Multi-UAV collaborative system with a feature fast matching algorithm

We present a real-time monocular simultaneous localization and mapping(SLAM)system with a new distributed structure for multi-UAV collaboration tasks.The system is different from other general SLAM systems in two aspects:First,it does not aim to build a global map,but to estimate the latest relative position between nearby vehicles;Second,there is no centralized structure in the proposed system,and each vehicle owns an individual metric map and an ego-motion estimator to obtain the relative position between its own map and the neighboring vehicles'.To realize the above characteristics in real time,we demonstrate an innovative feature description and matching algorithm to avoid catastrophic expansion of feature point matching workload due to the increased number of UAVs.Based on the hash and principal component analysis,the matching time complexity of this algorithm can be reduced from 0(logN)to 0(1).To evaluate the performance,the algorithm is verified on the acknowledged multi-view stereo benchmark dataset,and excellent results are obtained.Finally,through the simulation and real flight experiments,this improved SLAM system with the proposed algorithm is validated.

Threshold logic based low-level vision sparse object features

Purpose-The real-time generation of feature descriptors for object recognition is a challenging problem.In this research,the purpose of this paper is to provide a hardware friendly framework to generate sparse features that can be useful for key feature point selection,feature extraction,and descriptor construction.The inspiration is drawn from feature formation processes of the human brain,taking into account the sparse,modular,and hierarchical processing of visual information.Design/methodology/approach-A sparse set of neurons referred as active neurons determines the feature points necessary for high-level vision applications such as object recognition.A psycho-physical mechanism of human low-level vision relates edge detection to noticeable local spatial stimuli,representing this set of active neurons.A cognitive memory cell array-based implementation of low-level vision is proposed.Applications of memory cell in edge detection are used for realizing human vision inspired feature selection and leading to feature vector construction for high-level vision applications.Findings-True parallel architecture and faster response of cognitive circuits avoid time costly and redundant feature extraction steps.Validation of proposed feature vector toward high-level computer vision applications is demonstrated using standard object recognition databases.The comparison against existing state-of-the-art object recognition features and methods shows an accuracy of 97,95,69 percent for Columbia Object Image Library-100,ALOI,and PASCAL VOC 2007 databases indicating an increase from benchmark methods by 5,3 and 10 percent,respectively.Originality/value-A hardware friendly low-level sparse edge feature processing system isproposed for recognizing objects.The edge features are developed based on threshold logic of neurons,and the sparse selection of the features applies a modular and hierarchical processing inspired from the human neural system.