278 research outputs found
Robust Dense Mapping for Large-Scale Dynamic Environments
We present a stereo-based dense mapping algorithm for large-scale dynamic
urban environments. In contrast to other existing methods, we simultaneously
reconstruct the static background, the moving objects, and the potentially
moving but currently stationary objects separately, which is desirable for
high-level mobile robotic tasks such as path planning in crowded environments.
We use both instance-aware semantic segmentation and sparse scene flow to
classify objects as either background, moving, or potentially moving, thereby
ensuring that the system is able to model objects with the potential to
transition from static to dynamic, such as parked cars. Given camera poses
estimated from visual odometry, both the background and the (potentially)
moving objects are reconstructed separately by fusing the depth maps computed
from the stereo input. In addition to visual odometry, sparse scene flow is
also used to estimate the 3D motions of the detected moving objects, in order
to reconstruct them accurately. A map pruning technique is further developed to
improve reconstruction accuracy and reduce memory consumption, leading to
increased scalability. We evaluate our system thoroughly on the well-known
KITTI dataset. Our system is capable of running on a PC at approximately 2.5Hz,
with the primary bottleneck being the instance-aware semantic segmentation,
which is a limitation we hope to address in future work. The source code is
available from the project website (http://andreibarsan.github.io/dynslam).Comment: Presented at IEEE International Conference on Robotics and Automation
(ICRA), 201
Galileon gravity in light of ISW, CMB, BAO and H-0 data
Cosmological models with Galileon gravity are an alternative to the standard ACDM paradigm with testable predictions at the level of its self-accelerating solutions for the expansion history, as well as large-scale structure formation. Here, we place constraints on the full parameter space of these models using data from the cosmic microwave background (CMB) (including lensing), baryonic acoustic oscillations (BAO) and the Integrated Sachs Wolfe (ISW) effect. We pay special attention to the ISW effect for which we use the cross spectra, C-l(Tg), of CMB temperature maps and foreground galaxies from the WISE survey. The sign of C-l(Tg) is set by the time evolution of the lensing potential in the redshift range of the galaxy sample: it is positive if the potential decays (like in ACDM), negative if it deepens. We constrain three subsets of Galileon gravity separately known as the Cubic, Quartic and Quintic Galileons. The cubic Galileon model predicts a negative C-l(Tg) and exhibits a 7.8 sigma tension with the data, which effectively rules it out. For the quartic and quintic models the ISW data also rule out a significant portion of the parameter space but permit regions where the goodness-of-fit is comparable to ACDM. The data prefers a non zero sum of the neutrino masses (Sigma m(v) approximate to 0.5eV) with similar to 5 sigma significance in these models. The best-fitting models have values of Ho consistent with local determinations, thereby avoiding the tension that exists in ACDM. We also identify and discuss a similar to 2 sigma tension that Galileon gravity exhibits with recent BAO measurements. Our analysis shows overall that Galileon cosmologies cannot be ruled out by current data but future lensing, BAO and ISW data hold strong potential to do so.Peer reviewe
High-resolution sinusoidal analysis for resolving harmonic collisions in music audio signal processing
Many music signals can largely be considered an additive combination of
multiple sources, such as musical instruments or voice. If the musical sources
are pitched instruments, the spectra they produce are predominantly harmonic,
and are thus well suited to an additive sinusoidal model. However,
due to resolution limits inherent in time-frequency analyses, when the harmonics
of multiple sources occupy equivalent time-frequency regions, their
individual properties are additively combined in the time-frequency representation
of the mixed signal. Any such time-frequency point in a mixture
where multiple harmonics overlap produces a single observation from which
the contributions owed to each of the individual harmonics cannot be trivially
deduced. These overlaps are referred to as overlapping partials or harmonic
collisions. If one wishes to infer some information about individual sources in
music mixtures, the information carried in regions where collided harmonics
exist becomes unreliable due to interference from other sources. This interference
has ramifications in a variety of music signal processing applications
such as multiple fundamental frequency estimation, source separation, and
instrumentation identification.
This thesis addresses harmonic collisions in music signal processing applications.
As a solution to the harmonic collision problem, a class of signal
subspace-based high-resolution sinusoidal parameter estimators is explored.
Specifically, the direct matrix pencil method, or equivalently, the Estimation
of Signal Parameters via Rotational Invariance Techniques (ESPRIT)
method, is used with the goal of producing estimates of the salient parameters
of individual harmonics that occupy equivalent time-frequency regions. This
estimation method is adapted here to be applicable to time-varying signals
such as musical audio. While high-resolution methods have been previously
explored in the context of music signal processing, previous work has not
addressed whether or not such methods truly produce high-resolution sinusoidal parameter estimates in real-world music audio signals. Therefore, this
thesis answers the question of whether high-resolution sinusoidal parameter
estimators are really high-resolution for real music signals.
This work directly explores the capabilities of this form of sinusoidal parameter
estimation to resolve collided harmonics. The capabilities of this
analysis method are also explored in the context of music signal processing
applications. Potential benefits of high-resolution sinusoidal analysis are
examined in experiments involving multiple fundamental frequency estimation
and audio source separation. This work shows that there are indeed
benefits to high-resolution sinusoidal analysis in music signal processing applications,
especially when compared to methods that produce sinusoidal
parameter estimates based on more traditional time-frequency representations.
The benefits of this form of sinusoidal analysis are made most evident
in multiple fundamental frequency estimation applications, where substantial
performance gains are seen. High-resolution analysis in the context of
computational auditory scene analysis-based source separation shows similar
performance to existing comparable methods
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Interactive Prediction and Planning for Autonomous Driving: from Algorithms to Fundamental Aspects
Inevitably, autonomous vehicles need to interact with other road participants in a variety of highly complex or critical driving scenarios. It is still an extremely challenging task even for the forefront companies or institutes to enable autonomous vehicles to interactively predict the behavior of others, and plan safe and high-quality motions accordingly. The major obstacles are not just originated from prediction and planning algorithms with insufficient performances. Several fundamental problems in the fields of interactive prediction and planning still remain open, such as formulation, representation and evaluation of interactive prediction methods, motion dataset with densely interactive driving behavior, as well as interface of interactive prediction and planning algorithms. The aforementioned fundamental aspects of interactive prediction and planning are addressed in this dissertation along with various kinds of algorithms. First, generic environmental representation for various scenarios with topological decomposition is constructed, and a corresponding planning algorithm is designed by combining graph search and optimization. Hard constraints in optimization-based planners are also incorporated into the training loss of imitation learning so that the policy net can generate safe and feasible motions in highly constrained scenarios. Unified problem formulation and motion representation are designed for different paradigms of interactive predictors such as planning-based prediction (inverse reinforcement learning), as well as probabilistic graphical models (hidden Markov model) and deep neural networks (mixture density network), which are utilized for the prediction/planning interface design and prediction benchmark. A framework combing decision network and graph-search/optimization/sample-based planner is proposed to achieve a driving strategy which is defensive to potential violations of others, but not overly conservatively to threats of low probabilities. Such driving strategy is achieved via experiments based on the aforementioned interactive prediction and planning algorithms with proper interface designed. These predictors are also evaluated from closed loop perspective considering planning fatality when using the prediction results instead of pure data approximation metrics. Finally, INTERACTION (INTERnational, Adversarial and Cooperative moTION) dataset with highly interactive driving scenarios and behavior from international locations is constructed with interaction density metric defined to compare different datasets. The dataset has been utilized for various behavior-related research areas such as prediction, planning, imitation learning and behavior modeling, and is inspiring new research fields such as representation learning, interaction extraction and scenario generation
Passive Aeroelastic Tailoring
The Passive Aeroelastic Tailoring (PAT) project was tasked with investigating novel methods to achieve passive aeroelastic tailoring on high aspect ratio wings. The goal of the project was to identify structural designs or topologies that can improve performance and/or reduce structural weight for high-aspect ratio wings. This project considered two unique approaches, which were pursued in parallel: through-thickness topology optimization and composite tow-steering
Proceedings, MSVSCC 2014
Proceedings of the 8th Annual Modeling, Simulation & Visualization Student Capstone Conference held on April 17, 2014 at VMASC in Suffolk, Virginia
Deep Model for Improved Operator Function State Assessment
A deep learning framework is presented for engagement assessment using EEG signals. Deep learning is a recently developed machine learning technique and has been applied to many applications. In this paper, we proposed a deep learning strategy for operator function state (OFS) assessment. Fifteen pilots participated in a flight simulation from Seattle to Chicago. During the four-hour simulation, EEG signals were recorded for each pilot. We labeled 20- minute data as engaged and disengaged to fine-tune the deep network and utilized the remaining vast amount of unlabeled data to initialize the network. The trained deep network was then used to assess if a pilot was engaged during the four-hour simulation
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