Robust Photogeometric Localization over Time for Map-Centric Loop Closure

Map-centric SLAM is emerging as an alternative of conventional graph-based SLAM for its accuracy and efficiency in long-term mapping problems. However, in map-centric SLAM, the process of loop closure differs from that of conventional SLAM and the result of incorrect loop closure is more destructive and is not reversible. In this paper, we present a tightly coupled photogeometric metric localization for the loop closure problem in map-centric SLAM. In particular, our method combines complementary constraints from LiDAR and camera sensors, and validates loop closure candidates with sequential observations. The proposed method provides a visual evidence-based outlier rejection where failures caused by either place recognition or localization outliers can be effectively removed. We demonstrate the proposed method is not only more accurate than the conventional global ICP methods but is also robust to incorrect initial pose guesses.Comment: To Appear in IEEE ROBOTICS AND AUTOMATION LETTERS, ACCEPTED JANUARY 201

Context-aware person identification in personal photo collections

Identifying the people in photos is an important need for users of photo management systems. We present MediAssist, one such system which facilitates browsing, searching and semi-automatic annotation of personal photos, using analysis of both image content and the context in which the photo is captured. This semi-automatic annotation includes annotation of the identity of people in photos. In this paper, we focus on such person annotation, and propose person identification techniques based on a combination of context and content. We propose language modelling and nearest neighbor approaches to context-based person identification, in addition to novel face color and image color content-based features (used alongside face recognition and body patch features). We conduct a comprehensive empirical study of these techniques using the real private photo collections of a number of users, and show that combining context- and content-based analysis improves performance over content or context alone

A Survey of Location Prediction on Twitter

Locations, e.g., countries, states, cities, and point-of-interests, are central to news, emergency events, and people's daily lives. Automatic identification of locations associated with or mentioned in documents has been explored for decades. As one of the most popular online social network platforms, Twitter has attracted a large number of users who send millions of tweets on daily basis. Due to the world-wide coverage of its users and real-time freshness of tweets, location prediction on Twitter has gained significant attention in recent years. Research efforts are spent on dealing with new challenges and opportunities brought by the noisy, short, and context-rich nature of tweets. In this survey, we aim at offering an overall picture of location prediction on Twitter. Specifically, we concentrate on the prediction of user home locations, tweet locations, and mentioned locations. We first define the three tasks and review the evaluation metrics. By summarizing Twitter network, tweet content, and tweet context as potential inputs, we then structurally highlight how the problems depend on these inputs. Each dependency is illustrated by a comprehensive review of the corresponding strategies adopted in state-of-the-art approaches. In addition, we also briefly review two related problems, i.e., semantic location prediction and point-of-interest recommendation. Finally, we list future research directions.Comment: Accepted to TKDE. 30 pages, 1 figur

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There are many different ways to rate mobile content in the form of various explicit user feedback e.g. like buttons, thumbs up and thumbs down, star ratings as well as there are ways to analyse usage statistics of applications on using mobile analytics tools. Implicit feedback enables to collect more data for getting better insight of content usage and user behaviour. In recent years many works have been conducted in order to classify activities using smartphones. Previous works have shown that sensor-based activity recognition on smartphones is feasible. Yet previous works have not classified reading activity on smartphones. This work proposes one possible way to classify this activity with high accuracy. Classifying reading activity provides possibility to have more precise estimates on mobile content usage statistics, by utilizing sensorand visual-based activity recognition techniques. A set of mobile applications was developed to facilitate data collection and labelling. Accelerometer and gyroscope data was collected from 35 different subjects, after cleaning data 4438 sample readings were left. A neural network was trained on 80% of data and 94% accuracy was reached on classifying reading activity using a smartphone. The results show that classifying reading activity using accelerometer and gyroscope data is possible with high degree of accuracy. We provide Android application source code along with neural network training implementation accompanied by training data in a Git repositor