164 research outputs found

    LIPIcs, Volume 251, ITCS 2023, Complete Volume

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    LIPIcs, Volume 251, ITCS 2023, Complete Volum

    LIPIcs, Volume 261, ICALP 2023, Complete Volume

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    LIPIcs, Volume 261, ICALP 2023, Complete Volum

    Enhancing RGB-D SLAM Using Deep Learning

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    LASSO – an observatorium for the dynamic selection, analysis and comparison of software

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    Mining software repositories at the scale of 'big code' (i.e., big data) is a challenging activity. As well as finding a suitable software corpus and making it programmatically accessible through an index or database, researchers and practitioners have to establish an efficient analysis infrastructure and precisely define the metrics and data extraction approaches to be applied. Moreover, for analysis results to be generalisable, these tasks have to be applied at a large enough scale to have statistical significance, and if they are to be repeatable, the artefacts need to be carefully maintained and curated over time. Today, however, a lot of this work is still performed by human beings on a case-by-case basis, with the level of effort involved often having a significant negative impact on the generalisability and repeatability of studies, and thus on their overall scientific value. The general purpose, 'code mining' repositories and infrastructures that have emerged in recent years represent a significant step forward because they automate many software mining tasks at an ultra-large scale and allow researchers and practitioners to focus on defining the questions they would like to explore at an abstract level. However, they are currently limited to static analysis and data extraction techniques, and thus cannot support (i.e., help automate) any studies which involve the execution of software systems. This includes experimental validations of techniques and tools that hypothesise about the behaviour (i.e., semantics) of software, or data analysis and extraction techniques that aim to measure dynamic properties of software. In this thesis a platform called LASSO (Large-Scale Software Observatorium) is introduced that overcomes this limitation by automating the collection of dynamic (i.e., execution-based) information about software alongside static information. It features a single, ultra-large scale corpus of executable software systems created by amalgamating existing Open Source software repositories and a dedicated DSL for defining abstract selection and analysis pipelines. Its key innovations are integrated capabilities for searching for selecting software systems based on their exhibited behaviour and an 'arena' that allows their responses to software tests to be compared in a purely data-driven way. We call the platform a 'software observatorium' since it is a place where the behaviour of large numbers of software systems can be observed, analysed and compared

    Dense Visual Simultaneous Localisation and Mapping in Collaborative and Outdoor Scenarios

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    Dense visual simultaneous localisation and mapping (SLAM) systems can produce 3D reconstructions that are digital facsimiles of the physical space they describe. Systems that can produce dense maps with this level of fidelity in real time provide foundational spatial reasoning capabilities for many downstream tasks in autonomous robotics. Over the past 15 years, mapping small scale, indoor environments, such as desks and buildings, with a single slow moving, hand-held sensor has been one of the central focuses of dense visual SLAM research. However, most dense visual SLAM systems exhibit a number of limitations which mean they cannot be directly applied in collaborative or outdoors settings. The contribution of this thesis is to address these limitations with the development of new systems and algorithms for collaborative dense mapping, efficient dense alternation and outdoors operation with fast camera motion and wide field of view (FOV) cameras. We use ElasticFusion, a state-of-the-art dense SLAM system, as our starting point where each of these contributions is implemented as a novel extension to the system. We first present a collaborative dense SLAM system that allows a number of cameras starting with unknown initial relative positions to maintain local maps with the original ElasticFusion algorithm. Visual place recognition across local maps results in constraints that allow maps to be aligned into a common global reference frame, facilitating collaborative mapping and tracking of multiple cameras within a shared map. Within dense alternation based SLAM systems, the standard approach is to fuse every frame into the dense model without considering whether the information contained within the frame is already captured by the dense map and therefore redundant. As the number of cameras or the scale of the map increases, this approach becomes inefficient. In our second contribution, we address this inefficiency by introducing a novel information theoretic approach to keyframe selection that allows the system to avoid processing redundant information. We implement the procedure within ElasticFusion, demonstrating a marked reduction in the number of frames required by the system to estimate an accurate, denoised surface reconstruction. Before dense SLAM techniques can be applied in outdoor scenarios we must first address their reliance on active depth cameras, and their lack of suitability to fast camera motion. In our third contribution we present an outdoor dense SLAM system. The system overcomes the need for an active sensor by employing neural network-based depth inference to predict the geometry of the scene as it appears in each image. To address the issue of camera tracking during fast motion we employ a hybrid architecture, combining elements of both dense and sparse SLAM systems to perform camera tracking and to achieve globally consistent dense mapping. Automotive applications present a particularly important setting for dense visual SLAM systems. Such applications are characterised by their use of wide FOV cameras and are therefore not accurately modelled by the standard pinhole camera model. The fourth contribution of this thesis is to extend the above hybrid sparse-dense monocular SLAM system to cater for large FOV fisheye imagery. This is achieved by reformulating the mapping pipeline in terms of the Kannala-Brandt fisheye camera model. To estimate depth, we introduce a new version of the PackNet depth estimation neural network (Guizilini et al., 2020) adapted for fisheye inputs. To demonstrate the effectiveness of our contributions, we present experimental results, computed by processing the synthetic ICL-NUIM dataset of Handa et al. (2014) as well as the real-world TUM-RGBD dataset of Sturm et al. (2012). For outdoor SLAM we show the results of our system processing the autonomous driving KITTI and KITTI-360 datasets of Geiger et al. (2012a) and Liao et al. (2021) respectively

    LIPIcs, Volume 274, ESA 2023, Complete Volume

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    LIPIcs, Volume 274, ESA 2023, Complete Volum

    Logs and Models in Engineering Complex Embedded Production Software Systems

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    Brainlesion: Glioma, Multiple Sclerosis, Stroke and Traumatic Brain Injuries

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    This two-volume set LNCS 12962 and 12963 constitutes the thoroughly refereed proceedings of the 7th International MICCAI Brainlesion Workshop, BrainLes 2021, as well as the RSNA-ASNR-MICCAI Brain Tumor Segmentation (BraTS) Challenge, the Federated Tumor Segmentation (FeTS) Challenge, the Cross-Modality Domain Adaptation (CrossMoDA) Challenge, and the challenge on Quantification of Uncertainties in Biomedical Image Quantification (QUBIQ). These were held jointly at the 23rd Medical Image Computing for Computer Assisted Intervention Conference, MICCAI 2020, in September 2021. The 91 revised papers presented in these volumes were selected form 151 submissions. Due to COVID-19 pandemic the conference was held virtually. This is an open access book

    Computer Aided Verification

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    This open access two-volume set LNCS 13371 and 13372 constitutes the refereed proceedings of the 34rd International Conference on Computer Aided Verification, CAV 2022, which was held in Haifa, Israel, in August 2022. The 40 full papers presented together with 9 tool papers and 2 case studies were carefully reviewed and selected from 209 submissions. The papers were organized in the following topical sections: Part I: Invited papers; formal methods for probabilistic programs; formal methods for neural networks; software Verification and model checking; hyperproperties and security; formal methods for hardware, cyber-physical, and hybrid systems. Part II: Probabilistic techniques; automata and logic; deductive verification and decision procedures; machine learning; synthesis and concurrency. This is an open access book

    Understanding Quantum Technologies 2022

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    Understanding Quantum Technologies 2022 is a creative-commons ebook that provides a unique 360 degrees overview of quantum technologies from science and technology to geopolitical and societal issues. It covers quantum physics history, quantum physics 101, gate-based quantum computing, quantum computing engineering (including quantum error corrections and quantum computing energetics), quantum computing hardware (all qubit types, including quantum annealing and quantum simulation paradigms, history, science, research, implementation and vendors), quantum enabling technologies (cryogenics, control electronics, photonics, components fabs, raw materials), quantum computing algorithms, software development tools and use cases, unconventional computing (potential alternatives to quantum and classical computing), quantum telecommunications and cryptography, quantum sensing, quantum technologies around the world, quantum technologies societal impact and even quantum fake sciences. The main audience are computer science engineers, developers and IT specialists as well as quantum scientists and students who want to acquire a global view of how quantum technologies work, and particularly quantum computing. This version is an extensive update to the 2021 edition published in October 2021.Comment: 1132 pages, 920 figures, Letter forma
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