Dynamic key-frame selection technique for enhanced odometry estimation based on laser scan similarity comparison

被引：4
|
作者：
Yoo, W. S. [1 ]
Lee, B. H. [1 ]
机构：
[1] Seoul Natl Univ, Dept Elect & Comp Engn, ASRI, 1 Gwanak Ro, Seoul, South Korea
来源：
ELECTRONICS LETTERS | 2017年 / 53卷 / 13期
关键词：
logic circuits; microprocessor chips; logic design; program compilers; program processors; particle swarm optimisation; circuit optimisation; IP core protection; architectural synthesis; HLT-based obfuscation; intellectual property core; reverse engineering; structural obfuscation methodology; multiple compiler-based high-level transformations; functionally equivalent designs; HLT techniques; redundant operation elimination; logic transformation; tree height transformation; area-delay tradeoff; low-cost obfuscated design; particle swarm optimisation-based exploration framework; low-cost obfuscated IP designs; PROTECTION;
D O I：
10.1049/el.2017.1346
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
A dynamic key-frame selection technique is proposed for enhanced odometry estimation. The odometry estimation problem has a drift problem in which errors are accumulated over time. The proposed technique finds the key-frame which reduces the odometry drift for every time step based on scan similarity comparisons. The enhancement of the proposed method is verified through the performance comparison with the frame-to-frame and the conventional frame to key-frame methods.
引用
收藏
页码：852 / 853
页数：2
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