Mapless Online Detection of Dynamic Objects in 3D Lidar

This paper presents a model-free, setting-independent method for online detection of dynamic objects in 3D lidar data. We explicitly compensate for the moving-while-scanning operation (motion distortion) of present-day 3D spinning lidar sensors. Our detection method uses a motion-compensated freespace querying algorithm and classifies between dynamic (currently moving) and static (currently stationary) labels at the point level. For a quantitative analysis, we establish a benchmark with motion-distorted lidar data using CARLA, an open-source simulator for autonomous driving research. We also provide a qualitative analysis with real data using a Velodyne HDL-64E in driving scenarios. Compared to existing 3D lidar methods that are model-free, our method is unique because of its setting independence and compensation for pointcloud motion distortion.Comment: 7 pages, 8 figure

Oblivious Bounds on the Probability of Boolean Functions

This paper develops upper and lower bounds for the probability of Boolean functions by treating multiple occurrences of variables as independent and assigning them new individual probabilities. We call this approach dissociation and give an exact characterization of optimal oblivious bounds, i.e. when the new probabilities are chosen independent of the probabilities of all other variables. Our motivation comes from the weighted model counting problem (or, equivalently, the problem of computing the probability of a Boolean function), which is #P-hard in general. By performing several dissociations, one can transform a Boolean formula whose probability is difficult to compute, into one whose probability is easy to compute, and which is guaranteed to provide an upper or lower bound on the probability of the original formula by choosing appropriate probabilities for the dissociated variables. Our new bounds shed light on the connection between previous relaxation-based and model-based approximations and unify them as concrete choices in a larger design space. We also show how our theory allows a standard relational database management system (DBMS) to both upper and lower bound hard probabilistic queries in guaranteed polynomial time.Comment: 34 pages, 14 figures, supersedes: http://arxiv.org/abs/1105.281

PULP-HD: Accelerating Brain-Inspired High-Dimensional Computing on a Parallel Ultra-Low Power Platform

Computing with high-dimensional (HD) vectors, also referred to as $\textit{hypervectors}$, is a brain-inspired alternative to computing with scalars. Key properties of HD computing include a well-defined set of arithmetic operations on hypervectors, generality, scalability, robustness, fast learning, and ubiquitous parallel operations. HD computing is about manipulating and comparing large patterns-binary hypervectors with 10,000 dimensions-making its efficient realization on minimalistic ultra-low-power platforms challenging. This paper describes HD computing's acceleration and its optimization of memory accesses and operations on a silicon prototype of the PULPv3 4-core platform (1.5mm$^2$, 2mW), surpassing the state-of-the-art classification accuracy (on average 92.4%) with simultaneous 3.7$\times$ end-to-end speed-up and 2$\times$ energy saving compared to its single-core execution. We further explore the scalability of our accelerator by increasing the number of inputs and classification window on a new generation of the PULP architecture featuring bit-manipulation instruction extensions and larger number of 8 cores. These together enable a near ideal speed-up of 18.4$\times$ compared to the single-core PULPv3

Indexing, browsing and searching of digital video

Video is a communications medium that normally brings together moving pictures with a synchronised audio track into a discrete piece or pieces of information. The size of a “piece ” of video can variously be referred to as a frame, a shot, a scene, a clip, a programme or an episode, and these are distinguished by their lengths and by their composition. We shall return to the definition of each of these in section 4 this chapter. In modern society, video is ver

SMS Management System for Direct Sales and Network Marketing

SMS management system in direct sales and network marketing is a concept of integrating information system with mobile phone as well as using short message service (SMS) as a medium of communication in the business process of direct sales and network marketing sector. Direct sales and network marketing sector is a business phenomenon which expanding rapidly within these few years and it will keep on expanding. To deal with the large members and distributors joining the company, the management of these companies started to seek for new direction in upgrading the relationship management between the company and the distributors. This is important when the low cost and time saving SMS is introduce to these direct selling companies. With the intention of enhancing the connection between distributors is an opportunity to integrate SMS system in the management system in this industry. In this paper, we have analyzed how the SMS will play an important role in the business process by allowing the end user and the company will benefit from its simple and cost saving