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Using topological sweep to extract the boundaries of regions in maps represented by region quadtrees
A variant of the plane sweep paradigm known as topological sweep is adapted to solve geometric problems involving two-dimensional regions when the underlying representation is a region quadtree. The utility of this technique is illustrated by showing how it can be used to extract the boundaries of a map in O(M) space and O(Ma(M)) time, where M is the number of quad tree blocks in the map, and a(·) is the (extremely slowly growing) inverse of Ackerman's function. The algorithm works for maps that contain multiple regions as well as holes. The algorithm makes use of active objects (in the form of regions) and an active border. It keeps track of the current position in the active border so that at each step no search is necessary. The algorithm represents a considerable improvement over a previous approach whose worst-case execution time is proportional to the product of the number of blocks in the map and the resolution of the quad tree (i.e., the maximum level of decomposition). The algorithm works for many different quadtree representations including those where the quadtree is stored in external storage
End-to-end Learning for Short Text Expansion
Effectively making sense of short texts is a critical task for many real
world applications such as search engines, social media services, and
recommender systems. The task is particularly challenging as a short text
contains very sparse information, often too sparse for a machine learning
algorithm to pick up useful signals. A common practice for analyzing short text
is to first expand it with external information, which is usually harvested
from a large collection of longer texts. In literature, short text expansion
has been done with all kinds of heuristics. We propose an end-to-end solution
that automatically learns how to expand short text to optimize a given learning
task. A novel deep memory network is proposed to automatically find relevant
information from a collection of longer documents and reformulate the short
text through a gating mechanism. Using short text classification as a
demonstrating task, we show that the deep memory network significantly
outperforms classical text expansion methods with comprehensive experiments on
real world data sets.Comment: KDD'201
A detection theory account of change detection
Previous studies have suggested that visual short-term memory (VSTM) has a storage limit of approximately four items. However, the type of high-threshold (HT) model used to derive this estimate is based on a number of assumptions that have been criticized in other experimental paradigms (e.g., visual search). Here we report findings from nine experiments in which VSTM for color, spatial frequency, and orientation was modeled using a signal detection theory (SDT) approach. In Experiments 1-6, two arrays composed of multiple stimulus elements were presented for 100 ms with a 1500 ms ISI. Observers were asked to report in a yes/no fashion whether there was any difference between the first and second arrays, and to rate their confidence in their response on a 1-4 scale. In Experiments 1-3, only one stimulus element difference could occur (T = 1) while set size was varied. In Experiments 4-6, set size was fixed while the number of stimuli that might change was varied (T = 1, 2, 3, and 4). Three general models were tested against the receiver operating characteristics generated by the six experiments. In addition to the HT model, two SDT models were tried: one assuming summation of signals prior to a decision, the other using a max rule. In Experiments 7-9, observers were asked to directly report the relevant feature attribute of a stimulus presented 1500 ms previously, from an array of varying set size. Overall, the results suggest that observers encode stimuli independently and in parallel, and that performance is limited by internal noise, which is a function of set size
Robust Dense Mapping for Large-Scale Dynamic Environments
We present a stereo-based dense mapping algorithm for large-scale dynamic
urban environments. In contrast to other existing methods, we simultaneously
reconstruct the static background, the moving objects, and the potentially
moving but currently stationary objects separately, which is desirable for
high-level mobile robotic tasks such as path planning in crowded environments.
We use both instance-aware semantic segmentation and sparse scene flow to
classify objects as either background, moving, or potentially moving, thereby
ensuring that the system is able to model objects with the potential to
transition from static to dynamic, such as parked cars. Given camera poses
estimated from visual odometry, both the background and the (potentially)
moving objects are reconstructed separately by fusing the depth maps computed
from the stereo input. In addition to visual odometry, sparse scene flow is
also used to estimate the 3D motions of the detected moving objects, in order
to reconstruct them accurately. A map pruning technique is further developed to
improve reconstruction accuracy and reduce memory consumption, leading to
increased scalability. We evaluate our system thoroughly on the well-known
KITTI dataset. Our system is capable of running on a PC at approximately 2.5Hz,
with the primary bottleneck being the instance-aware semantic segmentation,
which is a limitation we hope to address in future work. The source code is
available from the project website (http://andreibarsan.github.io/dynslam).Comment: Presented at IEEE International Conference on Robotics and Automation
(ICRA), 201
Second order isomorphism: A reinterpretation and its implications in brain and cognitive sciences
Shepard and Chipman's second order isomorphism describes how
the brain may represent the relations in the world.
However, a common interpretation of the theory can cause difficulties.
The problem originates from the static nature
of representations. In an alternative interpretation, I propose that
we assign an active role to the internal representations and
relations. It turns out that a collection of such active units can
perform analogical tasks. The new interpretation is supported
by the existence of neural circuits that may be implementing such a function.
Within this framework, perception, cognition, and motor function
can be understood under a unifying principle of analogy
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