Fast, Accurate Thin-Structure Obstacle Detection for Autonomous Mobile Robots

Safety is paramount for mobile robotic platforms such as self-driving cars and unmanned aerial vehicles. This work is devoted to a task that is indispensable for safety yet was largely overlooked in the past -- detecting obstacles that are of very thin structures, such as wires, cables and tree branches. This is a challenging problem, as thin objects can be problematic for active sensors such as lidar and sonar and even for stereo cameras. In this work, we propose to use video sequences for thin obstacle detection. We represent obstacles with edges in the video frames, and reconstruct them in 3D using efficient edge-based visual odometry techniques. We provide both a monocular camera solution and a stereo camera solution. The former incorporates Inertial Measurement Unit (IMU) data to solve scale ambiguity, while the latter enjoys a novel, purely vision-based solution. Experiments demonstrated that the proposed methods are fast and able to detect thin obstacles robustly and accurately under various conditions.Comment: Appeared at IEEE CVPR 2017 Workshop on Embedded Visio

"Out of the loop": autonomous weapon systems and the law of armed conflict

The introduction of autonomous weapon systems into the “battlespace” will profoundly influence the nature of future warfare. This reality has begun to draw the attention of the international legal community, with increasing calls for an outright ban on the use of autonomous weapons systems in armed conflict. This Article is intended to help infuse granularity and precision into the legal debates surrounding such weapon systems and their future uses. It suggests that whereas some conceivable autonomous weapon systems might be prohibited as a matter of law, the use of others will be unlawful only when employed in a manner that runs contrary to the law of armed conflict’s prescriptive norms governing the “conduct of hostilities.” This Article concludes that an outright ban of autonomous weapon systems is insupportable as a matter of law, policy, and operational good sense. Indeed, proponents of a ban underestimate the extent to which the law of armed conflict, including its customary law aspect, will control autonomous weapon system operations. Some autonomous weapon systems that might be developed would already be unlawful per se under existing customary law, irrespective of any treaty ban. The use of certain others would be severely limited by that law. Furthermore, an outright ban is premature since no such weapons have even left the drawing board. Critics typically either fail to take account of likely developments in autonomous weapon systems technology or base their analysis on unfounded assumptions about the nature of the systems. From a national security perspective, passing on the opportunity to develop these systems before they are fully understood would be irresponsible. Perhaps even more troubling is the prospect that banning autonomous weapon systems altogether based on speculation as to their future form could forfeit their potential use in a manner that would minimize harm to civilians and civilian objects when compared to non-autonomous weapon systems

Accumulation horizons and period-adding in optically injected semiconductor lasers

We study the hierarchical structuring of islands of stable periodic oscillations inside chaotic regions in phase diagrams of single-mode semiconductor lasers with optical injection. Phase diagrams display remarkable {\it accumulation horizons}: boundaries formed by the accumulation of infinite cascades of self-similar islands of periodic solutions of ever-increasing period. Each cascade follows a specific period-adding route. The riddling of chaotic laser phases by such networks of periodic solutions may compromise applications operating with chaotic signals such as e.g. secure communications.Comment: 4 pages, 4 figures, laser phase diagrams, to appear in Phys. Rev. E, vol. 7