| Grant number: | 21/08117-0 |
| Support Opportunities: | Scholarships in Brazil - Scientific Initiation |
| Start date: | October 01, 2021 |
| End date: | September 30, 2022 |
| Field of knowledge: | Engineering - Electrical Engineering |
| Principal Investigator: | Valdir Grassi Junior |
| Grantee: | Gabriel Soares Gama |
| Host Institution: | Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil |
| Associated research grant: | 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment, AP.TEM |
Abstract The feature-based vSLAM (Visual Simultaneous Localization and Mapping) builds a map of an environment and locates itself simultaneously through the detection of features that stand out in it. The objective of this research is to develop a descriptor that uses the information inferred from a semantic segmentation neural network. This descriptor, despite having a higher computational cost, would have a greater amount of information stored and could increase the accuracy of the feature matching task, which would reduce the error present in the SLAM process. To obtain semantic information a neural network based on HRNet-OCR is going to be developed. The descriptor will be based on existing methods of extraction/description and semantic information will be added to complement the information already present. (AU) | |
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