Abstract
Recently developed robotic mapping techniques enable the acquisition of large scale landmark databases. This paper explores an approach for succinct landmark database, which memorizes a large collection of point landmarks while allowing to random access the location of i-th landmark. Our approach combines and extends three independent compression techniques: space coding, succinct data structure, and exemplar-based scene compression. Experiments using real datasets evaluate effectiveness of the presented techniques in terms of compactness, access speed, and accuracy of landmark database.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Angeli, A., Filliat, D., Doncieux, S., Meyer, J.A.: A fast and incremental method for loop-closure detection using bags of visual words. IEEE Transactions on Robotics, Special Issue on Visual SLAM (2008) (conditionally accpeted for publication)
Cummins, M., Newman, P.: Accelerated appearance-only SLAM. In: Proc. IEEE International Conference on Robotics and Automation (2008)
Williams, B., Klein, G., Reid, I.: Real-time slam relocalisation. In: Proc. IEEE 11th Int. Conf. Computer Vision, pp. 1–8 (2007)
Ila, V., Ni, K., Dellaert, F., Carlson, J., Thorpe, C.E.: Subgraph-preconditioned conjugate gradients for large scale slam. In: Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, IROS (2010)
Zhou, Q.-Y., Neumann, U.: 2.5d building modeling with topology control, pp. 2489–2496 (2011)
Brown, M.Z., Burschka, D., Hager, G.D.: Advances in computational stereo. IEEE Transactions on Pattern Analysis and Machine Intelligence 25, 993–1008 (2003)
Zhou, Q.-Y., Neumann, U.: A streaming framework for seamless building reconstruction from large-scale aerial lidar data, pp. 2759–2766 (2009)
Wonka, P., Wimmer, M., Sillion, F., Ribarsky, W.: Instant architecture. ACM Transaction on Graphics 22(3), 669–677 (2003)
Pfister, H., Zwicker, M., Van Baar, J., Gross, M.: Surfels: Surface elements as rendering primitives. In: Proceedings of the 27th Annual Conference on Computer Graphics and Interactive Techniques, pp. 335–342 (2000)
Lafarge, F., Keriven, R., Brédif, M., Vu, H.: Hybrid multi-view reconstruction by Jump-Diffusion. In: 2010 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 350–357 (2010)
Schnabel, R., Klein, R.: Octree-based point-cloud compression (2006)
Gumhold, S., Karni, Z., Isenburg, M., Seidel, H.-P.: Predictive point-cloud compression (2005)
Botsch, M., Pajarola, R., (eds), Hubo, E., Mertens,T., Haber, T.: Self-similarity-based compression of point clouds, with application to ray tracing abstract (2007)
Sagan, H.: Space-filling curves. Springer (1994)
Hudson, B.: Succinct representation of well-spaced point clouds. CoRR, abs/0909.3137 (2009)
Brisaboa, N.R., Ladra, S., Navarro, G.: Directly addressable variable-length codes, pp. 122–130 (2009)
Tomoni, N., Kanji, T.: Dictionary-based map compression for sparse feature maps. In: Proc. IEEE Int. Conf. Robotics and Automation, ICRA (2011)
Cham, T.J., Ciptadi, A., Tan, W.C., Pham, M.T., Chia, L.T.: Estimating camera pose from a single urban ground-view omnidirectional image and a 2d building outline map (2010)
Kensuke, K., Kanji, T., Tomomi, N.: Grammar-based map compression using manhattan-world priors. In: Proc. IEEE Int. Conf. Robotics and Biomimetics, ROBIO (2011)
Tomomi, N., KanjiAn, T.: incremental scheme for dictionary-based compressive slam. In: Proc. IEEE Int. Conf. Intelligent Robots and Systems, IROS (2011)
Tomomi, N., Kanji, T.: Dictionary-based map compression using geometric priors. In: Proc. IEEE Int. Conf. Robotics and Biomimetics, ROBIO (2011)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Tanaka, K. (2013). Succinct Landmark Database. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 193. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33926-4_15
Download citation
DOI: https://doi.org/10.1007/978-3-642-33926-4_15
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33925-7
Online ISBN: 978-3-642-33926-4
eBook Packages: EngineeringEngineering (R0)