arXiv subjects

Frederike Dümbgen

Publications and source records attributed to Frederike Dümbgen.

23 records · Page 2Linked to original sources

arXiv2023

What to Learn: Features, Image Transformations, or Both?

Long-term visual localization is an essential problem in robotics and computer vision, but remains challenging due to the environmental appearance changes caused by lighting and seasons. While many existing works have attempted to solve it by directly learning invariant sparse keypoints and descriptors to match scenes, these approaches still struggle with adverse appearance changes. Recent developments in image transformations such as neural style transfer have emerged as an alternative to address such appearance gaps. In this work, we propose to combine an image transformation network and a feature-learning network to improve long-term localization performance. Given night-to-day image pairs, the image transformation network transforms the night images into day-like conditions prior to feature matching; the feature network learns to detect keypoint locations with their associated descriptor values, which can be passed to a classical pose estimator to compute the relative poses. We conducted various experiments to examine the effectiveness of combining style transfer and feature learning and its training strategy, showing that such a combination greatly improves long-term localization performance.

cs.RO↗

arXiv2023

Blind as a bat: audible echolocation on small robots

For safe and efficient operation, mobile robots need to perceive their environment, and in particular, perform tasks such as obstacle detection, localization, and mapping. Although robots are often equipped with microphones and speakers, the audio modality is rarely used for these tasks. Compared to the localization of sound sources, for which many practical solutions exist, algorithms for active echolocation are less developed and often rely on hardware requirements that are out of reach for small robots. We propose an end-to-end pipeline for sound-based localization and mapping that is targeted at, but not limited to, robots equipped with only simple buzzers and low-end microphones. The method is model-based, runs in real time, and requires no prior calibration or training. We successfully test the algorithm on the e-puck robot with its integrated audio hardware, and on the Crazyflie drone, for which we design a reproducible audio extension deck. We achieve centimeter-level wall localization on both platforms when the robots are static during the measurement process. Even in the more challenging setting of a flying drone, we can successfully localize walls, which we demonstrate in a proof-of-concept multi-wall localization and mapping demo.

cs.RO↗

arXiv2020

Realizability of Planar Point Embeddings from Angle Measurements

Localization of a set of nodes is an important and a thoroughly researched problem in robotics and sensor networks. This paper is concerned with the theory of localization from inner-angle measurements. We focus on the challenging case where no anchor locations are known. Inspired by Euclidean distance matrices, we investigate when a set of inner angles corresponds to a realizable point set. In particular, we find linear and non-linear constraints that are provably necessary, and we conjecture also sufficient for characterizing realizable angle sets. We confirm this in extensive numerical simulations, and we illustrate the use of these constraints for denoising angle measurements along with the reconstruction of a valid point set.

cs.RO↗

arXiv2020

AL2: Progressive Activation Loss for Learning General Representations in Classification Neural Networks

The large capacity of neural networks enables them to learn complex functions. To avoid overfitting, networks however require a lot of training data that can be expensive and time-consuming to collect. A common practical approach to attenuate overfitting is the use of network regularization techniques. We propose a novel regularization method that progressively penalizes the magnitude of activations during training. The combined activation signals produced by all neurons in a given layer form the representation of the input image in that feature space. We propose to regularize this representation in the last feature layer before classification layers. Our method's effect on generalization is analyzed with label randomization tests and cumulative ablations. Experimental results show the advantages of our approach in comparison with commonly-used regularizers on standard benchmark datasets.

cs.LG↗

arXiv2018

Fourier-Domain Optimization for Image Processing

Image optimization problems encompass many applications such as spectral fusion, deblurring, deconvolution, dehazing, matting, reflection removal and image interpolation, among others. With current image sizes in the order of megabytes, it is extremely expensive to run conventional algorithms such as gradient descent, making them unfavorable especially when closed-form solutions can be derived and computed efficiently. This paper explains in detail the framework for solving convex image optimization and deconvolution in the Fourier domain. We begin by explaining the mathematical background and motivating why the presented setups can be transformed and solved very efficiently in the Fourier domain. We also show how to practically use these solutions, by providing the corresponding implementations. The explanations are aimed at a broad audience with minimal knowledge of convolution and image optimization. The eager reader can jump to Section 3 for a footprint of how to solve and implement a sample optimization function, and Section 5 for the more complex cases.

cs.CV↗