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Visual place recognition is one of the essential and challenging problems in the fields of robotics. In this letter, we for the first time explore the use of multi-modal fusion of semantic and visual modalities in dynamics-invariant space to improve place recognition in dynamic environments. We achieve this by first designing a novel deep learning architecture to generate the static semantic segmentation and recover the static image directly from the corresponding dynamic image.
In this letter, we consider Bayesian parameterestimation using mixed-resolution data consisting of both analog and 1-bit quantized measurements. We investigate the use of the partially linear minimum mean-squared-error (PL-MMSE) estimator for this mixed-resolution scheme. The use of the PL-MMSE estimator, proposed for general models with “straightforward” and “complicated” parts, has not been demonstrated for quantized data.