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

作者：Yoo W S^*; Lee B H

来源：Electronics Letters, 2017, 53(13): 852-853.

DOI：10.1049/el.2017.1346

• 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

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.

• 出版日期2017-6-22