55,174 research outputs found
AgriColMap: Aerial-Ground Collaborative 3D Mapping for Precision Farming
The combination of aerial survey capabilities of Unmanned Aerial Vehicles
with targeted intervention abilities of agricultural Unmanned Ground Vehicles
can significantly improve the effectiveness of robotic systems applied to
precision agriculture. In this context, building and updating a common map of
the field is an essential but challenging task. The maps built using robots of
different types show differences in size, resolution and scale, the associated
geolocation data may be inaccurate and biased, while the repetitiveness of both
visual appearance and geometric structures found within agricultural contexts
render classical map merging techniques ineffective. In this paper we propose
AgriColMap, a novel map registration pipeline that leverages a grid-based
multimodal environment representation which includes a vegetation index map and
a Digital Surface Model. We cast the data association problem between maps
built from UAVs and UGVs as a multimodal, large displacement dense optical flow
estimation. The dominant, coherent flows, selected using a voting scheme, are
used as point-to-point correspondences to infer a preliminary non-rigid
alignment between the maps. A final refinement is then performed, by exploiting
only meaningful parts of the registered maps. We evaluate our system using real
world data for 3 fields with different crop species. The results show that our
method outperforms several state of the art map registration and matching
techniques by a large margin, and has a higher tolerance to large initial
misalignments. We release an implementation of the proposed approach along with
the acquired datasets with this paper.Comment: Published in IEEE Robotics and Automation Letters, 201
Design and Implementation of a Distributed Middleware for Parallel Execution of Legacy Enterprise Applications
A typical enterprise uses a local area network of computers to perform its
business. During the off-working hours, the computational capacities of these
networked computers are underused or unused. In order to utilize this
computational capacity an application has to be recoded to exploit concurrency
inherent in a computation which is clearly not possible for legacy applications
without any source code. This thesis presents the design an implementation of a
distributed middleware which can automatically execute a legacy application on
multiple networked computers by parallelizing it. This middleware runs multiple
copies of the binary executable code in parallel on different hosts in the
network. It wraps up the binary executable code of the legacy application in
order to capture the kernel level data access system calls and perform them
distributively over multiple computers in a safe and conflict free manner. The
middleware also incorporates a dynamic scheduling technique to execute the
target application in minimum time by scavenging the available CPU cycles of
the hosts in the network. This dynamic scheduling also supports the CPU
availability of the hosts to change over time and properly reschedule the
replicas performing the computation to minimize the execution time. A prototype
implementation of this middleware has been developed as a proof of concept of
the design. This implementation has been evaluated with a few typical case
studies and the test results confirm that the middleware works as expected
The Case for Learned Index Structures
Indexes are models: a B-Tree-Index can be seen as a model to map a key to the
position of a record within a sorted array, a Hash-Index as a model to map a
key to a position of a record within an unsorted array, and a BitMap-Index as a
model to indicate if a data record exists or not. In this exploratory research
paper, we start from this premise and posit that all existing index structures
can be replaced with other types of models, including deep-learning models,
which we term learned indexes. The key idea is that a model can learn the sort
order or structure of lookup keys and use this signal to effectively predict
the position or existence of records. We theoretically analyze under which
conditions learned indexes outperform traditional index structures and describe
the main challenges in designing learned index structures. Our initial results
show, that by using neural nets we are able to outperform cache-optimized
B-Trees by up to 70% in speed while saving an order-of-magnitude in memory over
several real-world data sets. More importantly though, we believe that the idea
of replacing core components of a data management system through learned models
has far reaching implications for future systems designs and that this work
just provides a glimpse of what might be possible
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