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

Research Project

Project/Area Number 26330297
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Intelligent robotics
Research InstitutionUniversity 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 *help
¥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".

Report

(5 results)
  • 2017 Annual Research Report   Final Research Report ( PDF )
  • 2016 Research-status Report
  • 2015 Research-status Report
  • 2014 Research-status Report

Research Products

(27 results)

All 2017 2016 2015 2014 Other

All Journal Article (24 results) (of which Peer Reviewed: 24 results,  Open Access: 5 results,  Acknowledgement Compliant: 19 results) Remarks (3 results)

  • [Journal Article] Change Detection with Global Viewpoint Localization2017

    • Author(s)
      Tomoya Murase, Kanji Tanaka, and Akitaka Takayama
    • Journal Title

      Proc. IAPR 4th Asian Conference on Pattern Recognition

      Volume: 1 Pages: 1-1

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Scalable Change Detection from Large-Size 3D Point Cloud Maps2017

    • Author(s)
      高橋佳希 , 田中完爾
    • Journal Title

      Proceedings of the Japan Joint Automatic Control Conference

      Volume: 1 Issue: 0 Pages: 1503-1508

    • DOI

      10.11511/jacc.60.0_1503

    • NAID

      130006251202

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Cross-season Vehicle Localization Using Bag of Local 3D Features2017

    • 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

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Grammar-based Map Parsing for View Invariant Map Descriptor2017

    • 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

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Unsupervised Place Discovery for Visual Place Classification2017

    • 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

    • Related Report
      2017 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Incremental Loop Closure Verification by Guided Sampling2017

    • Author(s)
      tanaka kanji
    • Journal Title

      Journal of advanced computational intelligence and intelligent informatics

      Volume: 21 Pages: 59-66

    • Related Report
      2016 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] Map retrieval in 3D using view-dependent local map descriptor2016

    • Author(s)
      Takahashi Yoshiki, Tanaka Kanji
    • Journal Title

      System Integration (SII), 2016 IEEE/SICE International Symposium on

      Volume: 1 Pages: 180-185

    • Related Report
      2016 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Mining Visual Phrases for Visual Robot Localization2016

    • 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

    • Related Report
      2016 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] Self-localization from images with small overlap2016

    • Author(s)
      Tanaka Kanji
    • Journal Title

      Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on

      Volume: 1 Pages: 4497-4504

    • Related Report
      2016 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Combining Grid Mapping with local map descriptor for fast succinct map retrieval2016

    • Author(s)
      Enfu Liu, Kanji Tanaka
    • Journal Title

      Robotics and Biomimetics (ROBIO), 2016 IEEE International Conference on

      Volume: 1 Pages: 1709-1714

    • Related Report
      2016 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Mining DCNN landmarks for long-term visual SLAM2016

    • Author(s)
      Tsukamoto Taisho, Tanaka Kanji
    • Journal Title

      Robotics and Biomimetics (ROBIO), 2016 IEEE International Conference on

      Volume: 1 Pages: 570-576

    • Related Report
      2016 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Compressive change retrieval for moving object detection2016

    • Author(s)
      Murase Tomoya, Tanaka Kanji
    • Journal Title

      System Integration (SII), 2016 IEEE/SICE International Symposium on

      Volume: 1 Pages: 780-785

    • Related Report
      2016 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Multi-model hypothesize-and-verify approach for incremental loop closure verification2016

    • Author(s)
      Tanaka Kanji
    • Journal Title

      System Integration (SII), 2016 IEEE/SICE International Symposium on

      Volume: 1 Pages: 762-767

    • Related Report
      2016 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Map-to-Text: Local Map Descriptor2016

    • Author(s)
      Kanji TANAKA, Shogo HANADA
    • Journal Title

      SICE Journal of Control, Measurement, and System Integration

      Volume: 9 Pages: 86-92

    • DOI

      10.9746/jcmsi.9.86

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Mining visual experience for fast cross-view UAV localization2015

    • 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

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Use of viewpoint planning for fast succinct map matching2015

    • Author(s)
      liu enfu, tanaka kanji
    • Journal Title

      Proc. 2015 IEEE/SICE International Symposium on System Integration (SII)

      Volume: 1 Pages: 714-719

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Cross-season place recognition using NBNN scene descriptor2015

    • Author(s)
      Tanaka Kanji
    • Journal Title

      Proc. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems

      Volume: 1 Pages: 729-735

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Leveraging image-based prior in cross-season place recognition2015

    • 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

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Unsupervised part-based scene modeling for visual robot localization2015

    • Author(s)
      tanaka kanji
    • Journal Title

      Proc. 2015 IEEE Int. Conf. Robotics and Automation

      Volume: 1 Pages: 6359-6365

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Scene retrieval by unsupervised salient part discovery2015

    • Author(s)
      Naotoshi Sugegaya, Kanji Tanaka, Kentaro Yanagihara
    • Journal Title

      Proc. int. conf. machine vision applications

      Volume: 1 Pages: 85-88

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Leveraging image based prior for visual place recognition2015

    • Author(s)
      Taisho Tsukamoto, Kanji Tanaka:
    • Journal Title

      Proc. int. conf. machine vision applications

      Volume: 1 Pages: 194-197

    • Related Report
      2015 Research-status Report
    • Peer Reviewed / Acknowledgement Compliant
  • [Journal Article] Bag-of-Bounding-Boxes: An Unsupervised Approach for Object-Level View Image Retrieval2014

    • Author(s)
      Kanji Tanaka, Masatoshi Ando, Yousuke Inagaki
    • Journal Title

      JACIII

      Volume: 18 Pages: 784-791

    • NAID

      130007673176

    • Related Report
      2014 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] Mining visual phrases for long-term visual SLAM2014

    • 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

    • Related Report
      2014 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Journal Article] Landmark Discovery for Single-View Cross-Season Localization Authors2014

    • 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

    • Related Report
      2014 Research-status Report
    • Peer Reviewed / Open Access / Acknowledgement Compliant
  • [Remarks] Self-localization from Images with Small Overlap

    • URL

      http://rc.his.u-fukui.ac.jp/LocalizationDifficultyIndex2.html

    • Related Report
      2016 Research-status Report
  • [Remarks] Compressive Change Retrieval

    • URL

      http://rc.his.u-fukui.ac.jp/CompressiveChangeRetrieval.html

    • Related Report
      2016 Research-status Report
  • [Remarks] Map-to-Text: Local Map Descriptor

    • URL

      http://rc.his.u-fukui.ac.jp/LocalMapDescriptor2.html

    • Related Report
      2016 Research-status Report

URL: 

Published: 2014-04-04   Modified: 2019-03-29  

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