In this paper, we propose an novel implementation of a simultaneous localization and mapping (SLAM) system based on a monocular camera from an unmanned aerial vehicle (UAV) using Depth prediction performed with Capsule Networks (CapsNet), which possess improvements over the drawbacks of the more widely-used Convolutional Neural Networks (CNN). An Extended Kalman Filter will assist in estimating the position of the UAV so that we are able to update the belief for the environment. Results will be evaluated on a benchmark dataset to portray the accuracy of our intended approach.
Further, a few more algorithms which are also good in detecting keypoints like FAST Corner detector presented by Roston and Drummond in 2006 @cite_0 and Laplacian of Gaussian (LoG) blob detector @cite_0 which finds blobs in image instead of corners identified using Laplacian on the smoothed image.
@cite_0
2012231760 2000356541 2148278638 2132985810
In this paper, we propose a generalized Laplacian of Gaussian (LoG) (gLoG) filter for detecting general elliptical blob structures in images. The gLoG filter can not only accurately locate the blob centers but also estimate the scales, shapes, and orientations of the detected blobs. These functions can be realized by generalizing the common 3-D LoG scale-space blob detector to a 5-D gLoG scale-space one, where the five parameters are image-domain coordinates (x, y), scales (σx, σy), and orientation (θ), respectively. Instead of searching the local extrema of the image's 5-D gLoG scale space for locating blobs, a more feasible solution is given by locating the local maxima of an intermediate map, which is obtained by aggregating the log-scale-normalized convolution responses of each individual gLoG filter. The proposed gLoG-based blob detector is applied to both biomedical images and natural ones such as general road-scene images. For the biomedical applications on pathological and fluorescent microscopic images, the gLoG blob detector can accurately detect the centers and estimate the sizes and orientations of cell nuclei. These centers are utilized as markers for a watershed-based touching-cell splitting method to split touching nuclei and counting cells in segmentation-free images. For the application on road images, the proposed detector can produce promising estimation of texture orientations, achieving an accurate texture-based road vanishing point detection method. The implementation of our method is quite straightforward due to a very small number of tunable parameters. We present a new method to extract scale-invariant features from an image by using a Cosine Modulated Gaussian (CM-Gaussian) filter. Its balanced scale-space atom with minimal spread in scale and space leads to an outstanding scale-invariant feature detection quality, albeit at reduced planar rotational invariance. Both sharp and distributed features like corners and blobs are reliably detected, irrespective of various image artifacts and camera parameter variations, except for planar rotation. The CM-Gaussian filters are approximated with the sum of exponentials as a single, fixed-length filter and equal approximation error over all scales, providing constant-time, low-cost image filtering implementations. The approximation error of the corresponding digital signal processing is below the noise threshold. It is scalable with the filter order, providing many quality-complexity trade-off working points. We validate the efficiency of the proposed feature detection algorithm on image registration applications over a wide range of testbench conditions. Existing corner detection methods either extract boundaries and search for points having maximum curvature or apply a local operator in parallel to neighborhoods of a gray level picture. The key problem in these methods is the conversion of the gray levels of a pixel into a value reflecting a property of cornerness at that point. A neural network's ability to learn and to adapt together with its inherent parallelism and robustness has made it a natural choice for machine vision applications. This paper presents the application of neural networks to the problem of detecting corners in 2-D images. The performance of the system suggests its robustness and great potential. In this paper, we propose an efficient text detection method based on the Laplacian operator. The maximum gradient difference value is computed for each pixel in the Laplacian-filtered image. K-means is then used to classify all the pixels into two clusters: text and non-text. For each candidate text region, the corresponding region in the Sobel edge map of the input image undergoes projection profile analysis to determine the boundary of the text blocks. Finally, we employ empirical rules to eliminate false positives based on geometrical properties. Experimental results show that the proposed method is able to detect text of different fonts, contrast and backgrounds. Moreover, it outperforms three existing methods in terms of detection and false positive rates.