Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age

Simultaneous Localization and Mapping (SLAM)consists in the concurrent construction of a model of the environment (the map), and the estimation of the state of the robot moving within it. The SLAM community has made astonishing progress over the last 30 years, enabling large-scale real-world applications, and witnessing a steady transition of this technology to industry. We survey the current state of SLAM. We start by presenting what is now the de-facto standard formulation for SLAM. We then review related work, covering a broad set of topics including robustness and scalability in long-term mapping, metric and semantic representations for mapping, theoretical performance guarantees, active SLAM and exploration, and other new frontiers. This paper simultaneously serves as a position paper and tutorial to those who are users of SLAM. By looking at the published research with a critical eye, we delineate open challenges and new research issues, that still deserve careful scientific investigation. The paper also contains the authors' take on two questions that often animate discussions during robotics conferences: Do robots need SLAM? and Is SLAM solved

Tracking the History and Evolution of Entities: Entity-centric Temporal Analysis of Large Social Media Archives

How did the popularity of the Greek Prime Minister evolve in 2015? How did the predominant sentiment about him vary during that period? Were there any controversial sub-periods? What other entities were related to him during these periods? To answer these questions, one needs to analyze archived documents and data about the query entities, such as old news articles or social media archives. In particular, user-generated content posted in social networks, like Twitter and Facebook, can be seen as a comprehensive documentation of our society, and thus meaningful analysis methods over such archived data are of immense value for sociologists, historians and other interested parties who want to study the history and evolution of entities and events. To this end, in this paper we propose an entity-centric approach to analyze social media archives and we define measures that allow studying how entities were reflected in social media in different time periods and under different aspects, like popularity, attitude, controversiality, and connectedness with other entities. A case study using a large Twitter archive of four years illustrates the insights that can be gained by such an entity-centric and multi-aspect analysis.Comment: This is a preprint of an article accepted for publication in the International Journal on Digital Libraries (2018