>RobertoRigamonti: Test over 250 points of MonoSLAM</p>
<hr />
<div>Test over 250 points of MonoSLAM</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=File:MSLAM_250pti.png&diff=4137File:MSLAM 250pti.png2008-09-30T06:33:49Z<p>RobertoRigamonti: Test over 250 points of MonoSLAM</p>
<hr />
<div>Test over 250 points of MonoSLAM</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=Inverse_scaling_parametrization_for_Monocular_Simultaneous_Localization_and_Mapping&diff=3983Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping2008-09-23T09:26:28Z<p>RobertoRigamonti: /* '''Part 2: project description''' */</p>
<hr />
<div>== '''Part 1: project profile''' ==<br />
<br />
=== Project name ===<br />
<br />
Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping.<br />
<br />
=== Project short description ===<br />
<br />
This project regards the C++ implementation of a novel parametrization for solving the monocular SLAM problem.<br />
Please refer to the paper "Monocular SLAM with Inverse Scaling Parametrization" (D. Marzorati, M. Matteucci, D. Migliore, D. G. Sorrenti) for more details.<br />
<br />
=== Dates ===<br />
<br />
Start date: 2008/08/06<br />
<br />
End date: <br />
<br />
=== Internet site(s) ===<br />
<br />
=== People involved ===<br />
<br />
==== Project head(s) ====<br />
<br />
* [[User:MatteoMatteucci|Matteo Matteucci]]<br />
<br />
==== Other Politecnico di Milano people ====<br />
<br />
* [[User:DavideMigliore|Davide Migliore]]<br />
* [[User:DanieleMarzorati|Daniele Marzorati]]<br />
<br />
===== Students currently working on the project =====<br />
<br />
* [[User:RobertoRigamonti|Roberto Rigamonti]]<br />
<br />
=== Laboratory work and risk analysis ===<br />
<br />
This project does not include laboratory activities. <br />
<br />
== '''Part 2: project description''' ==<br />
<br />
One of the most relevant problems encountered so far in the field of mobile robotics is constituted by the difficulty of having a reliable navigation system. The kinks are due to the impossibility of building a detailed map of every environment a robot might be located in, and to the inherent inaccuracies of both the sensing and motion systems.<br />
The problem, faced with so called Simultaneous Localization And Mapping algorithms, after more than ten years of research can now be classified as solved, despite several issues remains open.<br />
In this project a novel approach for monocular (i.e. using a single camera and no other sensors) SLAM is implemented and tested on both simulated<br />
and real data. The final goal is to have a system working in real time on indoor/outdoor images with limited computational resources.<br />
Up to now the part working on simulated data is completed, while the part working on real data requires a novel implementation of the feature-matching algorithms to be fully functional.</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=Inverse_scaling_parametrization_for_Monocular_Simultaneous_Localization_and_Mapping&diff=3982Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping2008-09-23T09:23:15Z<p>RobertoRigamonti: /* Project short description */</p>
<hr />
<div>== '''Part 1: project profile''' ==<br />
<br />
=== Project name ===<br />
<br />
Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping.<br />
<br />
=== Project short description ===<br />
<br />
This project regards the C++ implementation of a novel parametrization for solving the monocular SLAM problem.<br />
Please refer to the paper "Monocular SLAM with Inverse Scaling Parametrization" (D. Marzorati, M. Matteucci, D. Migliore, D. G. Sorrenti) for more details.<br />
<br />
=== Dates ===<br />
<br />
Start date: 2008/08/06<br />
<br />
End date: <br />
<br />
=== Internet site(s) ===<br />
<br />
=== People involved ===<br />
<br />
==== Project head(s) ====<br />
<br />
* [[User:MatteoMatteucci|Matteo Matteucci]]<br />
<br />
==== Other Politecnico di Milano people ====<br />
<br />
* [[User:DavideMigliore|Davide Migliore]]<br />
* [[User:DanieleMarzorati|Daniele Marzorati]]<br />
<br />
===== Students currently working on the project =====<br />
<br />
* [[User:RobertoRigamonti|Roberto Rigamonti]]<br />
<br />
=== Laboratory work and risk analysis ===<br />
<br />
This project does not include laboratory activities. <br />
<br />
== '''Part 2: project description''' ==<br />
<br />
TODO</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=User:RobertoRigamonti&diff=3862User:RobertoRigamonti2008-08-06T15:32:51Z<p>RobertoRigamonti: </p>
<hr />
<div>{{User<br />
|firstname=Roberto<br />
|lastname=Rigamonti<br />
|email=roberto2(dot)rigamonti(at)mail(dot)polimi(dot)it<br />
|advisor=MatteoMatteucci<br />
|projectpage=Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping<br />
|photo=RobertoRigamonti.png<br />
}}</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=User:RobertoRigamonti&diff=3861User:RobertoRigamonti2008-08-06T15:32:34Z<p>RobertoRigamonti: </p>
<hr />
<div>{{User<br />
|firstname=Roberto<br />
|lastname=Rigamonti<br />
|email=roberto2 (dot) rigamonti(at)mail(dot)polimi(dot)it<br />
|advisor=MatteoMatteucci<br />
|projectpage=Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping<br />
|photo=RobertoRigamonti.png<br />
}}</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=Inverse_scaling_parametrization_for_Monocular_Simultaneous_Localization_and_Mapping&diff=3860Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping2008-08-06T15:31:58Z<p>RobertoRigamonti: </p>
<hr />
<div>== '''Part 1: project profile''' ==<br />
<br />
=== Project name ===<br />
<br />
Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping.<br />
<br />
=== Project short description ===<br />
<br />
TODO<br />
<br />
=== Dates ===<br />
<br />
Start date: 2008/08/06<br />
<br />
End date: <br />
<br />
=== Internet site(s) ===<br />
<br />
=== People involved ===<br />
<br />
==== Project head(s) ====<br />
<br />
* [[User:MatteoMatteucci|Matteo Matteucci]]<br />
<br />
==== Other Politecnico di Milano people ====<br />
<br />
* [[User:DavideMigliore|Davide Migliore]]<br />
* [[User:DanieleMarzorati|Daniele Marzorati]]<br />
<br />
===== Students currently working on the project =====<br />
<br />
* [[User:RobertoRigamonti|Roberto Rigamonti]]<br />
<br />
=== Laboratory work and risk analysis ===<br />
<br />
This project does not include laboratory activities. <br />
<br />
== '''Part 2: project description''' ==<br />
<br />
TODO</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=Inverse_scaling_parametrization_for_Monocular_Simultaneous_Localization_and_Mapping&diff=3859Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping2008-08-06T15:26:26Z<p>RobertoRigamonti: New page: == '''Part 1: project profile''' == === Project name === Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping. === Project short description === TODO ==...</p>
<hr />
<div>== '''Part 1: project profile''' ==<br />
<br />
=== Project name ===<br />
<br />
Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping.<br />
<br />
=== Project short description ===<br />
<br />
TODO<br />
<br />
=== Dates ===<br />
<br />
Start date: 2008/08/06<br />
<br />
End date: <br />
<br />
=== Internet site(s) ===<br />
<br />
=== People involved ===<br />
<br />
==== Project head(s) ====<br />
<br />
* [[User:MatteoMatteucci|Matteo Matteucci]]<br />
<br />
==== Other Politecnico di Milano people ====<br />
<br />
* [[User:DavideMigliore|Davide Migliore]]<br />
* [[User:DanieleMarzorati|Daniele Marzorati]]<br />
<br />
===== Students currently working on the project =====<br />
<br />
* [[User:RobertoRigamonti|Roberto Rigamonti]]<br />
<br />
=== Laboratory work and risk analysis ===<br />
<br />
Software related activities only, no potential risks.<br />
<br />
== '''Part 2: project description''' ==<br />
<br />
TODO</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=Projects&diff=3858Projects2008-08-06T15:21:48Z<p>RobertoRigamonti: /* Computer Vision and Image Analysis */</p>
<hr />
<div>''This page is a repository of links to the pages describing the '''projects''' we are currently working on at AIRLab. <br />
See the list of our finished projects on the [[Finished Projects]] page.''<br />
<br />
== Ongoing projects ==<br />
''by research area (areas are defined in the [[Main Page]]); for each project a name and a link to its AIRWiki page is given''<br />
<br />
==== [[Agents, Multiagent Systems, Agencies]] ====<br />
----<br />
<br />
* [[Multiagent cooperation|Multiagent cooperating system]]<br />
<br />
* [[Planning in Ambient Intelligence scenarios| Planning in Ambient Intelligence scenarios]]<br />
<br />
==== [[BioSignal Analysis]] ====<br />
----<br />
====== [[Affective Computing]] ======<br />
<br />
* [[Relatioship between Cognition and Emotion in Rehabilitation Robotics]]<br />
* [[Driving companions]]<br />
* [[Emotion from Interaction]]<br />
* [[Affective Devices]]<br />
<br />
====== [[Brain-Computer Interface]] ======<br />
<br />
* [[Online P300 and ErrP recognition with BCI2000]]<br />
* [[BCI based on Motor Imagery]]<br />
* [[Graphical user interface for an autonomous wheelchair]]<br />
* [[Mu and beta rhythm-based BCI]]<br />
<br />
====== [[Automatic Detection Of Sleep Stages]] ======<br />
<br />
* [[Sleep Staging with HMM]]<br />
<br />
====== [[Analysis of the Olfactory Signal]] ======<br />
<br />
* [[Lung Cancer Detection by an Electronic Nose]]<br />
* [[HE-KNOWS - An electronic nose]]<br />
<br />
==== [[Computer Vision and Image Analysis]] ====<br />
----<br />
<br />
* [[Automated extraction of laser streaks and range profiles]]<br />
<br />
* [[Data collection for mutual calibration|Data collection for laser-rangefinder and camera calibration]]<br />
<br />
* [[Image retargeting by k-seam removal]]<br />
<br />
* [[Particle filter for object tracking]]<br />
<br />
* [[Template based paper like reconstruction when the edges are straight]]<br />
<br />
* [[Wii Remote headtracking and active projector]]<br />
<br />
* [[Vision module for the Milan Robocup Team]]<br />
<br />
* [[Long Exposure Images for Resource-constrained video surveillance]]<br />
<br />
* [[NonPhotorealistic rendering of speed lines]].<br />
<br />
* [[Restoration of blurred objects using cues from the alpha matte]]<br />
<br />
* [[Analyzing Traffic Speed From a Single Night Image - Light Streaks Detection]]<br />
<br />
* [[Plate detection algorithm]]<br />
<br />
* [[A vision-based 3D input device for space curves]]<br />
<br />
* [[Correlation-based 3D reconstruction with pan/tilt stereo-camera]]<br />
<br />
* [[Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping]]<br />
<br />
==== [[Machine Learning]] ====<br />
----<br />
* [[Adaptive Reinforcement Learning Multiagent Coordination in Real-Time Computer Games|Adaptive Reinforcement Learning Multiagent Coordination in Real-Time Computer Games]]<br />
<br />
* [[B-Smart Behaviour Sequence Modeler and Recognition tool|B-Smart Behaviour Sequence Modeler and Recognition tool]]<br />
<br />
* [[Player modeling in TORCS exploiting SVMs and GPUs parallelism|Player modeling in TORCS exploiting SVMs and GPUs parallelism]]<br />
<br />
* [[Development an Artificial Intelligence System solving the MS Pac-Man videogame |Development an Artificial Intelligence System solving the MS Pac-Man videogame ]]<br />
<br />
==== [[Ontologies and Semantic Web]] ====<br />
----<br />
* [[Extending a wiki with semantic templates]]<br />
* [[GeoOntology|Geographic ontology for a semantic wiki]]<br />
<br />
==== [[Philosophy of Artificial Intelligence]] ====<br />
----<br />
==== [[Robotics]] ====<br />
----<br />
===== [[Robot development]] =====<br />
* [[LURCH - The autonomous wheelchair]]<br />
<br />
* [[Balancing robots: Tilty, TiltOne]]<br />
<br />
* [[ Computer controlled Braking on the Alpaca Golf Cart ]]<br />
<br />
* [[ Computer controlled Steering on the Alpaca Golf Cart ]]<br />
<br />
===== [[Benchmarking]] =====<br />
<br />
* [[Rawseeds|RAWSEEDS]]<br />
<br />
===== [[Bio Robotics]] =====<br />
<br />
* [[PoliManus]]<br />
<br />
* [[ZOIDBERG - An autonomous bio-inspired RoboFish]]<br />
<br />
* [[Styx The 6 Whegs Robot]]<br />
<br />
* [[PolyGlove: a body-based haptic interface]]<br />
<br />
* [[ULISSE]]<br />
<br />
* [[PEKeB: a PiezoElectric KeyBoard]]<br />
<br />
* [[Anthropomorphic Robotic Wrist]] <br />
<br />
===== [[Robogames]] =====<br />
<br />
* [[ROBOWII]] <br />
----<br />
<br />
== Note for students == <br />
<br />
If you are a student and there isn't a '''page describing your project''', this is because YOU have the task of creating it and populating it with (meaningful) content. If you are a student and there IS a page describing your project, you have the task to complete that page with (useful and comprehensive) information about your own contribution to the project. Be aware that the quality of your work (or lack of it) on the AIRWiki will be evaluated by the Teachers and will influence your grades.<br />
<br />
Instructions to add a new project or to add content to an existing project page are available at [[Projects - HOWTO]].</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=User:RobertoRigamonti&diff=3857User:RobertoRigamonti2008-08-06T15:12:06Z<p>RobertoRigamonti: </p>
<hr />
<div>{{User<br />
|firstname=Roberto<br />
|lastname=Rigamonti<br />
|email=roberto2.rigamonti(at)mail(dot)polimi(dot)it<br />
|advisor=MatteoMatteucci<br />
|projectpage=Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping<br />
|photo=RobertoRigamonti.png<br />
}}</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=User:RobertoRigamonti&diff=3856User:RobertoRigamonti2008-08-06T15:11:05Z<p>RobertoRigamonti: New page: {{User |firstname=Roberto |lastname=Rigamonti |email=roberto2.rigamonti(at)mail(dot)polimi(dot)it |advisor=MatteoMatteucci |projectpage=Inverse scaling parametrization for Monocular Simult...</p>
<hr />
<div>{{User<br />
|firstname=Roberto<br />
|lastname=Rigamonti<br />
|email=roberto2.rigamonti(at)mail(dot)polimi(dot)it<br />
|advisor=MatteoMatteucci<br />
|projectpage=Inverse scaling parametrization for Monocular Simultaneous Localization and Mapping<br />
|researchareas=''<br />
* [[Computer Vision and Image Analysis]]<br />
* [[Robotics]]<br />
|photo=RobertoRigamonti.png<br />
}}</div>RobertoRigamontihttps://airwiki.elet.polimi.it/index.php?title=File:RobertoRigamonti.png&diff=3854File:RobertoRigamonti.png2008-08-06T15:06:47Z<p>RobertoRigamonti: </p>
<hr />
<div></div>RobertoRigamonti