Organisation internationale de normalisation

CDVS awareness event

1.1.1.1.1.1.1.1.32m36639 Where have I been in Warsaw demo - An image-based localisation using CDVS [Emmanuel Thomas]

A tool provided to MPEG participants who could use it with their smartphones when exploring Warsaw’s quarter in vicinity of the meetimg place was presented as a demo.

4. Other

1.1.1.1.1.1.1.1.33m36392 Robotic navigation using MPEG CDVS [Pedro Porto Buarque de Gusmão, Massimo Balestri, Gianluca Francini, Skjalg Lepsoy]

This contribution proposes the use of MPEG CDVS in a SLAM framework for loop-detection in an indoor environment, including lab experiments with a mini-robot.

The contribution concludes that CDVS is very well suited for a Visual SLAM scenario. CDVS features are distinctive enough to correctly detect path loops and require an order of magnitude less storage space delivering 20 times faster match when compared to SIFT. Feature selection sets upper-bounds for both storage and extraction and matching times, which allows for system designer to make dependable prediction for VSLAM systems requirements regardless of the specific floor type where it will be used.

Compared to a laser scanner, the CVDS-based approach has generated significantly better results.

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