Simultaneous Localization And Mapping with depth Prediction using Capsule Networks for UAVs

2018/08/16 by Sunil Prakash, Prakash, Sunil, Gaelan Gu +1 · 1 citation
Engineering · Computer Science · #Robotics and Sensor-Based Localization #Advanced Vision and Imaging #Advanced Image and Video Retrieval Techniques

paper · pdf · doi:10.48550/arxiv.1808.05336

Abstract

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.

Cited by

• TCDCaps: Visual Tracking via Cascaded Dense Capsules

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