Fusion of aerial images and sensor data from a ground vehicle for improved semantic mapping

This work investigates the use of semantic information to link ground level occupancy maps and aerial images. A ground level semantic map, which shows open ground and indicates the probability of cells being occupied by walls of buildings, is obtained by a mobile robot equipped with an omnidirectional camera, GPS and a laser range finder. This semantic information is used for local and global segmentation of an aerial image. The result is a map where the semantic information has been extended beyond the range of the robot sensors and predicts where the mobile robot can find buildings and potentially driveable ground

Deep Network Uncertainty Maps for Indoor Navigation

Most mobile robots for indoor use rely on 2D laser scanners for localization, mapping and navigation. These sensors, however, cannot detect transparent surfaces or measure the full occupancy of complex objects such as tables. Deep Neural Networks have recently been proposed to overcome this limitation by learning to estimate object occupancy. These estimates are nevertheless subject to uncertainty, making the evaluation of their confidence an important issue for these measures to be useful for autonomous navigation and mapping. In this work we approach the problem from two sides. First we discuss uncertainty estimation in deep models, proposing a solution based on a fully convolutional neural network. The proposed architecture is not restricted by the assumption that the uncertainty follows a Gaussian model, as in the case of many popular solutions for deep model uncertainty estimation, such as Monte-Carlo Dropout. We present results showing that uncertainty over obstacle distances is actually better modeled with a Laplace distribution. Then, we propose a novel approach to build maps based on Deep Neural Network uncertainty models. In particular, we present an algorithm to build a map that includes information over obstacle distance estimates while taking into account the level of uncertainty in each estimate. We show how the constructed map can be used to increase global navigation safety by planning trajectories which avoid areas of high uncertainty, enabling higher autonomy for mobile robots in indoor settings.Comment: Accepted for publication in "2019 IEEE-RAS International Conference on Humanoid Robots (Humanoids)

Indoor Geo-location And Tracking Of Mobile Autonomous Robot

The field of robotics has always been one of fascination right from the day of Terminator. Even though we still do not have robots that can actually replicate human action and intelligence, progress is being made in the right direction. Robotic applications range from defense to civilian, in public safety and fire fighting. With the increase in urban-warfare robot tracking inside buildings and in cities form a very important application. The numerous applications range from munitions tracking to replacing soldiers for reconnaissance information. Fire fighters use robots for survey of the affected area. Tracking robots has been limited to the local area under consideration. Decision making is inhibited due to limited local knowledge and approximations have to be made. An effective decision making would involve tracking the robot in earth co-ordinates such as latitude and longitude. GPS signal provides us sufficient and reliable data for such decision making. The main drawback of using GPS is that it is unavailable indoors and also there is signal attenuation outdoors. Indoor geolocation forms the basis of tracking robots inside buildings and other places where GPS signals are unavailable. Indoor geolocation has traditionally been the field of wireless networks using techniques such as low frequency RF signals and ultra-wideband antennas. In this thesis we propose a novel method for achieving geolocation and enable tracking. Geolocation and tracking are achieved by a combination of Gyroscope and encoders together referred to as the Inertial Navigation System (INS). Gyroscopes have been widely used in aerospace applications for stabilizing aircrafts. In our case we use gyroscope as means of determining the heading of the robot. Further, commands can be sent to the robot when it is off balance or off-track. Sensors are inherently error prone; hence the process of geolocation is complicated and limited by the imperfect mathematical modeling of input noise. We make use of Kalman Filter for processing erroneous sensor data, as it provides us a robust and stable algorithm. The error characteristics of the sensors are input to the Kalman Filter and filtered data is obtained. We have performed a large set of experiments, both indoors and outdoors to test the reliability of the system. In outdoors we have used the GPS signal to aid the INS measurements. When indoors we utilize the last known position and extrapolate to obtain the GPS co-ordinates

Highway Travel Time Data Fusion

The development of new traffic monitoring systems and the increasing interest of road operators and researchers in obtaining reliable travel time measurements has leaded to the development of multiple travel time data sources. This situation represents a perfect environment for the implementation of data fusion systems to obtain the maximum accuracy from the available data. This paper presents a new approach to calculate highway travel times fusing different data sources: inductive loop detectors and toll ticket data. Although the data fusion algorithm presented herein is applied to these types of data, it could easily be generalized to other equivalent sources. The data fusion algorithm is applied to different travel time estimations in order to obtain a fused value more reliable than any of the individual estimations. The proposed algorithm overcomes some of the limitations of other methods, improving the spatial and temporal coverage, and determining the flow state (congested or not). The results obtained in the application of the methodology to the AP-7 highway, near Barcelona in Spain, are found to be reasonable and accurate.Peer Reviewe

Probabilistic Inference of Transcription Factor Binding from Multiple Data Sources

An important problem in molecular biology is to build a complete understanding of transcriptional regulatory processes in the cell. We have developed a flexible, probabilistic framework to predict TF binding from multiple data sources that differs from the standard hypothesis testing (scanning) methods in several ways. Our probabilistic modeling framework estimates the probability of binding and, thus, naturally reflects our degree of belief in binding. Probabilistic modeling also allows for easy and systematic integration of our binding predictions into other probabilistic modeling methods, such as expression-based gene network inference. The method answers the question of whether the whole analyzed promoter has a binding site, but can also be extended to estimate the binding probability at each nucleotide position. Further, we introduce an extension to model combinatorial regulation by several TFs. Most importantly, the proposed methods can make principled probabilistic inference from multiple evidence sources, such as, multiple statistical models (motifs) of the TFs, evolutionary conservation, regulatory potential, CpG islands, nucleosome positioning, DNase hypersensitive sites, ChIP-chip binding segments and other (prior) sequence-based biological knowledge. We developed both a likelihood and a Bayesian method, where the latter is implemented with a Markov chain Monte Carlo algorithm. Results on a carefully constructed test set from the mouse genome demonstrate that principled data fusion can significantly improve the performance of TF binding prediction methods. We also applied the probabilistic modeling framework to all promoters in the mouse genome and the results indicate a sparse connectivity between transcriptional regulators and their target promoters. To facilitate analysis of other sequences and additional data, we have developed an on-line web tool, ProbTF, which implements our probabilistic TF binding prediction method using multiple data sources. Test data set, a web tool, source codes and supplementary data are available at: http://www.probtf.org