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Simultaneous Localization and Mapping (SLAM) is a crucial function for most autonomous systems, allowing them to both navigate through and create maps of unfamiliar surroundings. Traditional Visual SLAM, also commonly known as VSLAM, relies on frame-based cameras and structured processing pipelines, which face challenges in dynamic or low-light environments. However, recent advancements in event camera technology and neuromorphic processing offer promising opportunities to overcome these limitations. Event cameras inspired by biological vision systems capture the scenes asynchronously, consuming minimal power but with higher temporal resolution. Neuromorphic processors, which are designed to mimic the parallel processing capabilities of the human brain, offer efficient computation for real-time data processing of event-based data streams. This paper provides a comprehensive overview of recent research efforts in integrating event cameras and neuromorphic processors into VSLAM systems. It discusses the principles behind event cameras and neuromorphic processors, highlighting their advantages over traditional sensing and processing methods. Furthermore, an in-depth survey was conducted on state-of-the-art approaches in event-based SLAM, including feature extraction, motion estimation, and map reconstruction techniques. Additionally, the integration of event cameras with neuromorphic processors, focusing on their synergistic benefits in terms of energy efficiency, robustness, and real-time performance, was explored. The paper also discusses the challenges and open research questions in this emerging field, such as sensor calibration, data fusion, and algorithmic development. Finally, the potential applications and future directions for event-based SLAM systems are outlined, ranging from robotics and autonomous vehicles to augmented reality.

The capability of Convolutional Neural Networks (CNNs) for sparse representation has significant application to complex tasks like Representation Learning (RL). However, labelled datasets of sufficient size for learning this representation are not easily obtainable. The unsupervised learning capability of Variational Autoencoders (VAEs) and Generative Adversarial Networks (GANs) provide a promising solution to this issue through their capacity to learn representations for novel data samples and classification tasks. In this research, a texture-based latent space disentanglement technique is proposed to enhance learning of representations for novel data samples. A comparison is performed among different VAEs and GANs with the proposed approach for synthesis of new data samples. Two different VAE architectures are considered, a single layer dense VAE and a convolution based VAE, to compare the effectiveness of different architectures for learning of the representations. The GANs are selected based on the distance metric for disjoint distribution divergence estimation of complex representation learning tasks. The proposed texture-based disentanglement has been shown to provide a significant improvement for disentangling the process of representation learning by conditioning the random noise and synthesising texture rich images of fruit and vegetables.

Predicting future frames through image‐to‐image translation and using these synthetically generated frames for high‐speed ground vehicle teleoperation is a new concept to address latency and enhance operational performance. In the immediate previous work, the image quality of the predicted frames was low and a lot of scene detail was lost. To preserve the structural details of objects and improve overall image quality in the predicted frames, several novel ideas are proposed herein. A filter has been designed to remove noise from dense optical flow components resulting from frame rate inconsistencies. The Pix2Pix base network has been modified and a structure‐aware SSIM‐based perpetual loss function has been implemented. A new dataset of 20 000 training input images and 2000 test input images with a 500 ms delay between the target and input frames has been created. Without any additional video transformation steps, the proposed improved model achieved PSNR of 23.1; SSIM of 0.65; and MS‐SSIM of 0.80, a substantial improvement over our previous work. A Fleiss’ kappa score of >0.40 (0.48 for the modified network and 0.46 for the perpetual loss function) proves the reliability of the model.

Audio-image representations for a multimodal human action (MHAiR) dataset contains six different image representations of the audio signals that capture the temporal dynamics of the actions in a very compact and informative way. The dataset was extracted from the audio recordings which were captured from an existing video dataset, i.e., UCF101. Each data sample captured a duration of approximately 10 s long, and the overall dataset was split into 4893 training samples and 1944 testing samples. The resulting feature sequences were then converted into images, which can be used for human action recognition and other related tasks. These images can be used as a benchmark dataset for evaluating the performance of machine learning models for human action recognition and related tasks. These audio-image representations could be suitable for a wide range of applications, such as surveillance, healthcare monitoring, and robotics. The dataset can also be used for transfer learning, where pre-trained models can be fine-tuned on a specific task using specific audio images. Thus, this dataset can facilitate the development of new techniques and approaches for improving the accuracy of human action-related tasks and also serve as a standard benchmark for testing the performance of different machine learning models and algorithms.

The capabilities of autonomous mobile robotic systems have been steadily improving due to recent advancements in computer science, engineering, and related disciplines such as cognitive science. In controlled environments, robots have achieved relatively high levels of autonomy. In more unstructured environments, however, the development of fully autonomous mobile robots remains challenging due to the complexity of understanding these environments. Many autonomous mobile robots use classical, learning-based or hybrid approaches for navigation. More recent learning-based methods may replace the complete navigation pipeline or selected stages of the classical approach. For effective deployment, autonomous robots must understand their external environments at a sophisticated level according to their intended applications. Therefore, in addition to robot perception, scene analysis and higher-level scene understanding (e.g., traversable/non-traversable, rough or smooth terrain, etc.) are required for autonomous robot navigation in unstructured outdoor environments. This paper provides a comprehensive review and critical analysis of these methods in the context of their applications to the problems of robot perception and scene understanding in unstructured environments and the related problems of localisation, environment mapping and path planning. State-of-the-art sensor fusion methods and multimodal scene understanding approaches are also discussed and evaluated within this context. The paper concludes with an in-depth discussion regarding the current state of the autonomous ground robot navigation challenge in unstructured outdoor environments and the most promising future research directions to overcome these challenges.

Classification of human actions is an ongoing research problem in computer vision. This review is aimed to scope current literature on data fusion and action recognition techniques and to identify gaps and future research direction. Success in producing cost-effective and portable vision-based sensors has dramatically increased the number and size of datasets. The increase in the number of action recognition datasets intersects with advances in deep learning architectures and computational support, both of which offer significant research opportunities. Naturally, each action-data modality—such as RGB, depth, skeleton, and infrared (IR)—has distinct characteristics; therefore, it is important to exploit the value of each modality for better action recognition. In this paper, we focus solely on data fusion and recognition techniques in the context of vision with an RGB-D perspective. We conclude by discussing research challenges, emerging trends, and possible future research directions.

The physical features of fruit and vegetables make the task of vision-based classification of fruit and vegetables challenging. The classification of fruit and vegetables at a supermarket self-checkout poses even more challenges due to variable lighting conditions and human factors arising from customer interactions with the system along with the challenges associated with the colour, texture, shape, and size of a fruit or vegetable. Considering this complex application, we have proposed a progressive coarse to fine classification technique to classify fruit and vegetables at supermarket checkouts. The image and weight of fruit and vegetables have been obtained using a prototype designed to simulate the supermarket environment, including the lighting conditions. The weight information is used to change the coarse classification of 15 classes down to three, which are further used in AdaBoost-based Convolutional Neural Network (CNN) optimisation for fine classification. The training samples for each coarse class are weighted based on AdaBoost optimisation, which are updated on each iteration of a training phase. Multi-class likelihood distribution obtained by the fine classification stage is used to estimate a final classification with a softmax classifier. GoogleNet, MobileNet, and a custom CNN have been used for AdaBoost optimisation, with promising classification results.

Underground pipelines are vital means of transporting fluid resources like water, oil and gas. The process of locating buried pipelines of interest is an essential prerequisite for pipeline maintenance and repair. Acoustic pipe localization methods, as effective trenchless detection techniques, have been implemented in locating underground utilities and shown to be very promising in plastic pipeline localization. This paper presents a comprehensive review of current acoustic methods and recent advances in the localization of buried pipelines. Investigations are conducted from multiple perspectives including the wave propagation mechanism in buried pipe systems, the principles behind each method along with advantages and limitations, representative acoustic locators in commercial markets, the condition of buried pipes, as well as selection of preferred methods for locating pipelines based on the applicability of existing localization techniques. In addition, the key features of each method are summarized and suggestions for future work are proposed. Acoustic methods for locating underground pipelines have proven to be useful and effective supplements to existing localization techniques. It has been highlighted that the ability of acoustic methods to locate non-metallic objects should be of particular practical value. While this paper focuses on a specific application associated with pipeline localization, many acoustic methods are feasible across a wide range of underground infrastructures.

Buried pipeline systems play a vital role in energy storage and transportation, especially for fluid energies like water and gas. The ability to locate buried pipes is of great importance since it is fundamental for leakage detection, pipeline maintenance, and pipeline repair. The vibro-acoustic locating method, as one of the most effective detection technologies, has been studied by many researchers. However, previous studies have mainly focused on vibro-acoustic propagation in buried water pipes. Limited research has been conducted on buried gas pipes. In this paper, the behavior of gas-dominated wave motion will be investigated and compared against water-dominated wave motion by adapting an established analytical model of axisymmetric wave motion in buried fluid-filled pipes. Furthermore, displacement profiles in spatial domain resulting from gas-dominated wave in buried gas pipeline systems will be analyzed, and the effects of pipe material, soil property, as well as mode wave type will be discussed in detail. An effective radiation coefficient (ERC) is proposed to measure the effective radiation ability of gas-dominated wave and water-dominated wave. It is observed that the gas-dominated wave in gas pipes cannot radiate into surrounded soil as effectively as water-dominated wave in water pipes because of the weak coupling between gas and pipe-soil. In this case, gas-dominated wave may not be the best choice as the target wave for locating buried gas pipes. Therefore, the soil displacements result from the shell-dominated wave are also investigated and compared with those from gas-dominated wave. The results show that for buried gas pipes, the soil displacements due to radiation of shell-dominated wave are stronger than gas-dominated wave, which differs from buried water pipe. Hence, an effectively exciting shell-dominated wave is beneficial for generating stronger vibration signals and obtaining the location information. The findings of this study provide theoretical insight for optimizing the current vibro-acoustic method when locating buried gas pipes.

For robots to attain more general-purpose utility, grasping is a necessary skill to master. Such general-purpose robots may use their perception abilities to visually identify grasps for a given object. A grasp describes how a robotic end-effector can be arranged to securely grab an object and successfully lift it without slippage. Traditionally, grasp detection requires expert human knowledge to analytically form the task-specific algorithm, but this is an arduous and time-consuming approach. During the last five years, deep learning methods have enabled significant advancements in robotic vision, natural language processing, and automated driving applications. The successful results of these methods have driven robotics researchers to explore the use of deep learning methods in task-generalised robotic applications. This paper reviews the current state-of-the-art in regards to the application of deep learning methods to generalised robotic grasping and discusses how each element of the deep learning approach has improved the overall performance of robotic grasp detection. Several of the most promising approaches are evaluated and the most suitable for real-time grasp detection is identified as the one-shot detection method. The availability of suitable volumes of appropriate training data is identified as a major obstacle for effective utilisation of the deep learning approaches, and the use of transfer learning techniques is proposed as a potential mechanism to address this. Finally, current trends in the field and future potential research directions are discussed.