Network Uncertainty Informed Semantic Feature Selection for Visual SLAM

In order to facilitate long-term localization using a visual simultaneous localization and mapping (SLAM) algorithm, careful feature selection can help ensure that reference points persist over long durations and the runtime and storage complexity of the algorithm remain consistent. We present SIVO (Semantically Informed Visual Odometry and Mapping), a novel information-theoretic feature selection method for visual SLAM which incorporates semantic segmentation and neural network uncertainty into the feature selection pipeline. Our algorithm selects points which provide the highest reduction in Shannon entropy between the entropy of the current state and the joint entropy of the state, given the addition of the new feature with the classification entropy of the feature from a Bayesian neural network. Each selected feature significantly reduces the uncertainty of the vehicle state and has been detected to be a static object (building, traffic sign, etc.) repeatedly with a high confidence. This selection strategy generates a sparse map which can facilitate long-term localization. The KITTI odometry dataset is used to evaluate our method, and we also compare our results against ORB_SLAM2. Overall, SIVO performs comparably to the baseline method while reducing the map size by almost 70%.Comment: Published in: 2019 16th Conference on Computer and Robot Vision (CRV

What attracts vehicle consumers’ buying:A Saaty scale-based VIKOR (SSC-VIKOR) approach from after-sales textual perspective?

Purpose: The increasingly booming e-commerce development has stimulated vehicle consumers to express individual reviews through online forum. The purpose of this paper is to probe into the vehicle consumer consumption behavior and make recommendations for potential consumers from textual comments viewpoint. Design/methodology/approach: A big data analytic-based approach is designed to discover vehicle consumer consumption behavior from online perspective. To reduce subjectivity of expert-based approaches, a parallel Naïve Bayes approach is designed to analyze the sentiment analysis, and the Saaty scale-based (SSC) scoring rule is employed to obtain specific sentimental value of attribute class, contributing to the multi-grade sentiment classification. To achieve the intelligent recommendation for potential vehicle customers, a novel SSC-VIKOR approach is developed to prioritize vehicle brand candidates from a big data analytical viewpoint. Findings: The big data analytics argue that “cost-effectiveness” characteristic is the most important factor that vehicle consumers care, and the data mining results enable automakers to better understand consumer consumption behavior. Research limitations/implications: The case study illustrates the effectiveness of the integrated method, contributing to much more precise operations management on marketing strategy, quality improvement and intelligent recommendation. Originality/value: Researches of consumer consumption behavior are usually based on survey-based methods, and mostly previous studies about comments analysis focus on binary analysis. The hybrid SSC-VIKOR approach is developed to fill the gap from the big data perspective

Real-time automated road, lane and car detection for autonomous driving

In this paper, we discuss a vision based system for autonomous guidance of vehicles. An autonomous intelligent vehicle has to perform a number of functionalities. Segmentation of the road, determining the boundaries to drive in and recognizing the vehicles and obstacles around are the main tasks for vision guided vehicle navigation. In this article we propose a set of algorithms which lead to the solution of road and vehicle segmentation using data from a color camera. The algorithms described here combine gray value difference and texture analysis techniques to segment the road from the image, several geometric transformations and contour processing algorithms are used to segment lanes, and moving cars are extracted with the help of background modeling and estimation. The techniques developed have been tested in real road images and the results are presented