NDLI: Hierarchical structured learning for indoor autonomous navigation of Quadcopter

Please wait, while we are loading the content...

Reinforced random forest

Prototypes based discriminative appearance model for object tracking

Adaptive artistic stylization of images

Improving person re-identification systems: a novel score fusion framework for rank-n recognition

An image analysis approach for transcription of music played on keyboard-like instruments

Deep automatic license plate recognition system

How much can a Gaussian smoother denoise?

Generic TV advertisement detection using progressively balanced perceptron trees

Supervised deep segmentation network for brain extraction

Robust registration of Mouse brain slices with severe histological artifacts

Image defencing via signal demixing

Don't see me, just filter me: towards secure cloud based filtering using Shamir's secret sharing and POB number system

Hierarchical structured learning for indoor autonomous navigation of Quadcopter

Event recognition in broadcast soccer videos

A fast identity-independent expression recognition system for robust cartoonification using smart devices

Automatic detection of Malaria infected RBCs from a focus stack of bright field microscope slide images

MPMF: multi-part multi-feature based object tracking

Automated brain tractography segmentation using curvature points

Depth estimation from single image using machine learning techniques

Deep neural networks for segmentation of basal ganglia sub-structures in brain MR images

Crowd motion analysis for group detection

Voxel-based morphometry and minimum redundancy maximum relevance method for classification of Parkinson's disease and controls from T1-weighted MRI

Document blur detection using edge profile mining

Event geo-localization and tracking from crowd-sourced video metadata

Local dominant binary patterns for recognition of multi-view facial expressions

Color restoration in turbid medium

First quantization matrix estimation for double compressed JPEG images utilizing novel DCT histogram selection strategy

Classification of Schizophrenia versus normal subjects using deep learning

A framework to assess Sun salutation videos

Image hallucination at different times of day using locally affine model and kNN template matching from time-lapse images

Spectral decomposition and progressive reconstruction of scalar volumes

Recognizing facial expressions using novel motion based features

Deep image inpainting with region prediction at hierarchical scales

Scalable clustering and applications

Robust pedestrian tracking using improved tracking-learning-detection algorithm

Informed multimodal latent subspace learning via supervised matrix factorization

Data-driven 2D effects animation

Enhancement of high dynamic range images using variational calculus regularizer with stochastic resonance

Fast frontier detection in indoor environment for monocular SLAM

Spatio-temporal weighted histogram based mean shift for illumination robust target tracking

CRF based method for curb detection using semantic cues and stereo depth

Deep fusion of visual signatures for client-server facial analysis

COMA-boost: co-operative multi agent AdaBoost

Low complexity encoder for feedback-channel-free distributed video coding using deep convolutional neural networks at the decoder

Feature-preserving 3D fluorescence image sequence denoising

TraCount: a deep convolutional neural network for highly overlapping vehicle counting

Video stabilization by procrustes analysis of trajectories

Hierarchical spectral clustering based large margin classification of visually correlated categories

Generating synthetic handwriting using n-gram letter glyphs

Alternate formulation for transform learning

Complementary tracker's fusion for robust visual tracking

A distribution-independent risk estimator for image denoising

On the (soccer) ball

A biologically inspired saliency model for color fundus images

Pap smear image classification using convolutional neural network

Unsupervised domain adaptation without source domain training samples: a maximum margin clustering based approach

Ghosting free HDR for dynamic scenes via shift-maps

Robust segmentation of corneal fibers from noisy images

DeepFly: towards complete autonomous navigation of MAVs with monocular camera

On improved CS-SS image watermark detection over radio mobile channel

A context dependent fragile watermarking scheme for tamper detection from demosaicked color images

Exposing splicing forgeries in digital images through dichromatic plane histogram discrepancies

Bangla online handwriting recognition using recurrent neural network architecture

Towards semantic visual representation: augmenting image representation with natural language descriptors

Immersive augmented reality system for assisting needle positioning during ultrasound guided intervention

Detection and segmentation of mirror-like surfaces using structured illumination

Fusion-based skin detection using image distribution model

A stratified registration framework for DSA artifact reduction using random walker

Compensating for large in-plane rotations in natural images

A differential excitation based rotational invariance for convolutional neural networks

MUSA: a banana database for ripening level determination

Qualitative spatial and temporal reasoning over diagrams for activity recognition

Towards quantifying the amount of uncollected garbage through image analysis

Mosaicing deep underwater imagery

Limitations with measuring performance of techniques for abnormality localization in surveillance video and how to overcome them?

Event recognition in egocentric videos using a novel trajectory based feature

3D binary signatures

Extended multi-spectral face recognition across two different age groups: an empirical study

Analyzing object categories via novel category ranking measures defined on visual feature embeddings

Bishnupur heritage image dataset (BHID): a resource for various computer vision applications

Iris recognition using partial sum of second order Taylor series expansion

Overlapping cell nuclei segmentation in microscopic images using deep belief networks

A large scale dataset for classification of vehicles in urban traffic scenes

Reduction of variance of observations on pelvic structures in CBCT images using novel mean-shift and mutual information based image registration?

Multi-slice tomographic reconstruction: to couple or not to couple

Uncorrelated multiview discriminant locality preserving projection analysis for multiview facial expression recognition

Automatic video matting through scribble propagation

Intrinsic image decomposition using focal stacks

User guided generation of corroded objects

Evaluation of graph layout methods based on visual perception

Blind image quality assessment using subspace alignment

Sketch-based simulated draping for Indian garments

Autoregressive hidden Markov model with missing data for modelling functional MR imaging data

Learning to hash-tag videos with Tag2Vec

Efficient adaptive weighted minimization for compressed sensing magnetic resonance image reconstruction

Hierarchical structured learning for indoor autonomous navigation of Quadcopter

Content Provider	ACM Digital Library
Author	Bipin, Kumar Krishna, K. Madhava Duggal, Vishakh Shah, Utsav
Abstract	Autonomous navigation of generic monocular quadcopter in the indoor environment requires sophisticated approaches for perception, planning and control. This paper presents a system which enables a miniature quadcopter with a frontal monocular camera to autonomously navigate and explore the unknown indoor environment. Initially, the system estimates dense depth map of the environment from a single video frame using our proposed novel supervised Hierarchical Structured Learning (hsl) technique, which yields both high accuracy levels and better generalization. The proposed hsl approach discretizes the overall depth range into multiple sets. It structures these sets hierarchically and recursively through partitioning the set of classes into two subsets with subsets representing apportioned depth range of the parent set, forming a binary tree. The binary classification method is applied to each internal node of binary tree separately using Support Vector Machine (svm). Whereas, the depth estimation of each pixel of the image starts from the root node in top-down approach, classifying repetitively till it reaches any of the leaf node representing its estimated depth. The generated depth map is provided as an input to Convolutional Neural Network (cnn), which generates flight planning commands. Finally, trajectory planning and control module employs a convex programming technique to generate collision-free minimum time trajectory which follows these flight planning commands and produces appropriate control inputs for the quadcopter. The results convey unequivocally the advantages of depth perception by hsl, while repeatable flights of successful nature in typical indoor corridors confirm the efficacy of the pipeline.
Starting Page	1
Ending Page	8
Page Count	8
File Format	PDF
ISBN	9781450347532
DOI	10.1145/3009977.3009990
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2016-12-18
Publisher Place	New York
Access Restriction	Subscribed
Subject Keyword	Quadcopter Autonomous navigation Vision
Content Type	Text
Resource Type	Article

Central Library (ISO-9001:2015 Certified)
Indian Institute of Technology Kharagpur
Kharagpur, West Bengal, India | PIN - 721302

See location in the Map
03222 282435
Mail: support@ndl.gov.in

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in