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
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.