Part SLAM: A Succinct and Discriminative Method for Scene Matching via Unsupervised Part-based Modeling

• Project/Area Number: 26330297
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Intelligent robotics
• Research Institution: University of Fukui
• Principal Investigator: Tanaka Kanji 福井大学, 学術研究院工学系部門, 准教授 (30325899)
• Project Period (FY): 2014-04-01 – 2018-03-31
• Project Status: Completed (Fiscal Year 2017)
• Budget Amount: ¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000); Fiscal Year 2016: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2014: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
• Keywords: 視覚移動ロボット / 自己位置推定 / 地図作成 / 情景部品モデル / 深層学習 / 変化検出 / 移動ロボット / SLAM / 部品モデル / 深層畳込みニューラルネットワーク / 物体認識 / データマイニング / ロボットビジョン / 地図生成 / ＳＬＡＭ / 部品SLAM / 共通物体発見

Outline of Final Research Achievements

In this study, we realized a next generation SLAM (online map learning) technique named ``part SLAM". More formally, we are based on a light-weight and high-accuracy compressive map representation ``unsupervised scene part model" and developed the new SLAM technique. Furthermore, we developed a versatile SLAM system based on monocular camera and verified efficacy of the developed system in a challenging problem called ``cross-season visual place recognition".

Research Products

• [Journal Article] Change Detection with Global Viewpoint Localization (2017)
  • Author(s): Tomoya Murase, Kanji Tanaka, and Akitaka Takayama
  • Journal Title: Proc. IAPR 4th Asian Conference on Pattern Recognition Volume: 1 Pages: 1-1
  • Peer Reviewed
• [Journal Article] Scalable Change Detection from Large-Size 3D Point Cloud Maps (2017)
  • Author(s): 高橋佳希 , 田中完爾
  • Journal Title: Proceedings of the Japan Joint Automatic Control Conference Volume: 60 Issue: 0 Pages: 1503-1508
  • DOI: 10.11511/jacc.60.0_1503
  • NAID: 130006251202
  • Peer Reviewed
• [Journal Article] Cross-season Vehicle Localization Using Bag of Local 3D Features (2017)
  • Author(s): Takahashi Yoshiki, Tanaka Kanji, Fang Yichu
  • Journal Title: Proc. IEEE 20th International Conference on Intelligent Transportation Systems Volume: 1 Pages: 1-6
  • DOI: 10.1109/itsc.2017.8317606
  • Peer Reviewed
• [Journal Article] Grammar-based Map Parsing for View Invariant Map Descriptor (2017)
  • Author(s): Liu Enfu, Tanaka Kanji, Fei Xiaoxiao
  • Journal Title: Proc. International Conference on Indoor Positioning and Indoor Navigation conference Volume: 1 Pages: 1-8
  • DOI: 10.1109/ipin.2017.8115884
  • Peer Reviewed
• [Journal Article] Unsupervised Place Discovery for Visual Place Classification (2017)
  • Author(s): Fei Xiaoxiao, Tanaka Kanji, Inamoto Kouya, Hao Guoqing
  • Journal Title: Proc. Fifteenth IAPR International Conference on Machine Vision Applications Volume: 1 Pages: 109-112
  • DOI: 10.23919/mva.2017.7986802
  • Peer Reviewed
• [Journal Article] Incremental Loop Closure Verification by Guided Sampling (2017)
  • Author(s): tanaka kanji
  • Journal Title: Journal of advanced computational intelligence and intelligent informatics Volume: 21 Pages: 59-66
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Map retrieval in 3D using view-dependent local map descriptor (2016)
  • Author(s): Takahashi Yoshiki, Tanaka Kanji
  • Journal Title: System Integration (SII), 2016 IEEE/SICE International Symposium on Volume: 1 Pages: 180-185
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Mining Visual Phrases for Visual Robot Localization (2016)
  • Author(s): Kanji Tanaka, Yuuto Chokushi, Masatoshi Ando
  • Journal Title: Journal of advanced computational intelligence and intelligent informatics Volume: 20 Pages: 57-65
  • NAID: 130007673373
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Self-localization from images with small overlap (2016)
  • Author(s): Tanaka Kanji
  • Journal Title: Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on Volume: 1 Pages: 4497-4504
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Combining Grid Mapping with local map descriptor for fast succinct map retrieval (2016)
  • Author(s): Enfu Liu, Kanji Tanaka
  • Journal Title: Robotics and Biomimetics (ROBIO), 2016 IEEE International Conference on Volume: 1 Pages: 1709-1714
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Mining DCNN landmarks for long-term visual SLAM (2016)
  • Author(s): Tsukamoto Taisho, Tanaka Kanji
  • Journal Title: Robotics and Biomimetics (ROBIO), 2016 IEEE International Conference on Volume: 1 Pages: 570-576
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Compressive change retrieval for moving object detection (2016)
  • Author(s): Murase Tomoya, Tanaka Kanji
  • Journal Title: System Integration (SII), 2016 IEEE/SICE International Symposium on Volume: 1 Pages: 780-785
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Multi-model hypothesize-and-verify approach for incremental loop closure verification (2016)
  • Author(s): Tanaka Kanji
  • Journal Title: System Integration (SII), 2016 IEEE/SICE International Symposium on Volume: 1 Pages: 762-767
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Map-to-Text: Local Map Descriptor (2016)
  • Author(s): Kanji TANAKA, Shogo HANADA
  • Journal Title: SICE Journal of Control, Measurement, and System Integration Volume: 9 Issue: 2 Pages: 86-92
  • DOI: 10.9746/jcmsi.9.86
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Mining visual experience for fast cross-view UAV localization (2015)
  • Author(s): Tsukamoto Taisho, L Enfu, Tanaka Kanji, Sugegaya Naotoshi
  • Journal Title: Proc. 2015 IEEE/SICE International Symposium on System Integration (SII) Volume: 1 Pages: 375-380
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Use of viewpoint planning for fast succinct map matching (2015)
  • Author(s): liu enfu, tanaka kanji
  • Journal Title: Proc. 2015 IEEE/SICE International Symposium on System Integration (SII) Volume: 1 Pages: 714-719
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Cross-season place recognition using NBNN scene descriptor (2015)
  • Author(s): Tanaka Kanji
  • Journal Title: Proc. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems Volume: 1 Pages: 729-735
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Leveraging image-based prior in cross-season place recognition (2015)
  • Author(s): Masatoshi Ando, Yuuto Chokushi, Kanji Tanaka, Kentaro Yanagihara
  • Journal Title: Proc. 2015 IEEE Int. Conf. Robotics and Automation Volume: 1 Pages: 5455-5461
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Unsupervised part-based scene modeling for visual robot localization (2015)
  • Author(s): tanaka kanji
  • Journal Title: Proc. 2015 IEEE Int. Conf. Robotics and Automation Volume: 1 Pages: 6359-6365
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Scene retrieval by unsupervised salient part discovery (2015)
  • Author(s): Naotoshi Sugegaya, Kanji Tanaka, Kentaro Yanagihara
  • Journal Title: Proc. int. conf. machine vision applications Volume: 1 Pages: 85-88
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Leveraging image based prior for visual place recognition (2015)
  • Author(s): Taisho Tsukamoto, Kanji Tanaka:
  • Journal Title: Proc. int. conf. machine vision applications Volume: 1 Pages: 194-197
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Bag-of-Bounding-Boxes: An Unsupervised Approach for Object-Level View Image Retrieval (2014)
  • Author(s): Kanji Tanaka, Masatoshi Ando, Yousuke Inagaki
  • Journal Title: JACIII Volume: 18 Pages: 784-791
  • NAID: 130007673176
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Mining visual phrases for long-term visual SLAM (2014)
  • Author(s): Kanji Tanaka, Yuuto Chokushi, Masatoshi Ando
  • Journal Title: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems Volume: 1 Pages: 136-142
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Landmark Discovery for Single-View Cross-Season Localization Authors (2014)
  • Author(s): Ando Masatoshi, Chokushi Yuuto, Tanaka Kanji
  • Journal Title: 6th Workshop on Planning, Perception and Navigation for Intelligent Vehicles Volume: 1 Pages: 1-6
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Remarks] Self-localization from Images with Small Overlap
  • URL: http://rc.his.u-fukui.ac.jp/LocalizationDifficultyIndex2.html
• [Remarks] Compressive Change Retrieval
  • URL: http://rc.his.u-fukui.ac.jp/CompressiveChangeRetrieval.html
• [Remarks] Map-to-Text: Local Map Descriptor
  • URL: http://rc.his.u-fukui.ac.jp/LocalMapDescriptor2.html