3,452 research outputs found
A Novel Framework for Online Amnesic Trajectory Compression in Resource-constrained Environments
State-of-the-art trajectory compression methods usually involve high
space-time complexity or yield unsatisfactory compression rates, leading to
rapid exhaustion of memory, computation, storage and energy resources. Their
ability is commonly limited when operating in a resource-constrained
environment especially when the data volume (even when compressed) far exceeds
the storage limit. Hence we propose a novel online framework for error-bounded
trajectory compression and ageing called the Amnesic Bounded Quadrant System
(ABQS), whose core is the Bounded Quadrant System (BQS) algorithm family that
includes a normal version (BQS), Fast version (FBQS), and a Progressive version
(PBQS). ABQS intelligently manages a given storage and compresses the
trajectories with different error tolerances subject to their ages. In the
experiments, we conduct comprehensive evaluations for the BQS algorithm family
and the ABQS framework. Using empirical GPS traces from flying foxes and cars,
and synthetic data from simulation, we demonstrate the effectiveness of the
standalone BQS algorithms in significantly reducing the time and space
complexity of trajectory compression, while greatly improving the compression
rates of the state-of-the-art algorithms (up to 45%). We also show that the
operational time of the target resource-constrained hardware platform can be
prolonged by up to 41%. We then verify that with ABQS, given data volumes that
are far greater than storage space, ABQS is able to achieve 15 to 400 times
smaller errors than the baselines. We also show that the algorithm is robust to
extreme trajectory shapes.Comment: arXiv admin note: substantial text overlap with arXiv:1412.032
Real-Time Predictive Modeling and Robust Avoidance of Pedestrians with Uncertain, Changing Intentions
To plan safe trajectories in urban environments, autonomous vehicles must be
able to quickly assess the future intentions of dynamic agents. Pedestrians are
particularly challenging to model, as their motion patterns are often uncertain
and/or unknown a priori. This paper presents a novel changepoint detection and
clustering algorithm that, when coupled with offline unsupervised learning of a
Gaussian process mixture model (DPGP), enables quick detection of changes in
intent and online learning of motion patterns not seen in prior training data.
The resulting long-term movement predictions demonstrate improved accuracy
relative to offline learning alone, in terms of both intent and trajectory
prediction. By embedding these predictions within a chance-constrained motion
planner, trajectories which are probabilistically safe to pedestrian motions
can be identified in real-time. Hardware experiments demonstrate that this
approach can accurately predict pedestrian motion patterns from onboard
sensor/perception data and facilitate robust navigation within a dynamic
environment.Comment: Submitted to 2014 International Workshop on the Algorithmic
Foundations of Robotic
Synthetic Aperture Radar Image Segmentation with Quantum Annealing
In image processing, image segmentation is the process of partitioning a
digital image into multiple image segment. Among state-of-the-art methods,
Markov Random Fields (MRF) can be used to model dependencies between pixels,
and achieve a segmentation by minimizing an associated cost function.
Currently, finding the optimal set of segments for a given image modeled as a
MRF appears to be NP-hard. In this paper, we aim to take advantage of the
exponential scalability of quantum computing to speed up the segmentation of
Synthetic Aperture Radar images. For that purpose, we propose an hybrid quantum
annealing classical optimization Expectation Maximization algorithm to obtain
optimal sets of segments. After proposing suitable formulations, we discuss the
performances and the scalability of our approach on the D-Wave quantum
computer. We also propose a short study of optimal computation parameters to
enlighten the limits and potential of the adiabatic quantum computation to
solve large instances of combinatorial optimization problems.Comment: 13 pages, 6 figures, to be published in IET Radar, Sonar and
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