An Interactive System for Creating Object Models From Range Data Based on Simulated Annealing

In hazardous applications such as remediation of buried waste and dismantlement of radioactive facilities, robots are an attractive solution. Sensing to recognize and locate objects is a critical need for robotic operations in unstructured environments. An accurate 3-D model of objects in the scene is necessary for efficient high level control of robots. Drawing upon concepts from supervisory control, the authors have developed an interactive system for creating object models from range data, based on simulated annealing. Site modeling is a task that is typically performed using purely manual or autonomous techniques, each of which has inherent strengths and weaknesses. However, an interactive modeling system combines the advantages of both manual and autonomous methods, to create a system that has high operator productivity as well as high flexibility and robustness. The system is unique in that it can work with very sparse range data, tolerate occlusions, and tolerate cluttered scenes. The authors have performed an informal evaluation with four operators on 16 different scenes, and have shown that the interactive system is superior to either manual or automatic methods in terms of task time and accuracy

Spatial optimization for land use allocation: accounting for sustainability concerns

Land-use allocation has long been an important area of research in regional science. Land-use patterns are fundamental to the functions of the biosphere, creating interactions that have substantial impacts on the environment. The spatial arrangement of land uses therefore has implications for activity and travel within a region. Balancing development, economic growth, social interaction, and the protection of the natural environment is at the heart of long-term sustainability. Since land-use patterns are spatially explicit in nature, planning and management necessarily must integrate geographical information system and spatial optimization in meaningful ways if efficiency goals and objectives are to be achieved. This article reviews spatial optimization approaches that have been relied upon to support land-use planning. Characteristics of sustainable land use, particularly compactness, contiguity, and compatibility, are discussed and how spatial optimization techniques have addressed these characteristics are detailed. In particular, objectives and constraints in spatial optimization approaches are examined

Visualisation techniques for users and designers of layout algorithms

Visualisation systems consisting of a set of components through which data and interaction commands flow have been explored by a number of researchers. Such hybrid and multistage algorithms can be used to reduce overall computation time, and to provide views of the data that show intermediate results and the outputs of complementary algorithms. In this paper we present work on expanding the range and variety of such components, with two new techniques for analysing and controlling the performance of visualisation processes. While the techniques presented are quite different, they are unified within HIVE: a visualisation system based upon a data-flow model and visual programming. Embodied within this system is a framework for weaving together our visualisation components to better afford insight into data and also deepen understanding of the process of the data's visualisation. We describe the new components and offer short case studies of their application. We demonstrate that both analysts and visualisation designers can benefit from a rich set of components and integrated tools for profiling performance

Systemic: A Testbed For Characterizing the Detection of Extrasolar Planets. I. The Systemic Console Package

We present the systemic Console, a new all-in-one, general-purpose software package for the analysis and combined multiparameter fitting of Doppler radial velocity (RV) and transit timing observations. We give an overview of the computational algorithms implemented in the Console, and describe the tools offered for streamlining the characterization of planetary systems. We illustrate the capabilities of the package by analyzing an updated radial velocity data set for the HD128311 planetary system. HD128311 harbors a pair of planets that appear to be participating in a 2:1 mean motion resonance. We show that the dynamical configuration cannot be fully determined from the current data. We find that if a planetary system like HD128311 is found to undergo transits, then self-consistent Newtonian fits to combined radial velocity data and a small number of timing measurements of transit midpoints can provide an immediate and vastly improved characterization of the planet's dynamical state.Comment: 10 pages, 5 figures, accepted for publication on PASP. Additional material at http://www.ucolick.org/~smeschia/systemic.ph

Modelling of building interiors with mobile phone sensor data

Creating as-built plans of building interiors is a challenging task. In this paper we present a semi-automatic modelling system for creating residential building interior plans and their integration with existing map data to produce building models. Taking a set of imprecise measurements made with an interactive mobile phone room mapping application, the system performs spatial adjustments in accordance with soft and hard constraints imposed on the building plan geometry. The approach uses an optimisation model that exploits a high accuracy building outline, such as can be found in topographic map data, and the building topology to improve the quality of interior measurements and generate a standardised output. We test our system on building plans of five residential homes. Our evaluation shows that the approach enables construction of accurate interior plans from imprecise measurements. The experiments report an average accuracy of 0.24 m, close to the 0.20 m recommended by the CityGML LoD4 specificatio

Calibration Wizard: A Guidance System for Camera Calibration Based on Modelling Geometric and Corner Uncertainty

It is well known that the accuracy of a calibration depends strongly on the choice of camera poses from which images of a calibration object are acquired. We present a system -- Calibration Wizard -- that interactively guides a user towards taking optimal calibration images. For each new image to be taken, the system computes, from all previously acquired images, the pose that leads to the globally maximum reduction of expected uncertainty on intrinsic parameters and then guides the user towards that pose. We also show how to incorporate uncertainty in corner point position in a novel principled manner, for both, calibration and computation of the next best pose. Synthetic and real-world experiments are performed to demonstrate the effectiveness of Calibration Wizard.Comment: Oral presentation at ICCV 201

BARD: Better Automated Redistricting

BARD is the first (and at time of writing, only) open source software package for general redistricting and redistricting analysis. BARD provides methods to create, display, compare, edit, automatically refine, evaluate, and profile political districting plans. BARD aims to provide a framework for scientific analysis of redistricting plans and to facilitate wider public participation in the creation of new plans. BARD facilitates map creation and refinement through command-line, graphical user interface, and automatic methods. Since redistricting is a computationally complex partitioning problem not amenable to an exact optimization solution, BARD implements a variety of selectable metaheuristics that can be used to refine existing or randomly-generated redistricting plans based on user-determined criteria. Furthermore, BARD supports automated generation of redistricting plans and profiling of plans by assigning different weights to various criteria, such as district compactness or equality of population. This functionality permits exploration of trade-offs among criteria. The intent of a redistricting authority may be explored by examining these trade-offs and inferring which reasonably observable plans were not adopted. Redistricting is a computationally-intensive problem for even modest-sized states. Performance is thus an important consideration in BARD's design and implementation. The program implements performance enhancements such as evaluation caching, explicit memory management, and distributed computing across snow clusters.