Attention and Anticipation in Fast Visual-Inertial Navigation

We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the robot can allocate limited resources to VIN, due to tight computational constraints. Therefore, we answer the following question: under limited resources, what are the most relevant visual cues to maximize the performance of visual-inertial navigation? Our approach has four key ingredients. First, it is task-driven, in that the selection of the visual cues is guided by a metric quantifying the VIN performance. Second, it exploits the notion of anticipation, since it uses a simplified model for forward-simulation of robot dynamics, predicting the utility of a set of visual cues over a future time horizon. Third, it is efficient and easy to implement, since it leads to a greedy algorithm for the selection of the most relevant visual cues. Fourth, it provides formal performance guarantees: we leverage submodularity to prove that the greedy selection cannot be far from the optimal (combinatorial) selection. Simulations and real experiments on agile drones show that our approach ensures state-of-the-art VIN performance while maintaining a lean processing time. In the easy scenarios, our approach outperforms appearance-based feature selection in terms of localization errors. In the most challenging scenarios, it enables accurate visual-inertial navigation while appearance-based feature selection fails to track robot's motion during aggressive maneuvers.Comment: 20 pages, 7 figures, 2 table

Multimodal Three Dimensional Scene Reconstruction, The Gaussian Fields Framework

The focus of this research is on building 3D representations of real world scenes and objects using different imaging sensors. Primarily range acquisition devices (such as laser scanners and stereo systems) that allow the recovery of 3D geometry, and multi-spectral image sequences including visual and thermal IR images that provide additional scene characteristics. The crucial technical challenge that we addressed is the automatic point-sets registration task. In this context our main contribution is the development of an optimization-based method at the core of which lies a unified criterion that solves simultaneously for the dense point correspondence and transformation recovery problems. The new criterion has a straightforward expression in terms of the datasets and the alignment parameters and was used primarily for 3D rigid registration of point-sets. However it proved also useful for feature-based multimodal image alignment. We derived our method from simple Boolean matching principles by approximation and relaxation. One of the main advantages of the proposed approach, as compared to the widely used class of Iterative Closest Point (ICP) algorithms, is convexity in the neighborhood of the registration parameters and continuous differentiability, allowing for the use of standard gradient-based optimization techniques. Physically the criterion is interpreted in terms of a Gaussian Force Field exerted by one point-set on the other. Such formulation proved useful for controlling and increasing the region of convergence, and hence allowing for more autonomy in correspondence tasks. Furthermore, the criterion can be computed with linear complexity using recently developed Fast Gauss Transform numerical techniques. In addition, we also introduced a new local feature descriptor that was derived from visual saliency principles and which enhanced significantly the performance of the registration algorithm. The resulting technique was subjected to a thorough experimental analysis that highlighted its strength and showed its limitations. Our current applications are in the field of 3D modeling for inspection, surveillance, and biometrics. However, since this matching framework can be applied to any type of data, that can be represented as N-dimensional point-sets, the scope of the method is shown to reach many more pattern analysis applications

WELCOME TO DIGITAL TRANSFORMATION ERA: FROM PROOF-OF-CONCEPT TO BIG DATA INSIGHTS CREATION

Digital transformation (DT) is no longer an optional strategic priority, but the direction for managers of traditional firms that their success is built in the pre-digital era. With all hype around DT opportunities, it is rather a highly complex challenge that affects many or all segments of a firm and more so at the early stages of DT. Firms at the early stage of DT face the challenge of choosing among a big variety of existing and emerging technologies on the market, neglecting technological uncertainty, navigating through the technological solutions ocean, and avoiding hype-driven decisions while being technology competence-less. With this respect, the phase preceding any adoption or rejection of a new DT initiative and aiming at the first meeting and proving feasibility and commercial opportunities becomes increasingly important. The thesis investigates three particular phenomena of the earliest Digital Transformation (DT) stage, that are seemingly well-known and intuitively clear but suffer from the lack of empirical and conceptual evidence base as well as theoretical ground on closer inspection, namely, proof-of-concept, data-driven decision-making, and Big Data insights creation. Focusing on the three aspects of the early stage of DT allows building a research agenda that consists of complementing each other parts. Three-essays research was run with three related objectives. Each objective is addressed by conducting independent research using comparative methods. The thesis applies the qualitative approach as the overarching, with the relative to the three essays methodologies, namely, qualitative case study, ethnography, and participatory observation. The thesis uses qualitative methods to derive main findings and quantitative methods based on novel computational techniques to add more nuances to the results. This allows a new empirical and conceptual perspective on the earliest stages of DT. The findings suggest that a) cognitive biases drive what I labeled as perceived technology potentiality, moreover, technology awareness develops step-wise as PoC is run moving from borrowed technology awareness to minimum acquired technology awareness and enhanced technology awareness. These findings were used to explain how PoC dynamic changes with time. Further, findings show how b) different types of traps (cognitive and data) drive managerial trust in data when data-driven decision-making is first used. The findings were taken as the ground to build the three traps zones notion, where the decisions and trust in data are driven by different combinations of traps. Finally, findings reveal that c) Big Data dimensions have their related sub-dimensions, differences and similarities of which led to the discovery of the two effects of Big Data dimensions, namely, Proliferation and Additive. These findings helped to explain how exactly Big Data dimensions participate in the Big Data insights creation and to build the conceptual matrix of Big Data insights creation. In this vein, the research contributes to the technology innovation literature by shedding light on the phenomena of the earliest stage of DT and by initiating the first comprehensive conversation on PoC, data-driven decision-making, and Big Data insights creation. Further, the research contributes to the existing literature on managerial cognition, decision-making, and Big Data usefulness. Finally, contributions to methods in the technology innovation field are drawn

Computational intelligence approaches to robotics, automation, and control [Volume guest editors]

No abstract available

Discovering a Domain Knowledge Representation for Image Grouping: Multimodal Data Modeling, Fusion, and Interactive Learning

In visually-oriented specialized medical domains such as dermatology and radiology, physicians explore interesting image cases from medical image repositories for comparative case studies to aid clinical diagnoses, educate medical trainees, and support medical research. However, general image classification and retrieval approaches fail in grouping medical images from the physicians\u27 viewpoint. This is because fully-automated learning techniques cannot yet bridge the gap between image features and domain-specific content for the absence of expert knowledge. Understanding how experts get information from medical images is therefore an important research topic. As a prior study, we conducted data elicitation experiments, where physicians were instructed to inspect each medical image towards a diagnosis while describing image content to a student seated nearby. Experts\u27 eye movements and their verbal descriptions of the image content were recorded to capture various aspects of expert image understanding. This dissertation aims at an intuitive approach to extracting expert knowledge, which is to find patterns in expert data elicited from image-based diagnoses. These patterns are useful to understand both the characteristics of the medical images and the experts\u27 cognitive reasoning processes. The transformation from the viewed raw image features to interpretation as domain-specific concepts requires experts\u27 domain knowledge and cognitive reasoning. This dissertation also approximates this transformation using a matrix factorization-based framework, which helps project multiple expert-derived data modalities to high-level abstractions. To combine additional expert interventions with computational processing capabilities, an interactive machine learning paradigm is developed to treat experts as an integral part of the learning process. Specifically, experts refine medical image groups presented by the learned model locally, to incrementally re-learn the model globally. This paradigm avoids the onerous expert annotations for model training, while aligning the learned model with experts\u27 sense-making

Artificial cognitive architecture with self-learning and self-optimization capabilities. Case studies in micromachining processes

Tesis doctoral inédita leída en la Universidad Autónoma de Madrid, Escuela Politécnica Superior, Departamento de Ingeniería Informática. Fecha de lectura : 22-09-201

Model-Based Environmental Visual Perception for Humanoid Robots

The visual perception of a robot should answer two fundamental questions: What? and Where? In order to properly and efficiently reply to these questions, it is essential to establish a bidirectional coupling between the external stimuli and the internal representations. This coupling links the physical world with the inner abstraction models by sensor transformation, recognition, matching and optimization algorithms. The objective of this PhD is to establish this sensor-model coupling

White Paper 11: Artificial intelligence, robotics & data science

198 p. : 17 cmSIC white paper on Artificial Intelligence, Robotics and Data Science sketches a preliminary roadmap for addressing current R&D challenges associated with automated and autonomous machines. More than 50 research challenges investigated all over Spain by more than 150 experts within CSIC are presented in eight chapters. Chapter One introduces key concepts and tackles the issue of the integration of knowledge (representation), reasoning and learning in the design of artificial entities. Chapter Two analyses challenges associated with the development of theories –and supporting technologies– for modelling the behaviour of autonomous agents. Specifically, it pays attention to the interplay between elements at micro level (individual autonomous agent interactions) with the macro world (the properties we seek in large and complex societies). While Chapter Three discusses the variety of data science applications currently used in all fields of science, paying particular attention to Machine Learning (ML) techniques, Chapter Four presents current development in various areas of robotics. Chapter Five explores the challenges associated with computational cognitive models. Chapter Six pays attention to the ethical, legal, economic and social challenges coming alongside the development of smart systems. Chapter Seven engages with the problem of the environmental sustainability of deploying intelligent systems at large scale. Finally, Chapter Eight deals with the complexity of ensuring the security, safety, resilience and privacy-protection of smart systems against cyber threats.18 EXECUTIVE SUMMARY ARTIFICIAL INTELLIGENCE, ROBOTICS AND DATA SCIENCE Topic Coordinators Sara Degli Esposti ( IPP-CCHS, CSIC ) and Carles Sierra ( IIIA, CSIC ) 18 CHALLENGE 1 INTEGRATING KNOWLEDGE, REASONING AND LEARNING Challenge Coordinators Felip Manyà ( IIIA, CSIC ) and Adrià Colomé ( IRI, CSIC – UPC ) 38 CHALLENGE 2 MULTIAGENT SYSTEMS Challenge Coordinators N. Osman ( IIIA, CSIC ) and D. López ( IFS, CSIC ) 54 CHALLENGE 3 MACHINE LEARNING AND DATA SCIENCE Challenge Coordinators J. J. Ramasco Sukia ( IFISC ) and L. Lloret Iglesias ( IFCA, CSIC ) 80 CHALLENGE 4 INTELLIGENT ROBOTICS Topic Coordinators G. Alenyà ( IRI, CSIC – UPC ) and J. Villagra ( CAR, CSIC ) 100 CHALLENGE 5 COMPUTATIONAL COGNITIVE MODELS Challenge Coordinators M. D. del Castillo ( CAR, CSIC) and M. Schorlemmer ( IIIA, CSIC ) 120 CHALLENGE 6 ETHICAL, LEGAL, ECONOMIC, AND SOCIAL IMPLICATIONS Challenge Coordinators P. Noriega ( IIIA, CSIC ) and T. Ausín ( IFS, CSIC ) 142 CHALLENGE 7 LOW-POWER SUSTAINABLE HARDWARE FOR AI Challenge Coordinators T. Serrano ( IMSE-CNM, CSIC – US ) and A. Oyanguren ( IFIC, CSIC - UV ) 160 CHALLENGE 8 SMART CYBERSECURITY Challenge Coordinators D. Arroyo Guardeño ( ITEFI, CSIC ) and P. Brox Jiménez ( IMSE-CNM, CSIC – US )Peer reviewe